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AP_HAL: tidy set/get of hw RTC

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This commit is contained in:
Peter Barker 2021-11-23 13:40:38 +11:00 committed by Peter Barker
parent 522056d6f7
commit f50d48f005
4 changed files with 2 additions and 36 deletions
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4
libraries/AP_HAL/AP_HAL_Boards.h
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@ -177,10 +177,6 @@
#define HAL_WITH_IO_MCU 0
#endif
#ifndef HAL_HAVE_GETTIME_SETTIME
#define HAL_HAVE_GETTIME_SETTIME 0
#endif
// this is used as a general mechanism to make a 'small' build by
// dropping little used features. We use this to allow us to keep
// FMUv2 going for as long as possible

28
libraries/AP_HAL/Util.cpp
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@ -68,34 +68,6 @@ int AP_HAL::Util::vsnprintf(char* str, size_t size, const char *format, va_list
return int(ret);
}
uint64_t AP_HAL::Util::get_hw_rtc() const
{
#if defined(__APPLE__) && defined(__MACH__)
struct timeval ts;
gettimeofday(&ts, nullptr);
return ((long long)((ts.tv_sec * 1000000) + ts.tv_usec));
#elif HAL_HAVE_GETTIME_SETTIME
struct timespec ts;
clock_gettime(CLOCK_REALTIME, &ts);
const uint64_t seconds = ts.tv_sec;
const uint64_t nanoseconds = ts.tv_nsec;
return (seconds * 1000000ULL + nanoseconds/1000ULL);
#endif
// no HW clock (or not one worth bothering with)
return 0;
}
void AP_HAL::Util::set_hw_rtc(uint64_t time_utc_usec)
{
#if HAL_HAVE_GETTIME_SETTIME
timespec ts;
ts.tv_sec = time_utc_usec/1000000ULL;
ts.tv_nsec = (time_utc_usec % 1000000ULL) * 1000ULL;
clock_settime(CLOCK_REALTIME, &ts);
#endif
}
void AP_HAL::Util::set_soft_armed(const bool b)
{
if (b != soft_armed) {

4
libraries/AP_HAL/Util.h
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@ -94,12 +94,12 @@ public:
/*
set HW RTC in UTC microseconds
*/
virtual void set_hw_rtc(uint64_t time_utc_usec);
virtual void set_hw_rtc(uint64_t time_utc_usec) = 0;
/*
get system clock in UTC microseconds
*/
virtual uint64_t get_hw_rtc() const;
virtual uint64_t get_hw_rtc() const = 0;
enum class FlashBootloader {
OK=0,

2
libraries/AP_HAL/board/linux.h
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@ -289,8 +289,6 @@
#define HAL_MAG_PROBE_LIST PROBE_MAG_SPI(LIS3MDL, lis3mdl, false, ROTATION_ROLL_180_YAW_90)
#define HAL_OPTFLOW_PX4FLOW_I2C_BUS 0
#define HAL_HAVE_GETTIME_SETTIME 1
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OBAL_V1
//#define HAL_BARO_ALLOW_INIT_NO_BARO