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AP_DroneCAN: removed native_millis/micros

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This commit is contained in:
Andrew Tridgell 2023-08-22 11:41:13 +10:00 committed by Peter Barker
parent b55c1d7193
commit 232509ad7a
2 changed files with 20 additions and 20 deletions
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16
libraries/AP_DroneCAN/AP_Canard_iface.cpp
View File

@ -90,7 +90,7 @@ bool CanardInterface::broadcast(const Canard::Transfer &bcast_transfer) {
#if CANARD_ENABLE_CANFD
.canfd = bcast_transfer.canfd,
#endif
.deadline_usec = AP_HAL::native_micros64() + (bcast_transfer.timeout_ms * 1000),
.deadline_usec = AP_HAL::micros64() + (bcast_transfer.timeout_ms * 1000),
#if CANARD_MULTI_IFACE
.iface_mask = uint8_t((1<<num_ifaces) - 1),
#endif
@ -127,7 +127,7 @@ bool CanardInterface::request(uint8_t destination_node_id, const Canard::Transfe
#if CANARD_ENABLE_CANFD
.canfd = req_transfer.canfd,
#endif
.deadline_usec = AP_HAL::native_micros64() + (req_transfer.timeout_ms * 1000),
.deadline_usec = AP_HAL::micros64() + (req_transfer.timeout_ms * 1000),
#if CANARD_MULTI_IFACE
.iface_mask = uint8_t((1<<num_ifaces) - 1),
#endif
@ -159,7 +159,7 @@ bool CanardInterface::respond(uint8_t destination_node_id, const Canard::Transfe
#if CANARD_ENABLE_CANFD
.canfd = res_transfer.canfd,
#endif
.deadline_usec = AP_HAL::native_micros64() + (res_transfer.timeout_ms * 1000),
.deadline_usec = AP_HAL::micros64() + (res_transfer.timeout_ms * 1000),
#if CANARD_MULTI_IFACE
.iface_mask = uint8_t((1<<num_ifaces) - 1),
#endif
@ -196,7 +196,7 @@ void CanardInterface::processTestRx() {
WITH_SEMAPHORE(test_iface_sem);
for (const CanardCANFrame* txf = canardPeekTxQueue(&test_iface.canard); txf != NULL; txf = canardPeekTxQueue(&test_iface.canard)) {
if (canard_ifaces[0]) {
canardHandleRxFrame(&canard_ifaces[0]->canard, txf, AP_HAL::native_micros64());
canardHandleRxFrame(&canard_ifaces[0]->canard, txf, AP_HAL::micros64());
}
canardPopTxQueue(&test_iface.canard);
}
@ -242,7 +242,7 @@ void CanardInterface::processTx(bool raw_commands_only = false) {
// top of the queue, so wait for the next loop
break;
}
if ((txf->iface_mask & (1U<<iface)) && (AP_HAL::native_micros64() < txf->deadline_usec)) {
if ((txf->iface_mask & (1U<<iface)) && (AP_HAL::micros64() < txf->deadline_usec)) {
// try sending to interfaces, clearing the mask if we succeed
if (ifaces[iface]->send(txmsg, txf->deadline_usec, 0) > 0) {
txf->iface_mask &= ~(1U<<iface);
@ -366,16 +366,16 @@ void CanardInterface::process(uint32_t duration_ms) {
hal.scheduler->delay_microseconds(1000);
}
#else
const uint64_t deadline = AP_HAL::native_micros64() + duration_ms*1000;
const uint64_t deadline = AP_HAL::micros64() + duration_ms*1000;
while (true) {
processRx();
processTx();
{
WITH_SEMAPHORE(_sem_rx);
WITH_SEMAPHORE(_sem_tx);
canardCleanupStaleTransfers(&canard, AP_HAL::native_micros64());
canardCleanupStaleTransfers(&canard, AP_HAL::micros64());
}
uint64_t now = AP_HAL::native_micros64();
uint64_t now = AP_HAL::micros64();
if (now < deadline) {
_event_handle.wait(MIN(UINT16_MAX - 2U, deadline - now));
hal.scheduler->delay_microseconds(50);

