Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_HAL: Add get_system_clock_us in utils 

Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
This commit is contained in:
Patrick José Pereira 2018-02-13 23:39:37 -02:00 committed by Jacob Walser
parent f6c0639120
commit 3102846b8b
2 changed files with 26 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

18
libraries/AP_HAL/Util.cpp
View File

@ -66,6 +66,24 @@ uint64_t AP_HAL::Util::get_system_clock_ms() const
#endif
}
uint64_t AP_HAL::Util::get_system_clock_us() const
{
#if defined(__APPLE__) && defined(__MACH__)
struct timeval ts;
gettimeofday(&ts, nullptr);
return ((long long)((ts.tv_sec * 1000000) + ts.tv_usec));
#elif CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
// ChibiOS is not ready for that
return 0;
#else
struct timespec ts;
clock_gettime(CLOCK_REALTIME, &ts);
const uint64_t seconds = ts.tv_sec;
const uint64_t nanoseconds = ts.tv_nsec;
return (seconds * 1000000ULL + nanoseconds/1000ULL);
#endif
}
void AP_HAL::Util::get_system_clock_utc(int32_t &hour, int32_t &min, int32_t &sec, int32_t &ms) const
{
// get time of day in ms

8
libraries/AP_HAL/Util.h
View File

@ -50,6 +50,11 @@ public:
*/
uint64_t get_system_clock_ms() const;
/*
get system clock in UTC microseconds
*/
uint64_t get_system_clock_us() const;
/*
get system time in UTC hours, minutes, seconds and milliseconds
*/
@ -120,4 +125,7 @@ protected:
// values until the vehicle code has fully started
bool soft_armed = false;
uint64_t capabilities = 0;
// by default we consider system_time was not set
bool _system_time_was_set = false;
};