Copter: use millis/micros/panic functions

ArduCopter/ArduCopter.cpp

@@ -181,7 +181,7 @@ void Copter::setup()
 
     // setup initial performance counters
     perf_info_reset();
-    fast_loopTimer = hal.scheduler->micros();
+    fast_loopTimer = AP_HAL::micros();
 }
 
 /*

ArduCopter/Copter.h

@@ -680,8 +680,6 @@ private:
     void log_picture();
     uint8_t mavlink_compassmot(mavlink_channel_t chan);
     void delay(uint32_t ms);
-    uint32_t millis();
-    uint32_t micros();
     bool acro_init(bool ignore_checks);
     void acro_run();
     void get_pilot_desired_angle_rates(int16_t roll_in, int16_t pitch_in, int16_t yaw_in, float &roll_out, float &pitch_out, float &yaw_out);
@@ -1024,4 +1022,7 @@ public:
 extern const AP_HAL::HAL& hal;
 extern Copter copter;
 
+using AP_HAL::millis;
+using AP_HAL::micros;
+
 #endif // _COPTER_H_

ArduCopter/GCS_Mavlink.cpp

@@ -531,7 +531,7 @@ bool GCS_MAVLINK::try_send_message(enum ap_message id)
     switch(id) {
     case MSG_HEARTBEAT:
         CHECK_PAYLOAD_SIZE(HEARTBEAT);
-        copter.gcs[chan-MAVLINK_COMM_0].last_heartbeat_time = hal.scheduler->millis();
+        copter.gcs[chan-MAVLINK_COMM_0].last_heartbeat_time = AP_HAL::millis();
         copter.send_heartbeat(chan);
         break;
 
@@ -1002,7 +1002,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
     {
         // We keep track of the last time we received a heartbeat from our GCS for failsafe purposes
         if(msg->sysid != copter.g.sysid_my_gcs) break;
-        copter.failsafe.last_heartbeat_ms = hal.scheduler->millis();
+        copter.failsafe.last_heartbeat_ms = AP_HAL::millis();
         copter.pmTest1++;
         break;
     }
@@ -1124,7 +1124,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
         copter.failsafe.rc_override_active = hal.rcin->set_overrides(v, 8);
 
         // a RC override message is considered to be a 'heartbeat' from the ground station for failsafe purposes
-        copter.failsafe.last_heartbeat_ms = hal.scheduler->millis();
+        copter.failsafe.last_heartbeat_ms = AP_HAL::millis();
         break;
     }
 

ArduCopter/Log.cpp

@@ -172,7 +172,7 @@ void Copter::Log_Write_AutoTune(uint8_t axis, uint8_t tune_step, float meas_targ
 {
     struct log_AutoTune pkt = {
         LOG_PACKET_HEADER_INIT(LOG_AUTOTUNE_MSG),
-        time_us     : hal.scheduler->micros64(),
+        time_us     : AP_HAL::micros64(),
         axis        : axis,
         tune_step   : tune_step,
         meas_target : meas_target,
@@ -198,7 +198,7 @@ void Copter::Log_Write_AutoTuneDetails(float angle_cd, float rate_cds)
 {
     struct log_AutoTuneDetails pkt = {
         LOG_PACKET_HEADER_INIT(LOG_AUTOTUNEDETAILS_MSG),
-        time_us     : hal.scheduler->micros64(),
+        time_us     : AP_HAL::micros64(),
         angle_cd    : angle_cd,
         rate_cds    : rate_cds
     };
@@ -237,7 +237,7 @@ void Copter::Log_Write_Optflow()
     const Vector2f &bodyRate = optflow.bodyRate();
     struct log_Optflow pkt = {
         LOG_PACKET_HEADER_INIT(LOG_OPTFLOW_MSG),
-        time_us         : hal.scheduler->micros64(),
+        time_us         : AP_HAL::micros64(),
         surface_quality : optflow.quality(),
         flow_x          : flowRate.x,
         flow_y          : flowRate.y,
@@ -274,7 +274,7 @@ void Copter::Log_Write_Nav_Tuning()
 
