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AP_HAL: add millis64() and micros64() on faster boards

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this can be used for much simpler scheduling, without any wrap
handling
This commit is contained in:
Andrew Tridgell 2014-08-20 07:55:19 +10:00
parent d01fa3bfbd
commit 7439d34a5d
1 changed files with 6 additions and 0 deletions
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6
libraries/AP_HAL/Scheduler.h
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@ -3,6 +3,7 @@
#define __AP_HAL_SCHEDULER_H__
#include "AP_HAL_Namespace.h"
#include "AP_HAL_Boards.h"
#include <stdint.h>
#include <AP_Progmem.h>
@ -14,6 +15,11 @@ public:
virtual void delay(uint16_t ms) = 0;
virtual uint32_t millis() = 0;
virtual uint32_t micros() = 0;
#if HAL_CPU_CLASS >= HAL_CPU_CLASS_150
// offer non-wrapping 64 bit versions on faster CPUs
virtual uint64_t millis64() = 0;
virtual uint64_t micros64() = 0;
#endif
virtual void delay_microseconds(uint16_t us) = 0;
virtual void register_delay_callback(AP_HAL::Proc,
uint16_t min_time_ms) = 0;