AP_Scheduler: use millis/micros/panic functions

libraries/AP_Scheduler/AP_Scheduler.cpp

@@ -61,7 +61,7 @@ void AP_Scheduler::tick(void)
  */
 void AP_Scheduler::run(uint16_t time_available)
 {
-    uint32_t run_started_usec = hal.scheduler->micros();
+    uint32_t run_started_usec = AP_HAL::micros();
     uint32_t now = run_started_usec;
 
     for (uint8_t i=0; i<_num_tasks; i++) {
@@ -97,7 +97,7 @@ void AP_Scheduler::run(uint16_t time_available)
                 _last_run[i] = _tick_counter;
                 
                 // work out how long the event actually took
-                now = hal.scheduler->micros();
+                now = AP_HAL::micros();
                 uint32_t time_taken = now - _task_time_started;
                 
                 if (time_taken > _task_time_allowed) {
@@ -134,7 +134,7 @@ update_spare_ticks:
  */
 uint16_t AP_Scheduler::time_available_usec(void)
 {
-    uint32_t dt = hal.scheduler->micros() - _task_time_started;
+    uint32_t dt = AP_HAL::micros() - _task_time_started;
     if (dt > _task_time_allowed) {
         return 0;
     }

libraries/AP_Scheduler/examples/Scheduler_test/Scheduler_test.cpp

@@ -84,7 +84,7 @@ void SchedTest::ins_update(void)
  */
 void SchedTest::one_hz_print(void)
 {
-    hal.console->printf("one_hz: t=%lu\n", (unsigned long)hal.scheduler->millis());
+    hal.console->printf("one_hz: t=%lu\n", (unsigned long)AP_HAL::millis());
 }
 
 /*
@@ -92,7 +92,7 @@ void SchedTest::one_hz_print(void)
  */
 void SchedTest::five_second_call(void)
 {
-    hal.console->printf("five_seconds: t=%lu ins_counter=%u\n", (unsigned long)hal.scheduler->millis(), ins_counter);
+    hal.console->printf("five_seconds: t=%lu ins_counter=%u\n", (unsigned long)AP_HAL::millis(), ins_counter);
 }
 
 /*