     struct log_Nav_Tuning pkt = {
         LOG_PACKET_HEADER_INIT(LOG_NAV_TUNING_MSG),
-        time_us         : hal.scheduler->micros64(),
+        time_us         : AP_HAL::micros64(),
         desired_pos_x   : pos_target.x,
         desired_pos_y   : pos_target.y,
         pos_x           : position.x,
@@ -309,7 +309,7 @@ void Copter::Log_Write_Control_Tuning()
 {
     struct log_Control_Tuning pkt = {
         LOG_PACKET_HEADER_INIT(LOG_CONTROL_TUNING_MSG),
-        time_us             : hal.scheduler->micros64(),
+        time_us             : AP_HAL::micros64(),
         throttle_in         : channel_throttle->control_in,
         angle_boost         : attitude_control.angle_boost(),
         throttle_out        : motors.get_throttle(),
@@ -340,7 +340,7 @@ void Copter::Log_Write_Performance()
 {
     struct log_Performance pkt = {
         LOG_PACKET_HEADER_INIT(LOG_PERFORMANCE_MSG),
-        time_us          : hal.scheduler->micros64(),
+        time_us          : AP_HAL::micros64(),
         num_long_running : perf_info_get_num_long_running(),
         num_loops        : perf_info_get_num_loops(),
         max_time         : perf_info_get_max_time(),
@@ -394,7 +394,7 @@ void Copter::Log_Write_Rate()
     const Vector3f &accel_target = pos_control.get_accel_target();
     struct log_Rate pkt_rate = {
         LOG_PACKET_HEADER_INIT(LOG_RATE_MSG),
-        time_us         : hal.scheduler->micros64(),
+        time_us         : AP_HAL::micros64(),
         control_roll    : (float)rate_targets.x,
         roll            : (float)(ahrs.get_gyro().x * AC_ATTITUDE_CONTROL_DEGX100),
         roll_out        : motors.get_roll(),
@@ -426,7 +426,7 @@ void Copter::Log_Write_MotBatt()
 #if FRAME_CONFIG != HELI_FRAME
     struct log_MotBatt pkt_mot = {
         LOG_PACKET_HEADER_INIT(LOG_MOTBATT_MSG),
-        time_us         : hal.scheduler->micros64(),
+        time_us         : AP_HAL::micros64(),
         lift_max        : (float)(motors.get_lift_max()),
         bat_volt        : (float)(motors.get_batt_voltage_filt()),
         bat_res         : (float)(motors.get_batt_resistance()),
@@ -446,7 +446,7 @@ void Copter::Log_Write_Startup()
 {
     struct log_Startup pkt = {
         LOG_PACKET_HEADER_INIT(LOG_STARTUP_MSG),
-        time_us         : hal.scheduler->micros64()
+        time_us         : AP_HAL::micros64()
     };
     DataFlash.WriteBlock(&pkt, sizeof(pkt));
 }
@@ -463,7 +463,7 @@ void Copter::Log_Write_Event(uint8_t id)
     if (should_log(MASK_LOG_ANY)) {
         struct log_Event pkt = {
             LOG_PACKET_HEADER_INIT(LOG_EVENT_MSG),
-            time_us  : hal.scheduler->micros64(),
+            time_us  : AP_HAL::micros64(),
             id       : id
         };
         DataFlash.WriteCriticalBlock(&pkt, sizeof(pkt));
@@ -484,7 +484,7 @@ void Copter::Log_Write_Data(uint8_t id, int16_t value)
     if (should_log(MASK_LOG_ANY)) {
         struct log_Data_Int16t pkt = {
             LOG_PACKET_HEADER_INIT(LOG_DATA_INT16_MSG),
-            time_us     : hal.scheduler->micros64(),
+            time_us     : AP_HAL::micros64(),
             id          : id,
             data_value  : value
