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AP_Scheduler: added ticks32() API 

this is the number of scheduler ticks since boot, as uint32_t
This commit is contained in:
Andrew Tridgell 2023-01-28 20:42:04 +11:00
parent 9fddec28d3
commit 5f6d3e5d8c
2 changed files with 3 additions and 0 deletions
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1
libraries/AP_Scheduler/AP_Scheduler.cpp
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@ -154,6 +154,7 @@ void AP_Scheduler::init(const AP_Scheduler::Task *tasks, uint8_t num_tasks, uint
void AP_Scheduler::tick(void) void AP_Scheduler::tick(void)
{ {
_tick_counter++; _tick_counter++;
_tick_counter32++;
} }
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL #if CONFIG_HAL_BOARD == HAL_BOARD_SITL

2
libraries/AP_Scheduler/AP_Scheduler.h
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@ -123,6 +123,7 @@ public:
// return current tick counter // return current tick counter
uint16_t ticks() const { return _tick_counter; } uint16_t ticks() const { return _tick_counter; }
uint32_t ticks32() const { return _tick_counter32; }
// run the tasks. Call this once per 'tick'. // run the tasks. Call this once per 'tick'.
// time_available is the amount of time available to run // time_available is the amount of time available to run
@ -224,6 +225,7 @@ private:
// number of 'ticks' that have passed (number of times that // number of 'ticks' that have passed (number of times that
// tick() has been called // tick() has been called
uint16_t _tick_counter; uint16_t _tick_counter;
uint32_t _tick_counter32;
// tick counter at the time we last ran each task // tick counter at the time we last ran each task
uint16_t *_last_run; uint16_t *_last_run;