Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-02 14:08:45 -04:00
Code Issues Packages Projects Releases Wiki Activity

HAL_SITL: add methods to fetch native system clock info

Browse Source
This commit is contained in:
Siddharth Purohit 2020-05-31 18:03:00 +05:30 committed by Andrew Tridgell
parent c17aec07a2
commit f0e6a8c535
1 changed files with 41 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

41
libraries/AP_HAL_SITL/system.cpp
View File

@ -177,4 +177,45 @@ uint64_t millis64()
return ret;
}
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 timeval tp;
gettimeofday(&tp, nullptr);
uint64_t ret = 1.0e6 * ((tp.tv_sec + (tp.tv_usec * 1.0e-6)) -
(state.start_time.tv_sec +
(state.start_time.tv_usec * 1.0e-6)));
return ret;
}
uint64_t native_millis64()
{
struct timeval tp;
gettimeofday(&tp, nullptr);
uint64_t ret = 1.0e3*((tp.tv_sec + (tp.tv_usec*1.0e-6)) -
(state.start_time.tv_sec +
(state.start_time.tv_usec*1.0e-6)));
return ret;
}
} // namespace AP_HAL