ardupilot/libraries/AP_HAL_VRBRAIN/system.cpp

54 lines
746 B
C++

#include <stdarg.h>
#include <stdio.h>
#include <drivers/drv_hrt.h>
#include <AP_HAL/AP_HAL.h>
#include <AP_HAL/system.h>
extern const AP_HAL::HAL& hal;
extern bool _vrbrain_thread_should_exit;
namespace AP_HAL {
void init()
{
}
void panic(const char *errormsg, ...)
{
va_list ap;
va_start(ap, errormsg);
vdprintf(1, errormsg, ap);
va_end(ap);
write(1, "\n", 1);
hal.scheduler->delay_microseconds(10000);
_vrbrain_thread_should_exit = true;
exit(1);
}
uint32_t micros()
{
return micros64() & 0xFFFFFFFF;
}
uint32_t millis()
{
return millis64() & 0xFFFFFFFF;
}
uint64_t micros64()
{
return hrt_absolute_time();
}
uint64_t millis64()
{
return micros64() / 1000;
}
} // namespace AP_HAL