mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-02 14:13:42 -04:00
54 lines
738 B
C++
54 lines
738 B
C++
#include <stdarg.h>
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#include <stdio.h>
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#include <drivers/drv_hrt.h>
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#include <AP_HAL/AP_HAL.h>
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#include <AP_HAL/system.h>
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extern const AP_HAL::HAL& hal;
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extern bool _px4_thread_should_exit;
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namespace AP_HAL {
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void init()
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{
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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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write(1, "\n", 1);
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hal.scheduler->delay_microseconds(10000);
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_px4_thread_should_exit = true;
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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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return hrt_absolute_time();
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}
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uint64_t millis64()
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{
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return micros64() / 1000;
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}
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} // namespace AP_HAL
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