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HAL_PX4: added millis64() and micros64()

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This commit is contained in:
Andrew Tridgell 2014-08-20 08:01:06 +10:00
parent ead82ee581
commit 1241da466b
2 changed files with 17 additions and 5 deletions
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20
libraries/AP_HAL_PX4/Scheduler.cpp
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@ -76,14 +76,24 @@ void PX4Scheduler::init(void *unused)
pthread_create(&_io_thread_ctx, &thread_attr, (pthread_startroutine_t)&PX4::PX4Scheduler::_io_thread, this);
}
uint64_t PX4Scheduler::micros64()
{
return hrt_absolute_time() - _sketch_start_time;
}
uint64_t PX4Scheduler::millis64()
{
return micros64() / 1000;
}
uint32_t PX4Scheduler::micros()
{
return (uint32_t)(hrt_absolute_time() - _sketch_start_time);
return micros64() & 0xFFFFFFFF;
}
uint32_t PX4Scheduler::millis()
{
return hrt_absolute_time() / 1000;
return millis64() & 0xFFFFFFFF;
}
/**
@ -106,9 +116,9 @@ void PX4Scheduler::delay_microseconds(uint16_t usec)
perf_end(_perf_delay);
return;
}
uint32_t start = micros();
uint32_t dt;
while ((dt=(micros() - start)) < usec) {
uint64_t start = micros();
uint64_t dt;
while ((dt=(micros64() - start)) < usec) {
up_udelay(usec - dt);
}
perf_end(_perf_delay);

2
libraries/AP_HAL_PX4/Scheduler.h
View File

@ -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);