mirror of https://github.com/ArduPilot/ardupilot
79 lines
1.4 KiB
C++
79 lines
1.4 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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#include <AP_Math/div1000.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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uint64_t start_time_ns;
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} state;
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static uint64_t ts_to_nsec(struct timespec &ts)
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{
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return ts.tv_sec*1000000000ULL + ts.tv_nsec;
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}
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void init()
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{
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struct timespec ts {};
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clock_gettime(CLOCK_MONOTONIC, &ts);
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state.start_time_ns = ts_to_nsec(ts);
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}
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void WEAK 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 uint64_div1000(ts_to_nsec(ts) - state.start_time_ns);
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}
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uint64_t millis64()
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{
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return uint64_div1000(micros64());
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}
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} // namespace AP_HAL
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