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HAL_ChibiOS: added micros16() method

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This commit is contained in:
Andrew Tridgell 2021-10-02 15:39:30 +10:00
parent 1283d42fbf
commit 5714ee113f
1 changed files with 11 additions and 0 deletions
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11
libraries/AP_HAL_ChibiOS/system.cpp
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@ -267,6 +267,17 @@ uint32_t micros()
#endif
}
uint16_t micros16()
{
#if CH_CFG_ST_RESOLUTION == 32 && CH_CFG_ST_FREQUENCY==1000000U
return st_lld_get_counter() & 0xFFFF;
#elif CH_CFG_ST_RESOLUTION == 16 && CH_CFG_ST_FREQUENCY==1000000U
return st_lld_get_counter();
#else
return hrt_micros32() & 0xFFFF;
#endif
}
uint32_t millis()
{
return hrt_millis32();