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HAL_Linux: fixed time function to use integer maths #26104

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merged 3 commits into from
Feb 5, 2024
Merged

HAL_Linux: fixed time function to use integer maths #26104

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f7726b7
HAL_Linux: fixed time function to use integer maths
tridge Jan 31, 2024
7bcbe51
HAL_SITL: use integer maths for clocks
tridge Feb 5, 2024
805b24c
HAL_Linux: fixed float calc of time for onboard flow
tridge Feb 5, 2024
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2 changes: 1 addition & 1 deletion libraries/AP_HAL_Linux/OpticalFlow_Onboard.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -220,7 +220,7 @@ void OpticalFlow_Onboard::push_gyro(float gyro_x, float gyro_y, float dt)
_integrated_gyro.x += (gyro_x - _gyro_bias.x) * dt;
_integrated_gyro.y += (gyro_y - _gyro_bias.y) * dt;
sample.gyro = _integrated_gyro;
sample.time_us = 1.0e6 * (ts.tv_sec + (ts.tv_nsec*1.0e-9));
sample.time_us = ts.tv_sec*1000000ULL + ts.tv_nsec/1000ULL;

_gyro_ring_buffer->push(sample);
}
Expand Down
28 changes: 12 additions & 16 deletions libraries/AP_HAL_Linux/system.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -7,18 +7,26 @@
#include <AP_HAL/AP_HAL.h>
#include <AP_HAL/system.h>
#include <AP_HAL_Linux/Scheduler.h>
#include <AP_Math/div1000.h>

extern const AP_HAL::HAL& hal;

namespace AP_HAL {

static struct {
struct timespec start_time;
uint64_t start_time_ns;
} state;

static uint64_t ts_to_nsec(struct timespec &ts)
{
return ts.tv_sec*1000000000ULL + ts.tv_nsec;
}

void init()
{
clock_gettime(CLOCK_MONOTONIC, &state.start_time);
struct timespec ts {};
clock_gettime(CLOCK_MONOTONIC, &ts);
state.start_time_ns = ts_to_nsec(ts);
}

void WEAK panic(const char *errormsg, ...)
Expand Down Expand Up @@ -59,24 +67,12 @@ uint64_t micros64()

struct timespec ts;
clock_gettime(CLOCK_MONOTONIC, &ts);
return 1.0e6*((ts.tv_sec + (ts.tv_nsec*1.0e-9)) -
(state.start_time.tv_sec +
(state.start_time.tv_nsec*1.0e-9)));
return uint64_div1000(ts_to_nsec(ts) - state.start_time_ns);
}

uint64_t millis64()
{
const Linux::Scheduler* scheduler = Linux::Scheduler::from(hal.scheduler);
uint64_t stopped_usec = scheduler->stopped_clock_usec();
if (stopped_usec) {
return stopped_usec / 1000;
}

struct timespec ts;
clock_gettime(CLOCK_MONOTONIC, &ts);
return 1.0e3*((ts.tv_sec + (ts.tv_nsec*1.0e-9)) -
(state.start_time.tv_sec +
(state.start_time.tv_nsec*1.0e-9)));
return uint64_div1000(micros64());
}

} // namespace AP_HAL
20 changes: 12 additions & 8 deletions libraries/AP_HAL_SITL/system.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -18,12 +18,19 @@ using HALSITL::Scheduler;
namespace AP_HAL {

static struct {
struct timeval start_time;
uint64_t start_time_ns;
} state;

static uint64_t ts_to_nsec(struct timespec &ts)
{
return ts.tv_sec*1000000000ULL + ts.tv_nsec;
}

void init()
{
gettimeofday(&state.start_time, nullptr);
struct timespec ts {};
clock_gettime(CLOCK_MONOTONIC, &ts);
state.start_time_ns = ts_to_nsec(ts);
}

#if defined(__CYGWIN__) || defined(__CYGWIN64__) || defined(CYGWIN_BUILD)
Expand Down Expand Up @@ -170,12 +177,9 @@ uint64_t micros64()
return stopped_usec;
}

struct timeval tp;
gettimeofday(&tp, nullptr);
uint64_t ret = 1.0e6 * ((tp.tv_sec + (tp.tv_usec * 1.0e-6)) -
(state.start_time.tv_sec +
(state.start_time.tv_usec * 1.0e-6)));
return ret;
struct timespec ts;
clock_gettime(CLOCK_MONOTONIC, &ts);
return uint64_div1000(ts_to_nsec(ts) - state.start_time_ns);
}

uint64_t millis64()
Expand Down
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