Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-22 00:28:30 -04:00
Code Issues Packages Projects Releases Wiki Activity

HAL_ChibiOS: fixed micros and millis on boards without 1MHz clock

Browse Source
This commit is contained in:
Andrew Tridgell 2023-12-24 09:28:21 +11:00
parent 5c1ed968b1
commit d2d2067f1c
2 changed files with 11 additions and 8 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

18
libraries/AP_HAL_ChibiOS/hwdef/common/hrt.c
View File

@ -84,12 +84,16 @@ static uint32_t get_systime_us32(void)
wrap and directly gives a uint64_t (aka systimestamp_t)
*/
uint64_t hrt_micros64I()
static uint64_t hrt_micros64I(void)
{
#ifdef AP_BOARD_START_TIME
return chVTGetTimeStampI() + AP_BOARD_START_TIME;
uint64_t ret = chVTGetTimeStampI();
#if CH_CFG_ST_FREQUENCY != 1000000U
ret *= 1000000U/CH_CFG_ST_FREQUENCY;
#endif
return chVTGetTimeStampI();
#ifdef AP_BOARD_START_TIME
ret += AP_BOARD_START_TIME;
#endif
return ret;
}
static inline bool is_locked(void) {
@ -99,17 +103,17 @@ static inline bool is_locked(void) {
uint64_t hrt_micros64()
{
if (is_locked()) {
return chVTGetTimeStampI();
return hrt_micros64I();
} else if (port_is_isr_context()) {
uint64_t ret;
chSysLockFromISR();
ret = chVTGetTimeStampI();
ret = hrt_micros64I();
chSysUnlockFromISR();
return ret;
} else {
uint64_t ret;
chSysLock();
ret = chVTGetTimeStampI();
ret = hrt_micros64I();
chSysUnlock();
return ret;
}

1
libraries/AP_HAL_ChibiOS/hwdef/common/hrt.h
View File

@ -7,7 +7,6 @@ extern "C" {
void hrt_init(void);
uint64_t hrt_micros64(void);
uint64_t hrt_micros64I(void); // from locked context
uint64_t hrt_micros64_from_ISR(void); // from an ISR
uint32_t hrt_micros32(void);
uint32_t hrt_millis32(void);