mirror of https://github.com/ArduPilot/ardupilot
80 lines
1.6 KiB
C++
80 lines
1.6 KiB
C++
#include <stdarg.h>
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#include <stdio.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 "Scheduler.h"
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extern const AP_HAL::HAL& hal;
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using HALSITL::Scheduler;
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namespace AP_HAL {
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static struct {
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struct timeval start_time;
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} state;
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void init()
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{
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gettimeofday(&state.start_time, nullptr);
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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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fflush(stdout);
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va_start(ap, errormsg);
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vprintf(errormsg, ap);
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va_end(ap);
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printf("\n");
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for(;;);
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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 HALSITL::Scheduler* scheduler = HALSITL::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 timeval tp;
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gettimeofday(&tp, nullptr);
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uint64_t ret = 1.0e6 * ((tp.tv_sec + (tp.tv_usec * 1.0e-6)) -
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(state.start_time.tv_sec +
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(state.start_time.tv_usec * 1.0e-6)));
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return ret;
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}
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uint64_t millis64()
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{
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const HALSITL::Scheduler* scheduler = HALSITL::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 timeval tp;
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gettimeofday(&tp, nullptr);
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uint64_t ret = 1.0e3*((tp.tv_sec + (tp.tv_usec*1.0e-6)) -
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(state.start_time.tv_sec +
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(state.start_time.tv_usec*1.0e-6)));
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return ret;
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}
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} // namespace AP_HAL
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