AP_PerfMon: use millis/micros/panic functions

libraries/AP_PerfMon/AP_PerfMon.cpp

@@ -23,7 +23,7 @@ AP_PerfMon::AP_PerfMon(uint8_t funcNum) : _funcNum(funcNum), _time_this_iteratio
 
     // check global start time
     if( allStartTime == 0 ) {
-        allStartTime = hal.scheduler->micros();
+        allStartTime = AP_HAL::micros();
     }
 
     // stop recording time from parent
@@ -81,13 +81,13 @@ uint8_t AP_PerfMon::recordFunctionName(const char funcName[])
 // stop recording time
 void AP_PerfMon::start()
 {
-    _startTime = hal.scheduler->micros();  // start recording time spent in this function
+    _startTime = AP_HAL::micros();  // start recording time spent in this function
 }
 
 // stop recording time
 void AP_PerfMon::stop()
 {
-    uint32_t temp_time = hal.scheduler->micros()-_startTime;
+    uint32_t temp_time = AP_HAL::micros()-_startTime;
     _time_this_iteration += temp_time;
     time[_funcNum] += temp_time;
 }
@@ -105,7 +105,7 @@ void AP_PerfMon::ClearAll()
     }
 
     // reset start time to now
-    allStartTime = hal.scheduler->micros();
+    allStartTime = AP_HAL::micros();
     allEndTime = 0;
 
     // reset start times of any active counters
@@ -129,7 +129,7 @@ void AP_PerfMon::DisplayResults()
 
     // record end time
     if( allEndTime == 0 ) {
-        allEndTime = hal.scheduler->micros();
+        allEndTime = AP_HAL::micros();
     }
 
     // turn off any time recording
@@ -207,7 +207,7 @@ void AP_PerfMon::DisplayResults()
 // DisplayAndClear - will display results after this many milliseconds.  should be called regularly
 void AP_PerfMon::DisplayAndClear(uint32_t display_after_seconds)
 {
-    if( (hal.scheduler->micros() - allStartTime) > (uint32_t)(display_after_seconds * 1000000) ) {
+    if( (AP_HAL::micros() - allStartTime) > (uint32_t)(display_after_seconds * 1000000) ) {
         DisplayResults();
         ClearAll();
     }