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63 lines
1.2 KiB
63 lines
1.2 KiB
/* |
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* This file is free software: you can redistribute it and/or modify it |
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* under the terms of the GNU General Public License as published by the |
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* Free Software Foundation, either version 3 of the License, or |
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* (at your option) any later version. |
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* |
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* This file is distributed in the hope that it will be useful, but |
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* WITHOUT ANY WARRANTY; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. |
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* See the GNU General Public License for more details. |
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* |
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* You should have received a copy of the GNU General Public License along |
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* with this program. If not, see <http://www.gnu.org/licenses/>. |
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*/ |
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#include <AP_HAL/AP_HAL.h> |
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#include <AP_HAL_ESP32/HAL_ESP32_Class.h> |
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#include "SdCard.h" |
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#include <stdint.h> |
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#include "esp_timer.h" |
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namespace AP_HAL |
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{ |
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void panic(const char *errormsg, ...) |
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{ |
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va_list ap; |
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va_start(ap, errormsg); |
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vprintf(errormsg, ap); |
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va_end(ap); |
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while (1) {} |
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} |
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uint32_t micros() |
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{ |
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return micros64(); |
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} |
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uint32_t millis() |
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{ |
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return millis64(); |
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} |
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uint64_t micros64() |
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{ |
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return esp_timer_get_time(); |
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} |
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uint64_t millis64() |
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{ |
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return micros64()/1000; |
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} |
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} // namespace AP_HAL |
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const AP_HAL::HAL& AP_HAL::get_HAL() |
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{ |
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static const HAL_ESP32 hal; |
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return hal; |
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}
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