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AP_BattMonitor: use millis/micros/panic functions

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Caio Marcelo de Oliveira Filho 2015-11-20 12:08:43 +09:00 committed by Randy Mackay
parent 8cce3067f4
commit 9eb945d24f
5 changed files with 6 additions and 6 deletions
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2
libraries/AP_BattMonitor/AP_BattMonitor.cpp
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@ -276,7 +276,7 @@ bool AP_BattMonitor::exhausted(uint8_t instance, float low_voltage, float min_ca
}
// get current time
uint32_t tnow = hal.scheduler->millis();
uint32_t tnow = AP_HAL::millis();
// check voltage
if ((state[instance].voltage > 0.0f) && (low_voltage > 0) && (state[instance].voltage < low_voltage)) {

2
libraries/AP_BattMonitor/AP_BattMonitor_Analog.cpp
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@ -31,7 +31,7 @@ AP_BattMonitor_Analog::read()
// read current
if (_mon.has_current(_state.instance)) {
// calculate time since last current read
uint32_t tnow = hal.scheduler->micros();
uint32_t tnow = AP_HAL::micros();
float dt = tnow - _state.last_time_micros;
// this copes with changing the pin at runtime

2
libraries/AP_BattMonitor/AP_BattMonitor_Bebop.cpp
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@ -144,7 +144,7 @@ void AP_BattMonitor_Bebop::read(void)
float remaining, vbat, vbat_raw;
auto rcout = Linux::RCOutput_Bebop::from(hal.rcout);
tnow = hal.scheduler->micros();
tnow = AP_HAL::micros();
ret = rcout->read_obs_data(data);
if (ret < 0) {

2
libraries/AP_BattMonitor/AP_BattMonitor_SMBus_I2C.cpp
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@ -37,7 +37,7 @@ void AP_BattMonitor_SMBus_I2C::read()
{
uint16_t data;
uint8_t buff[4];
uint32_t tnow = hal.scheduler->micros();
uint32_t tnow = AP_HAL::micros();
// read voltage
if (read_word(BATTMONITOR_SMBUS_VOLTAGE, data)) {

4
libraries/AP_BattMonitor/AP_BattMonitor_SMBus_PX4.cpp
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@ -66,7 +66,7 @@ void AP_BattMonitor_SMBus_PX4::read()
if (OK == orb_copy(ORB_ID(battery_status), _batt_sub, &batt_status)) {
_state.voltage = batt_status.voltage_v;
_state.current_amps = batt_status.current_a;
_state.last_time_micros = hal.scheduler->micros();
_state.last_time_micros = AP_HAL::micros();
_state.current_total_mah = batt_status.discharged_mah;
_state.healthy = true;
@ -81,7 +81,7 @@ void AP_BattMonitor_SMBus_PX4::read()
}
} else if (_state.healthy) {
// timeout after 5 seconds
if ((hal.scheduler->micros() - _state.last_time_micros) > AP_BATTMONITOR_SMBUS_TIMEOUT_MICROS) {
if ((AP_HAL::micros() - _state.last_time_micros) > AP_BATTMONITOR_SMBUS_TIMEOUT_MICROS) {
_state.healthy = false;
}
}