mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-04 15:08:28 -04:00
ff016c4b5a
Implement the new AP_HAL functions and use them in the Scheduler when possible. The '_sketch_start_time' was renamed and moved as a detail of implementation of the functions code. It allows the code to return time starting from zero. The 'stopped_clock_usec' was renamed to follow convention in the file and add a getter so that AP_HAL functions can reach it. It's not a problem this getter is public because in practice, regular code shouldn't even access the Linux::Scheduler directly -- only code that should is from Linux implementation.
78 lines
1.6 KiB
C++
78 lines
1.6 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_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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write(1, "\n", 1);
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hal.rcin->deinit();
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hal.scheduler->delay_microseconds(10000);
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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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} // namespace AP_HAL
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