From 8ed289a514fe3bf120a0662381035e0f31e16aff Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 22 Aug 2023 11:41:16 +1000
Subject: [PATCH] AP_HAL_Linux: removed native_millis/micros

---
 libraries/AP_HAL_Linux/CANSocketIface.cpp | 10 +++---
 libraries/AP_HAL_Linux/system.cpp         | 39 -----------------------
 2 files changed, 5 insertions(+), 44 deletions(-)

diff --git a/libraries/AP_HAL_Linux/CANSocketIface.cpp b/libraries/AP_HAL_Linux/CANSocketIface.cpp
index b7c34e2d12..f3e850936f 100644
--- a/libraries/AP_HAL_Linux/CANSocketIface.cpp
+++ b/libraries/AP_HAL_Linux/CANSocketIface.cpp
@@ -269,7 +269,7 @@ void CANIface::_pollWrite()
     while (_hasReadyTx()) {
         WITH_SEMAPHORE(sem);
         const CanTxItem tx = _tx_queue.top();
-        uint64_t curr_time = AP_HAL::native_micros64();
+        uint64_t curr_time = AP_HAL::micros64();
         if (tx.deadline >= curr_time) {
             // hal.console->printf("%x TDEAD: %lu CURRT: %lu DEL: %lu\n",tx.frame.id,  tx.deadline, curr_time, tx.deadline-curr_time);
             const int res = _write(tx.frame);
@@ -302,7 +302,7 @@ bool CANIface::_pollRead()
     {
         iterations_count++;
         CanRxItem rx;
-        rx.timestamp_us = AP_HAL::native_micros64();  // Monotonic timestamp is not required to be precise (unlike UTC)
+        rx.timestamp_us = AP_HAL::micros64();  // Monotonic timestamp is not required to be precise (unlike UTC)
         bool loopback = false;
         const int res = _read(rx.frame, rx.timestamp_us, loopback);
         if (res == 1) {
@@ -389,7 +389,7 @@ int CANIface::_read(AP_HAL::CANFrame& frame, uint64_t& timestamp_us, bool& loopb
     /*
      * Timestamp
      */
-    timestamp_us = AP_HAL::native_micros64();
+    timestamp_us = AP_HAL::micros64();
     return 1;
 }
 
@@ -506,8 +506,8 @@ bool CANIface::select(bool &read_select, bool &write_select,
                 stats.num_tx_poll_req++;
             }
         }
-        if (_evt_handle != nullptr && blocking_deadline > AP_HAL::native_micros64()) {
-            _evt_handle->wait(blocking_deadline - AP_HAL::native_micros64());
+        if (_evt_handle != nullptr && blocking_deadline > AP_HAL::micros64()) {
+            _evt_handle->wait(blocking_deadline - AP_HAL::micros64());
         }
     }
 
diff --git a/libraries/AP_HAL_Linux/system.cpp b/libraries/AP_HAL_Linux/system.cpp
index faa42d49ff..0e0bb8e4f7 100644
--- a/libraries/AP_HAL_Linux/system.cpp
+++ b/libraries/AP_HAL_Linux/system.cpp
@@ -79,43 +79,4 @@ uint64_t millis64()
                    (state.start_time.tv_nsec*1.0e-9)));
 }
 
-
-uint32_t native_micros()
-{
-    return native_micros64() & 0xFFFFFFFF;
-}
-
-uint32_t native_millis()
-{
-    return native_millis64() & 0xFFFFFFFF;
-}
-
-/*
-  we define a millis16() here to avoid an issue with sitl builds in cygwin
- */
-uint16_t native_millis16()
-{
-    return native_millis64() & 0xFFFF;
-}
-    
-
-uint64_t native_micros64()
-{
-    struct timespec ts;
-    clock_gettime(CLOCK_MONOTONIC, &ts);
-    return 1.0e6*((ts.tv_sec + (ts.tv_nsec*1.0e-9)) -
-                  (state.start_time.tv_sec +
-                   (state.start_time.tv_nsec*1.0e-9)));
-}
-
-uint64_t native_millis64()
-{
-    struct timespec ts;
-    clock_gettime(CLOCK_MONOTONIC, &ts);
-    return 1.0e3*((ts.tv_sec + (ts.tv_nsec*1.0e-9)) -
-                  (state.start_time.tv_sec +
-                   (state.start_time.tv_nsec*1.0e-9)));
-}
-
-
 } // namespace AP_HAL