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Fix clock generation on Mac OS X

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This commit is contained in:
Lorenz Meier
2015-09-20 12:53:33 +02:00
parent 08c56085b3
commit 8509c5f220
2 changed files with 16 additions and 32 deletions
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src/platforms/posix/px4_layer/drv_hrt.c
+16 -11
View File
@@ -37,6 +37,7 @@
* High-resolution timer with callouts and timekeeping.
*/
#include <px4_time.h>
#include <px4_workqueue.h>
#include <drivers/drv_hrt.h>
#include <semaphore.h>
@@ -85,14 +86,11 @@ static void hrt_unlock(void)
#define MAC_NANO (+1.0E-9)
#define MAC_GIGA UINT64_C(1000000000)
#define CLOCK_MONOTONIC 1
#define clockid_t int
#define HRT_LOCK_NAME "/hrt_lock"
static double px4_timebase = 0.0;
int clock_gettime(clockid_t clk_id, struct timespec *t);
int clock_gettime(clockid_t clk_id, struct timespec *t)
int px4_clock_gettime(clockid_t clk_id, struct timespec *tp)
{
if (clk_id != CLOCK_MONOTONIC) {
return 1;
@@ -103,16 +101,23 @@ int clock_gettime(clockid_t clk_id, struct timespec *t)
mach_timebase_info(&tb);
px4_timebase = tb.numer;
px4_timebase /= tb.denom;
px4_timestart = mach_absolute_time();
// px4_timestart = mach_absolute_time();
}
memset(t, 0, sizeof(*t));
memset(tp, 0, sizeof(*tp));
double diff = (mach_absolute_time() - px4_timestart) * px4_timebase;
t->tv_sec = diff * MAC_NANO;
t->tv_nsec = diff - (t->tv_sec * MAC_GIGA);
double diff = mach_absolute_time() * px4_timebase;
tp->tv_sec = diff * MAC_NANO;
tp->tv_nsec = diff - (tp->tv_sec * MAC_GIGA);
return 0;
}
int px4_clock_settime(clockid_t clk_id, struct timespec *tp)
{
/* do nothing right now */
return 0;
}
#endif
/*
@@ -123,11 +128,11 @@ hrt_abstime hrt_absolute_time(void)
struct timespec ts;
if (!px4_timestart) {
clock_gettime(CLOCK_MONOTONIC, &ts);
px4_clock_gettime(CLOCK_MONOTONIC, &ts);
px4_timestart = ts_to_abstime(&ts);
}
clock_gettime(CLOCK_MONOTONIC, &ts);
px4_clock_gettime(CLOCK_MONOTONIC, &ts);
return ts_to_abstime(&ts) - px4_timestart;
}
src/platforms/posix/px4_layer/px4_posix_impl.cpp
-21
View File
@@ -56,27 +56,6 @@ __BEGIN_DECLS
long PX4_TICKS_PER_SEC = sysconf(_SC_CLK_TCK);
#ifdef __PX4_DARWIN
extern void hrt_init(void);
int px4_clock_gettime(clockid_t clk_id, struct timespec *tp)
{
uint64_t currtime = hrt_absolute_time();
tp->tv_sec = currtime / (1000 * 1000);
tp->tv_nsec = (currtime - (currtime * 1000 * 1000)) * 1000;
return 0;
}
int px4_clock_settime(clockid_t clk_id, struct timespec *tp)
{
/* do nothing right now */
return 0;
}
#endif
__END_DECLS
namespace px4