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HAL_ChibiOS: support wider range of clock frequencies

This commit is contained in:
Andrew Tridgell 2019-12-19 17:20:44 +11:00
parent cfed364dd0
commit f732a482fe
1 changed files with 4 additions and 8 deletions
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12
libraries/AP_HAL_ChibiOS/hwdef/common/hrt.c
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@ -41,16 +41,12 @@
for micros64()
*/
#if CH_CFG_ST_FREQUENCY != 1000000U && CH_CFG_ST_FREQUENCY != 1000U
#error "unsupported tick frequency"
#endif
#if CH_CFG_ST_RESOLUTION == 16
static uint32_t system_time_u32_us(void)
{
systime_t now = chVTGetSystemTimeX();
#if CH_CFG_ST_FREQUENCY == 1000U
now *= 1000U;
#if CH_CFG_ST_FREQUENCY != 1000000U
now *= 1000000U/CH_CFG_ST_FREQUENCY;
#endif
static systime_t last_systime;
static uint32_t timer_base_us32;
@ -63,8 +59,8 @@ static uint32_t system_time_u32_us(void)
static uint32_t system_time_u32_us(void)
{
systime_t now = chVTGetSystemTimeX();
#if CH_CFG_ST_FREQUENCY == 1000U
now *= 1000U;
#if CH_CFG_ST_FREQUENCY != 1000000U
now *= 1000000U/CH_CFG_ST_FREQUENCY;
#endif
return now;
}