mirror of https://github.com/ArduPilot/ardupilot
122 lines
2.5 KiB
C++
122 lines
2.5 KiB
C++
#include <stdarg.h>
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#include <stdio.h>
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#include <sys/time.h>
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#include <unistd.h>
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#include <AP_Common/AP_Common.h>
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#include <AP_HAL/AP_HAL.h>
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#include <AP_HAL/system.h>
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#include <AP_HAL_Linux/Scheduler.h>
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extern const AP_HAL::HAL& hal;
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namespace AP_HAL {
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static struct {
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struct timespec start_time;
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} state;
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void init()
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{
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clock_gettime(CLOCK_MONOTONIC, &state.start_time);
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}
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void panic(const char *errormsg, ...)
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{
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va_list ap;
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va_start(ap, errormsg);
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vdprintf(1, errormsg, ap);
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va_end(ap);
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UNUSED_RESULT(write(1, "\n", 1));
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if (hal.rcin != nullptr) {
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hal.rcin->teardown();
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}
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if (hal.scheduler != nullptr) {
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hal.scheduler->delay_microseconds(10000);
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}
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exit(1);
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}
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uint32_t micros()
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{
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return micros64() & 0xFFFFFFFF;
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}
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uint32_t millis()
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{
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return millis64() & 0xFFFFFFFF;
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}
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uint64_t micros64()
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{
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const Linux::Scheduler* scheduler = Linux::Scheduler::from(hal.scheduler);
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uint64_t stopped_usec = scheduler->stopped_clock_usec();
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if (stopped_usec) {
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return stopped_usec;
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}
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struct timespec ts;
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clock_gettime(CLOCK_MONOTONIC, &ts);
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return 1.0e6*((ts.tv_sec + (ts.tv_nsec*1.0e-9)) -
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(state.start_time.tv_sec +
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(state.start_time.tv_nsec*1.0e-9)));
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}
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uint64_t millis64()
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{
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const Linux::Scheduler* scheduler = Linux::Scheduler::from(hal.scheduler);
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uint64_t stopped_usec = scheduler->stopped_clock_usec();
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if (stopped_usec) {
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return stopped_usec / 1000;
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}
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struct timespec ts;
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clock_gettime(CLOCK_MONOTONIC, &ts);
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return 1.0e3*((ts.tv_sec + (ts.tv_nsec*1.0e-9)) -
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(state.start_time.tv_sec +
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(state.start_time.tv_nsec*1.0e-9)));
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}
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uint32_t native_micros()
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{
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return native_micros64() & 0xFFFFFFFF;
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}
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uint32_t native_millis()
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{
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return native_millis64() & 0xFFFFFFFF;
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}
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/*
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we define a millis16() here to avoid an issue with sitl builds in cygwin
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*/
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uint16_t native_millis16()
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{
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return native_millis64() & 0xFFFF;
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}
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uint64_t native_micros64()
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{
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struct timespec ts;
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clock_gettime(CLOCK_MONOTONIC, &ts);
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return 1.0e6*((ts.tv_sec + (ts.tv_nsec*1.0e-9)) -
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(state.start_time.tv_sec +
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(state.start_time.tv_nsec*1.0e-9)));
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}
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uint64_t native_millis64()
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{
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struct timespec ts;
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clock_gettime(CLOCK_MONOTONIC, &ts);
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return 1.0e3*((ts.tv_sec + (ts.tv_nsec*1.0e-9)) -
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(state.start_time.tv_sec +
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(state.start_time.tv_nsec*1.0e-9)));
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}
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} // namespace AP_HAL
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