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HAL_SITL: use integer maths for clocks 

same fix as for HAL_Linux
This commit is contained in:
Andrew Tridgell 2024-02-05 14:30:09 +11:00 committed by Peter Barker
parent 093f6e4a00
commit 992eba3a36
1 changed files with 12 additions and 8 deletions
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20
libraries/AP_HAL_SITL/system.cpp
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@ -18,12 +18,19 @@ using HALSITL::Scheduler;
namespace AP_HAL { namespace AP_HAL {
static struct { static struct {
struct timeval start_time; uint64_t start_time_ns;
} state; } state;
static uint64_t ts_to_nsec(struct timespec &ts)
{
return ts.tv_sec*1000000000ULL + ts.tv_nsec;
}
void init() void init()
{ {
gettimeofday(&state.start_time, nullptr); struct timespec ts {};
clock_gettime(CLOCK_MONOTONIC, &ts);
state.start_time_ns = ts_to_nsec(ts);
} }
#if defined(__CYGWIN__) || defined(__CYGWIN64__) || defined(CYGWIN_BUILD) #if defined(__CYGWIN__) || defined(__CYGWIN64__) || defined(CYGWIN_BUILD)
@ -170,12 +177,9 @@ uint64_t micros64()
return stopped_usec; return stopped_usec;
} }
struct timeval tp; struct timespec ts;
gettimeofday(&tp, nullptr); clock_gettime(CLOCK_MONOTONIC, &ts);
uint64_t ret = 1.0e6 * ((tp.tv_sec + (tp.tv_usec * 1.0e-6)) - return uint64_div1000(ts_to_nsec(ts) - state.start_time_ns);
(state.start_time.tv_sec +
(state.start_time.tv_usec * 1.0e-6)));
return ret;
} }
uint64_t millis64() uint64_t millis64()