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HAL_Linux: use CLOCK_MONOTONIC_RAW to ensure clock never goes backwards

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this avoids ntp mucking with APM timing
This commit is contained in:
Andrew Tridgell 2013-10-06 20:57:24 +11:00
parent a4604ab317
commit 07b8f45770
2 changed files with 10 additions and 10 deletions
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18
libraries/AP_HAL_Linux/Scheduler.cpp
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@ -28,7 +28,7 @@ typedef void *(*pthread_startroutine_t)(void *);
void LinuxScheduler::init(void* machtnichts)
{
gettimeofday(&_sketch_start_time, NULL);
clock_gettime(CLOCK_MONOTONIC, &_sketch_start_time);
pthread_attr_t thread_attr;
struct sched_param param;
@ -79,20 +79,20 @@ void LinuxScheduler::delay(uint16_t ms)
uint32_t LinuxScheduler::millis()
{
struct timeval tp;
gettimeofday(&tp,NULL);
return 1.0e3*((tp.tv_sec + (tp.tv_usec*1.0e-6)) -
struct timespec ts;
clock_gettime(CLOCK_MONOTONIC, &ts);
return 1.0e3*((ts.tv_sec + (ts.tv_nsec*1.0e-9)) -
(_sketch_start_time.tv_sec +
(_sketch_start_time.tv_usec*1.0e-6)));
(_sketch_start_time.tv_nsec*1.0e-9)));
}
uint32_t LinuxScheduler::micros()
{
struct timeval tp;
gettimeofday(&tp,NULL);
return 1.0e6*((tp.tv_sec + (tp.tv_usec*1.0e-6)) -
struct timespec ts;
clock_gettime(CLOCK_MONOTONIC, &ts);
return 1.0e6*((ts.tv_sec + (ts.tv_nsec*1.0e-9)) -
(_sketch_start_time.tv_sec +
(_sketch_start_time.tv_usec*1.0e-6)));
(_sketch_start_time.tv_nsec*1.0e-9)));
}
void LinuxScheduler::delay_microseconds(uint16_t us)

2
libraries/AP_HAL_Linux/Scheduler.h
View File

@ -40,7 +40,7 @@ public:
void reboot(bool hold_in_bootloader);
private:
struct timeval _sketch_start_time;
struct timespec _sketch_start_time;
void _timer_handler(int signum);
AP_HAL::Proc _delay_cb;