         };
@@ -506,7 +506,7 @@ void Copter::Log_Write_Data(uint8_t id, uint16_t value)
     if (should_log(MASK_LOG_ANY)) {
         struct log_Data_UInt16t pkt = {
             LOG_PACKET_HEADER_INIT(LOG_DATA_UINT16_MSG),
-            time_us     : hal.scheduler->micros64(),
+            time_us     : AP_HAL::micros64(),
             id          : id,
             data_value  : value
         };
@@ -527,7 +527,7 @@ void Copter::Log_Write_Data(uint8_t id, int32_t value)
     if (should_log(MASK_LOG_ANY)) {
         struct log_Data_Int32t pkt = {
             LOG_PACKET_HEADER_INIT(LOG_DATA_INT32_MSG),
-            time_us  : hal.scheduler->micros64(),
+            time_us  : AP_HAL::micros64(),
             id          : id,
             data_value  : value
         };
@@ -548,7 +548,7 @@ void Copter::Log_Write_Data(uint8_t id, uint32_t value)
     if (should_log(MASK_LOG_ANY)) {
         struct log_Data_UInt32t pkt = {
             LOG_PACKET_HEADER_INIT(LOG_DATA_UINT32_MSG),
-            time_us     : hal.scheduler->micros64(),
+            time_us     : AP_HAL::micros64(),
             id          : id,
             data_value  : value
         };
@@ -570,7 +570,7 @@ void Copter::Log_Write_Data(uint8_t id, float value)
     if (should_log(MASK_LOG_ANY)) {
         struct log_Data_Float pkt = {
             LOG_PACKET_HEADER_INIT(LOG_DATA_FLOAT_MSG),
-            time_us     : hal.scheduler->micros64(),
+            time_us     : AP_HAL::micros64(),
             id          : id,
             data_value  : value
         };
@@ -590,7 +590,7 @@ void Copter::Log_Write_Error(uint8_t sub_system, uint8_t error_code)
 {
     struct log_Error pkt = {
         LOG_PACKET_HEADER_INIT(LOG_ERROR_MSG),
-        time_us       : hal.scheduler->micros64(),
+        time_us       : AP_HAL::micros64(),
         sub_system    : sub_system,
         error_code    : error_code,
     };
@@ -616,7 +616,7 @@ void Copter::Log_Write_Parameter_Tuning(uint8_t param, float tuning_val, int16_t
 {
     struct log_ParameterTuning pkt_tune = {
         LOG_PACKET_HEADER_INIT(LOG_PARAMTUNE_MSG),
-        time_us        : hal.scheduler->micros64(),
+        time_us        : AP_HAL::micros64(),
         parameter      : param,
         tuning_value   : tuning_val,
         control_in     : control_in,
@@ -671,7 +671,7 @@ void Copter::Log_Write_Heli()
 {
     struct log_Heli pkt_heli = {
         LOG_PACKET_HEADER_INIT(LOG_HELI_MSG),
-        time_us                 : hal.scheduler->micros64(),
+        time_us                 : AP_HAL::micros64(),
         desired_rotor_speed     : motors.get_desired_rotor_speed(),
         main_rotor_speed        : motors.get_main_rotor_speed(),
     };
@@ -706,7 +706,7 @@ void Copter::Log_Write_Precland()
     const Vector3f &target_pos_ofs = precland.last_target_pos_offset();
     struct log_Precland pkt = {
         LOG_PACKET_HEADER_INIT(LOG_PRECLAND_MSG),
-        time_us         : hal.scheduler->micros64(),
+        time_us         : AP_HAL::micros64(),
         healthy         : precland.healthy(),
         bf_angle_x      : degrees(bf_angle.x),
         bf_angle_y      : degrees(bf_angle.y),

