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AP_Scheduler: use millis/micros/panic functions

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Caio Marcelo de Oliveira Filho 2015-11-20 12:14:32 +09:00 committed by Randy Mackay
parent 82a14b183d
commit 81186e5416
2 changed files with 5 additions and 5 deletions
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6
libraries/AP_Scheduler/AP_Scheduler.cpp
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@ -61,7 +61,7 @@ void AP_Scheduler::tick(void)
*/
void AP_Scheduler::run(uint16_t time_available)
{
uint32_t run_started_usec = hal.scheduler->micros();
uint32_t run_started_usec = AP_HAL::micros();
uint32_t now = run_started_usec;
for (uint8_t i=0; i<_num_tasks; i++) {
@ -97,7 +97,7 @@ void AP_Scheduler::run(uint16_t time_available)
_last_run[i] = _tick_counter;
// work out how long the event actually took
now = hal.scheduler->micros();
now = AP_HAL::micros();
uint32_t time_taken = now - _task_time_started;
if (time_taken > _task_time_allowed) {
@ -134,7 +134,7 @@ update_spare_ticks:
*/
uint16_t AP_Scheduler::time_available_usec(void)
{
uint32_t dt = hal.scheduler->micros() - _task_time_started;
uint32_t dt = AP_HAL::micros() - _task_time_started;
if (dt > _task_time_allowed) {
return 0;
}

4
libraries/AP_Scheduler/examples/Scheduler_test/Scheduler_test.cpp
View File

@ -84,7 +84,7 @@ void SchedTest::ins_update(void)
*/
void SchedTest::one_hz_print(void)
{
hal.console->printf("one_hz: t=%lu\n", (unsigned long)hal.scheduler->millis());
hal.console->printf("one_hz: t=%lu\n", (unsigned long)AP_HAL::millis());
}
/*
@ -92,7 +92,7 @@ void SchedTest::one_hz_print(void)
*/
void SchedTest::five_second_call(void)
{
hal.console->printf("five_seconds: t=%lu ins_counter=%u\n", (unsigned long)hal.scheduler->millis(), ins_counter);
hal.console->printf("five_seconds: t=%lu ins_counter=%u\n", (unsigned long)AP_HAL::millis(), ins_counter);
}
/*