From 5c9e5fbc116d033b321662ed27c69a286696e1a4 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Wed, 20 Aug 2014 08:42:32 +1000 Subject: [PATCH] AP_InertialSensor: removed use of hrt_absolute_time() --- libraries/AP_InertialSensor/AP_InertialSensor_PX4.cpp | 10 +++++----- .../AP_InertialSensor/AP_InertialSensor_VRBRAIN.cpp | 6 +++--- 2 files changed, 8 insertions(+), 8 deletions(-) diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_PX4.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_PX4.cpp index 4f473f5637..daf14cf16a 100644 --- a/libraries/AP_InertialSensor/AP_InertialSensor_PX4.cpp +++ b/libraries/AP_InertialSensor/AP_InertialSensor_PX4.cpp @@ -212,12 +212,12 @@ void AP_InertialSensor_PX4::_get_sample(void) _last_gyro_timestamp[i] = gyro_report.timestamp; } } - _last_get_sample_timestamp = hrt_absolute_time(); + _last_get_sample_timestamp = hal.scheduler->micros64(); } bool AP_InertialSensor_PX4::_sample_available(void) { - uint64_t tnow = hrt_absolute_time(); + uint64_t tnow = hal.scheduler->micros64(); while (tnow - _last_sample_timestamp > _sample_time_usec) { _have_sample_available = true; _last_sample_timestamp += _sample_time_usec; @@ -230,9 +230,9 @@ bool AP_InertialSensor_PX4::wait_for_sample(uint16_t timeout_ms) if (_sample_available()) { return true; } - uint32_t start = hal.scheduler->millis(); - while ((hal.scheduler->millis() - start) < timeout_ms) { - uint64_t tnow = hrt_absolute_time(); + uint64_t start = hal.scheduler->millis64(); + while ((hal.scheduler->millis64() - start) < timeout_ms) { + uint64_t tnow = hal.scheduler->micros64(); // we spin for the last timing_lag microseconds. Before that // we yield the CPU to allow IO to happen const uint16_t timing_lag = 400; diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_VRBRAIN.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_VRBRAIN.cpp index da0938cb2a..a0f2b9b2f6 100644 --- a/libraries/AP_InertialSensor/AP_InertialSensor_VRBRAIN.cpp +++ b/libraries/AP_InertialSensor/AP_InertialSensor_VRBRAIN.cpp @@ -212,12 +212,12 @@ void AP_InertialSensor_VRBRAIN::_get_sample(void) _last_gyro_timestamp[i] = gyro_report.timestamp; } } - _last_get_sample_timestamp = hrt_absolute_time(); + _last_get_sample_timestamp = hal.scheduler->micros64(); } bool AP_InertialSensor_VRBRAIN::_sample_available(void) { - uint64_t tnow = hrt_absolute_time(); + uint64_t tnow = hal.scheduler->micros64(); while (tnow - _last_sample_timestamp > _sample_time_usec) { _have_sample_available = true; _last_sample_timestamp += _sample_time_usec; @@ -232,7 +232,7 @@ bool AP_InertialSensor_VRBRAIN::wait_for_sample(uint16_t timeout_ms) } uint32_t start = hal.scheduler->millis(); while ((hal.scheduler->millis() - start) < timeout_ms) { - uint64_t tnow = hrt_absolute_time(); + uint64_t tnow = hal.scheduler->micros64(); // we spin for the last timing_lag microseconds. Before that // we yield the CPU to allow IO to happen const uint16_t timing_lag = 400;