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POSIX HRT Driver: Count from 0, not UNIX epoch

This commit is contained in:
Lorenz Meier 2015-07-02 17:27:28 +02:00
parent e19a068ebb
commit 9c60154a28
1 changed files with 7 additions and 2 deletions
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9
src/platforms/posix/px4_layer/drv_hrt.c
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@ -61,6 +61,7 @@ static void hrt_call_reschedule(void);
static sem_t _hrt_lock;
static struct work_s _hrt_work;
static hrt_abstime px4_timestart = 0;
static void
hrt_call_invoke(void);
@ -86,7 +87,6 @@ static void hrt_unlock(void)
#define clockid_t int
static double px4_timebase = 0.0;
static uint64_t px4_timestart = 0;
int clock_gettime(clockid_t clk_id, struct timespec *t)
{
@ -119,8 +119,13 @@ hrt_abstime hrt_absolute_time(void)
{
struct timespec ts;
if (!px4_timestart) {
clock_gettime(CLOCK_MONOTONIC, &ts);
px4_timestart = ts_to_abstime(&ts);
}
clock_gettime(CLOCK_MONOTONIC, &ts);
return ts_to_abstime(&ts);
return ts_to_abstime(&ts) - px4_timestart;
}
/*