ArduCopter/Parameters.cpp

@@ -1142,7 +1142,7 @@ void Copter::load_parameters(void)
 {
     if (!AP_Param::check_var_info()) {
         cliSerial->printf("Bad var table\n");
-        hal.scheduler->panic("Bad var table");
+        AP_HAL::panic("Bad var table");
     }
 
     // disable centrifugal force correction, it will be enabled as part of the arming process

ArduCopter/compassmot.cpp

@@ -221,8 +221,8 @@ uint8_t Copter::mavlink_compassmot(mavlink_channel_t chan)
             current_amps_max = max(current_amps_max, battery.current_amps());
 
         }
-        if (hal.scheduler->millis() - last_send_time > 500) {
-            last_send_time = hal.scheduler->millis();
+        if (AP_HAL::millis() - last_send_time > 500) {
+            last_send_time = AP_HAL::millis();
             mavlink_msg_compassmot_status_send(chan, 
                                                channel_throttle->control_in,
                                                battery.current_amps(),

ArduCopter/compat.cpp

@@ -4,13 +4,3 @@ void Copter::delay(uint32_t ms)
 {
     hal.scheduler->delay(ms);
 }
-
-uint32_t Copter::millis()
-{
-    return hal.scheduler->millis();
-}
-
-uint32_t Copter::micros()
-{
-    return hal.scheduler->micros();
-}

ArduCopter/control_guided.cpp

@@ -513,7 +513,7 @@ void Copter::guided_limit_set(uint32_t timeout_ms, float alt_min_cm, float alt_m
 void Copter::guided_limit_init_time_and_pos()
 {
     // initialise start time
-    guided_limit.start_time = hal.scheduler->millis();
+    guided_limit.start_time = AP_HAL::millis();
 
     // initialise start position from current position
     guided_limit.start_pos = inertial_nav.get_position();

ArduCopter/ekf_check.cpp

@@ -59,9 +59,9 @@ void Copter::ekf_check()
                 // log an error in the dataflash
                 Log_Write_Error(ERROR_SUBSYSTEM_EKFCHECK, ERROR_CODE_EKFCHECK_BAD_VARIANCE);
                 // send message to gcs
-                if ((hal.scheduler->millis() - ekf_check_state.last_warn_time) > EKF_CHECK_WARNING_TIME) {
+                if ((AP_HAL::millis() - ekf_check_state.last_warn_time) > EKF_CHECK_WARNING_TIME) {
                     gcs_send_text(MAV_SEVERITY_CRITICAL,"EKF variance");
-                    ekf_check_state.last_warn_time = hal.scheduler->millis();
+                    ekf_check_state.last_warn_time = AP_HAL::millis();
                 }
                 failsafe_ekf_event();
             }

ArduCopter/failsafe.cpp

@@ -36,7 +36,7 @@ void Copter::failsafe_disable()
 //
 void Copter::failsafe_check()
 {
-    uint32_t tnow = hal.scheduler->micros();
+    uint32_t tnow = AP_HAL::micros();
 
     if (mainLoop_count != failsafe_last_mainLoop_count) {
         // the main loop is running, all is OK

ArduCopter/motor_test.cpp

@@ -27,7 +27,7 @@ void Copter::motor_test_output()
     }
 
     // check for test timeout
-    if ((hal.scheduler->millis() - motor_test_start_ms) >= motor_test_timeout_ms) {
+    if ((AP_HAL::millis() - motor_test_start_ms) >= motor_test_timeout_ms) {
         // stop motor test
         motor_test_stop();
     } else {
@@ -128,7 +128,7 @@ uint8_t Copter::mavlink_motor_test_start(mavlink_channel_t chan, uint8_t motor_s
     }
 
     // set timeout
-    motor_test_start_ms = hal.scheduler->millis();
+    motor_test_start_ms = AP_HAL::millis();
     motor_test_timeout_ms = min(timeout_sec * 1000, MOTOR_TEST_TIMEOUT_MS_MAX);
 
     // store required output