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53 lines
746 B
53 lines
746 B
#include <stdarg.h> |
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#include <stdio.h> |
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#include <drivers/drv_hrt.h> |
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#include <AP_HAL/AP_HAL.h> |
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#include <AP_HAL/system.h> |
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extern const AP_HAL::HAL& hal; |
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extern bool _vrbrain_thread_should_exit; |
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namespace AP_HAL { |
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void init() |
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{ |
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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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vdprintf(1, errormsg, ap); |
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va_end(ap); |
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write(1, "\n", 1); |
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hal.scheduler->delay_microseconds(10000); |
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_vrbrain_thread_should_exit = true; |
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exit(1); |
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} |
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uint32_t micros() |
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{ |
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return micros64() & 0xFFFFFFFF; |
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} |
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uint32_t millis() |
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{ |
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return millis64() & 0xFFFFFFFF; |
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} |
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uint64_t micros64() |
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{ |
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return hrt_absolute_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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