From 1283d42fbfed9b7b401bb3c10f08a2634970e9f0 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 2 Oct 2021 15:39:08 +1000
Subject: [PATCH] AP_HAL: added micros16() method

fast method for both 16 and 32 bit timers
---
 libraries/AP_HAL/system.cpp | 5 +++++
 libraries/AP_HAL/system.h   | 1 +
 2 files changed, 6 insertions(+)

diff --git a/libraries/AP_HAL/system.cpp b/libraries/AP_HAL/system.cpp
index bb94ffedb3..1cdbd80c32 100644
--- a/libraries/AP_HAL/system.cpp
+++ b/libraries/AP_HAL/system.cpp
@@ -5,6 +5,11 @@ uint16_t WEAK AP_HAL::millis16()
     return millis() & 0xFFFF;
 }
 
+uint16_t WEAK AP_HAL::micros16()
+{
+    return micros() & 0xFFFF;
+}
+
 void WEAK AP_HAL::dump_stack_trace()
 {
     // stack dump not available on this platform
diff --git a/libraries/AP_HAL/system.h b/libraries/AP_HAL/system.h
index e230d7c02d..c93a7f9f0b 100644
--- a/libraries/AP_HAL/system.h
+++ b/libraries/AP_HAL/system.h
@@ -12,6 +12,7 @@ void init();
 
 void panic(const char *errormsg, ...) FMT_PRINTF(1, 2) NORETURN;
 
+uint16_t micros16();
 uint32_t micros();
 uint32_t millis();
 uint16_t millis16();