From 071323a7364602537e3031cece91c28696e85986 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Wed, 20 Aug 2014 08:01:44 +1000
Subject: [PATCH] HAL_VRBRAIN: added millis64() and micros64()

---
 libraries/AP_HAL_VRBRAIN/Scheduler.cpp | 18 ++++++++++++++----
 libraries/AP_HAL_VRBRAIN/Scheduler.h   |  2 ++
 2 files changed, 16 insertions(+), 4 deletions(-)

diff --git a/libraries/AP_HAL_VRBRAIN/Scheduler.cpp b/libraries/AP_HAL_VRBRAIN/Scheduler.cpp
index cccb85ab39..8c5989bfc4 100644
--- a/libraries/AP_HAL_VRBRAIN/Scheduler.cpp
+++ b/libraries/AP_HAL_VRBRAIN/Scheduler.cpp
@@ -76,14 +76,24 @@ void VRBRAINScheduler::init(void *unused)
 	pthread_create(&_io_thread_ctx, &thread_attr, (pthread_startroutine_t)&VRBRAIN::VRBRAINScheduler::_io_thread, this);
 }
 
-uint32_t VRBRAINScheduler::micros()
+uint64_t VRBRAINScheduler::micros64() 
 {
-    return (uint32_t)(hrt_absolute_time() - _sketch_start_time);
+    return hrt_absolute_time() - _sketch_start_time;
 }
 
-uint32_t VRBRAINScheduler::millis()
+uint64_t VRBRAINScheduler::millis64() 
 {
-    return hrt_absolute_time() / 1000;
+    return micros64() / 1000;
+}
+
+uint32_t VRBRAINScheduler::micros() 
+{
+    return micros64() & 0xFFFFFFFF;
+}
+
+uint32_t VRBRAINScheduler::millis() 
+{
+    return millis64() & 0xFFFFFFFF;
 }
 
 /**
diff --git a/libraries/AP_HAL_VRBRAIN/Scheduler.h b/libraries/AP_HAL_VRBRAIN/Scheduler.h
index e95662377a..e870242691 100644
--- a/libraries/AP_HAL_VRBRAIN/Scheduler.h
+++ b/libraries/AP_HAL_VRBRAIN/Scheduler.h
@@ -29,6 +29,8 @@ public:
     void     delay(uint16_t ms);
     uint32_t millis();
     uint32_t micros();
+    uint64_t millis64();
+    uint64_t micros64();
     void     delay_microseconds(uint16_t us);
     void     register_delay_callback(AP_HAL::Proc, uint16_t min_time_ms);
     void     register_timer_process(AP_HAL::MemberProc);