From f50d48f0057d3873dfe035380cab9fdd9b94c6f3 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 23 Nov 2021 13:40:38 +1100
Subject: [PATCH] AP_HAL: tidy set/get of hw RTC

---
 libraries/AP_HAL/AP_HAL_Boards.h |  4 ----
 libraries/AP_HAL/Util.cpp        | 28 ----------------------------
 libraries/AP_HAL/Util.h          |  4 ++--
 libraries/AP_HAL/board/linux.h   |  2 --
 4 files changed, 2 insertions(+), 36 deletions(-)

diff --git a/libraries/AP_HAL/AP_HAL_Boards.h b/libraries/AP_HAL/AP_HAL_Boards.h
index d429a357f6..dd782dca33 100644
--- a/libraries/AP_HAL/AP_HAL_Boards.h
+++ b/libraries/AP_HAL/AP_HAL_Boards.h
@@ -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
diff --git a/libraries/AP_HAL/Util.cpp b/libraries/AP_HAL/Util.cpp
index a094f469d5..3afa823be4 100644
--- a/libraries/AP_HAL/Util.cpp
+++ b/libraries/AP_HAL/Util.cpp
@@ -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) {
diff --git a/libraries/AP_HAL/Util.h b/libraries/AP_HAL/Util.h
index 19a79a9f6f..e7a725cb45 100644
--- a/libraries/AP_HAL/Util.h
+++ b/libraries/AP_HAL/Util.h
@@ -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,
diff --git a/libraries/AP_HAL/board/linux.h b/libraries/AP_HAL/board/linux.h
index ef7675b366..c62953c14e 100644
--- a/libraries/AP_HAL/board/linux.h
+++ b/libraries/AP_HAL/board/linux.h
@@ -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