From 4674a1c68d3cbb2cf1d78c662cfb460a7be3b6f7 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Thu, 4 Oct 2018 13:03:57 +1000
Subject: [PATCH] HAL_ChibiOS: fixed system time for clocks other than 1MHz

needed for IOMCU
---
 libraries/AP_HAL_ChibiOS/hwdef/common/hrt.c | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/common/hrt.c b/libraries/AP_HAL_ChibiOS/hwdef/common/hrt.c
index 04246ab715..d724c77e53 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/common/hrt.c
+++ b/libraries/AP_HAL_ChibiOS/hwdef/common/hrt.c
@@ -31,6 +31,9 @@ static volatile systime_t last_systime;
 static uint32_t get_systime_us32(void)
 {
     systime_t now = chVTGetSystemTimeX();
+#if CH_CFG_ST_FREQUENCY != 1000000
+    now *= (1000000UL / CH_CFG_ST_FREQUENCY);
+#endif
     if (now < last_systime) {
         uint32_t last_u32 = timer_base_us32;
         timer_base_us32 += (uint32_t)TIME_MAX_SYSTIME;
@@ -47,6 +50,9 @@ static uint32_t get_systime_us32(void)
 static uint32_t get_systime_us32(void)
 {
     systime_t now = chVTGetSystemTimeX();
+#if CH_CFG_ST_FREQUENCY != 1000000
+    now *= (1000000UL / CH_CFG_ST_FREQUENCY);
+#endif
     if (now < last_systime) {
         timer_base_us64 += TIME_MAX_SYSTIME;
         timer_base_ms += TIME_MAX_SYSTIME/1000;