24
libraries/AP_DroneCAN/AP_DroneCAN.cpp
View File

@ -400,7 +400,7 @@ void AP_DroneCAN::loop(void)
#endif
if (_SRV_armed_mask != 0) {
// we have active servos
uint32_t now = AP_HAL::native_micros();
uint32_t now = AP_HAL::micros();
const uint32_t servo_period_us = 1000000UL / unsigned(_servo_rate_hz.get());
if (now - _SRV_last_send_us >= servo_period_us) {
_SRV_last_send_us = now;
@ -494,7 +494,7 @@ void AP_DroneCAN::handle_hobbywing_StatusMsg2(const CanardRxTransfer& transfer,
void AP_DroneCAN::send_node_status(void)
{
const uint32_t now = AP_HAL::native_millis();
const uint32_t now = AP_HAL::millis();
if (now - _node_status_last_send_ms < 1000) {
return;
}
@ -542,7 +542,7 @@ void AP_DroneCAN::send_node_status(void)
void AP_DroneCAN::handle_node_info_request(const CanardRxTransfer& transfer, const uavcan_protocol_GetNodeInfoRequest& req)
{
node_info_rsp.status = node_status_msg;
node_info_rsp.status.uptime_sec = AP_HAL::native_millis() / 1000;
node_info_rsp.status.uptime_sec = AP_HAL::millis() / 1000;
node_info_server.respond(transfer, node_info_rsp);
}
@ -797,7 +797,7 @@ void AP_DroneCAN::SRV_push_servos()
// notify state send
void AP_DroneCAN::notify_state_send()
{
uint32_t now = AP_HAL::native_millis();
uint32_t now = AP_HAL::millis();
if (_notify_state_hz == 0 || (now - _last_notify_state_ms) < uint32_t(1000 / _notify_state_hz)) {
return;
@ -892,7 +892,7 @@ void AP_DroneCAN::notify_state_send()
}
msg.aux_data.len = 2;
notify_state.broadcast(msg);
_last_notify_state_ms = AP_HAL::native_millis();
_last_notify_state_ms = AP_HAL::millis();
}
#if AP_DRONECAN_SEND_GPS
@ -914,7 +914,7 @@ void AP_DroneCAN::gnss_send_fix()
const Location &loc = gps.location();
const Vector3f &vel = gps.velocity();
pkt.timestamp.usec = AP_HAL::native_micros64();
pkt.timestamp.usec = AP_HAL::micros64();
pkt.gnss_timestamp.usec = gps.time_epoch_usec();
if (pkt.gnss_timestamp.usec == 0) {
pkt.gnss_time_standard = UAVCAN_EQUIPMENT_GNSS_FIX2_GNSS_TIME_STANDARD_NONE;
@ -982,7 +982,7 @@ void AP_DroneCAN::gnss_send_fix()
const uint32_t now_ms = AP_HAL::native_millis();
const uint32_t now_ms = AP_HAL::millis();
if (now_ms - _gnss.last_send_status_ms >= 1000) {
_gnss.last_send_status_ms = now_ms;
@ -1047,7 +1047,7 @@ void AP_DroneCAN::gnss_send_yaw()
// SafetyState send
void AP_DroneCAN::safety_state_send()
{
uint32_t now = AP_HAL::native_millis();
uint32_t now = AP_HAL::millis();
if (now - _last_safety_state_ms < 500) {
// update at 2Hz
return;
@ -1170,7 +1170,7 @@ void AP_DroneCAN::handle_traffic_report(const CanardRxTransfer& transfer, const
pkt.flags |= ADSB_FLAGS_BARO_VALID;
}
vehicle.last_update_ms = AP_HAL::native_millis() - (vehicle.info.tslc * 1000);
vehicle.last_update_ms = AP_HAL::millis() - (vehicle.info.tslc * 1000);
adsb->handle_adsb_vehicle(vehicle);
#endif
}
@ -1181,7 +1181,7 @@ void AP_DroneCAN::handle_traffic_report(const CanardRxTransfer& transfer, const
void AP_DroneCAN::handle_actuator_status(const CanardRxTransfer& transfer, const uavcan_equipment_actuator_Status& msg)
{
// log as CSRV message
AP::logger().Write_ServoStatus(AP_HAL::native_micros64(),
AP::logger().Write_ServoStatus(AP_HAL::micros64(),
msg.actuator_id,
msg.position,
msg.force,
@ -1196,7 +1196,7 @@ void AP_DroneCAN::handle_actuator_status(const CanardRxTransfer& transfer, const
void AP_DroneCAN::handle_himark_servoinfo(const CanardRxTransfer& transfer, const com_himark_servo_ServoInfo &msg)
{
// log as CSRV message
AP::logger().Write_ServoStatus(AP_HAL::native_micros64(),
AP::logger().Write_ServoStatus(AP_HAL::micros64(),
msg.servo_id,
msg.pos_sensor*0.01,
0,
@ -1219,7 +1219,7 @@ void AP_DroneCAN::handle_actuator_status_Volz(const CanardRxTransfer& transfer,
"s#dAv%O",
"F-00000",
"QBfffBh",
AP_HAL::native_micros64(),
AP_HAL::micros64(),
msg.actuator_id,
ToDeg(msg.actual_position),
msg.current * 0.025f,