You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
66 lines
1.1 KiB
66 lines
1.1 KiB
#include <stdarg.h> |
|
#include <stdio.h> |
|
#include <sys/time.h> |
|
#include <unistd.h> |
|
|
|
#include <AP_HAL/AP_HAL.h> |
|
#include <AP_HAL/system.h> |
|
|
|
#include <sys/timespec.h> |
|
#include <dspal_time.h> |
|
#include "replace.h" |
|
#include <fenv.h> |
|
|
|
extern const AP_HAL::HAL& hal; |
|
|
|
namespace AP_HAL { |
|
|
|
static struct { |
|
uint64_t start_time; |
|
} state; |
|
|
|
void init() |
|
{ |
|
state.start_time = micros64(); |
|
// we don't want exceptions in flight code. That is the job of SITL |
|
feclearexcept(FE_OVERFLOW | FE_DIVBYZERO | FE_INVALID); |
|
} |
|
|
|
void panic(const char *errormsg, ...) |
|
{ |
|
char buf[200]; |
|
va_list ap; |
|
va_start(ap, errormsg); |
|
vsnprintf(buf, sizeof(buf), errormsg, ap); |
|
va_end(ap); |
|
HAP_PRINTF(buf); |
|
usleep(2000000); |
|
hal.rcin->deinit(); |
|
exit(1); |
|
} |
|
|
|
uint32_t micros() |
|
{ |
|
return micros64() & 0xFFFFFFFF; |
|
} |
|
|
|
uint32_t millis() |
|
{ |
|
return millis64() & 0xFFFFFFFF; |
|
} |
|
|
|
uint64_t micros64() |
|
{ |
|
struct timespec ts; |
|
clock_gettime(CLOCK_MONOTONIC, &ts); |
|
uint64_t ret = ts.tv_sec*1000*1000ULL + ts.tv_nsec/1000U; |
|
ret -= state.start_time; |
|
return ret; |
|
} |
|
|
|
uint64_t millis64() |
|
{ |
|
return micros64() / 1000; |
|
} |
|
|
|
} // namespace AP_HAL
|
|
|