fix log time overflow (#3056)

sw/airborne/arch/chibios/mcu_periph/sys_time_arch.c

@@ -79,6 +79,22 @@ uint32_t get_sys_time_usec(void)
   return t;
 }
 
+/**
+ * Get the time in microseconds divided by 100 since startup.
+ * WARNING: overflows after 7000min!
+ * @return 100microseconds since startup as uint32_t
+ */
+uint32_t get_sys_time_usec100(void)
+{
+  chMtxLock(&sys_time_mtx);
+  uint32_t current = chSysGetRealtimeCounterX();
+  uint32_t t = sys_time.nb_sec * 10000 +
+               TIME_I2US(sys_time.nb_sec_rem)/100 +
+               RTC2US(STM32_SYSCLK, current - cpu_counter)/100;
+  chMtxUnlock(&sys_time_mtx);
+  return t;
+}
+
 uint32_t get_sys_time_msec(void)
 {
   chMtxLock(&sys_time_mtx);

sw/airborne/arch/chibios/mcu_periph/sys_time_arch.h

@@ -41,6 +41,7 @@
 #endif
 
 extern uint32_t get_sys_time_usec(void);
+extern uint32_t get_sys_time_usec100(void);
 extern uint32_t get_sys_time_msec(void);
 extern void sys_time_usleep(uint32_t us);
 extern void sys_time_msleep(uint16_t ms);

sw/airborne/arch/linux/mcu_periph/sys_time_arch.c

@@ -171,6 +171,29 @@ uint32_t get_sys_time_usec(void)
   return d_sec * 1000000 + d_nsec / 1000;
 }
 
+/**
+ * Get the time in 100microseconds since startup.
+ * WARNING: overflows after 7000 minutes!
+ * @return current system time as uint32_t
+ */
+uint32_t get_sys_time_usec100(void)
+{
+  /* get current time */
+  struct timespec now;
+  clock_gettime(CLOCK_MONOTONIC, &now);
+
+  /* time difference to startup */
+  time_t d_sec = now.tv_sec - startup_time.tv_sec;
+  long d_nsec = now.tv_nsec - startup_time.tv_nsec;
+
+  /* wrap if negative nanoseconds */
+  if (d_nsec < 0) {
+    d_sec -= 1;
+    d_nsec += 1000000000L;
+  }
+  return d_sec * 10000 + d_nsec / 100000;
+}
+
 /**
  * Get the time in milliseconds since startup.
  * @return milliseconds since startup as uint32_t

sw/airborne/arch/linux/mcu_periph/sys_time_arch.h

@@ -38,6 +38,13 @@
  */
 extern uint32_t get_sys_time_usec(void);
 
+/**
+ * Get the time in microseconds since startup.
+ * WARNING: overflows after 7000 minutes!
+ * @return current system time as uint32_t
+ */
+extern uint32_t get_sys_time_usec100(void);
+
 /**
  * Get the time in milliseconds since startup.
  * @return milliseconds since startup as uint32_t

sw/airborne/arch/sim/mcu_periph/sys_time_arch.h

@@ -42,6 +42,16 @@ static inline uint32_t get_sys_time_usec(void)
          usec_of_cpu_ticks(sys_time.nb_sec_rem);
 }
 
+/**
+ * Get the time in 100microseconds since startup.
+ * @return 100microseconds since startup as uint32_t
+ */
+static inline uint32_t get_sys_time_usec100(void)
+{
+  return sys_time.nb_sec * 10000 +
+         usec_of_cpu_ticks(sys_time.nb_sec_rem)/100;
+}
+
 /**
  * Get the time in milliseconds since startup.
  * @return milliseconds since startup as uint32_t

sw/airborne/arch/stm32/mcu_periph/sys_time_arch.h

@@ -51,6 +51,18 @@ static inline uint32_t get_sys_time_usec(void)
          usec_of_cpu_ticks(systick_get_reload() - systick_get_value());
 }
 
+/**
+ * Get the time in 100microseconds since startup.
+ * WARNING: overflows after 7000min!
+ * @return 100microseconds since startup as uint32_t
+ */
+static inline uint32_t get_sys_time_usec100(void)
+{
+  return sys_time.nb_sec * 10000 +
+         usec_of_cpu_ticks(sys_time.nb_sec_rem)/100 +
+         usec_of_cpu_ticks(systick_get_reload() - systick_get_value())/100;
+}
+
 /**
  * Get the time in milliseconds since startup.
  * @return milliseconds since startup as uint32_t

sw/airborne/modules/loggers/pprzlog_tp.c

@@ -30,7 +30,7 @@ struct pprzlog_transport pprzlog_tp;
 
 void pprzlog_tp_init(void)
 {
-  pprzlog_transport_init(&pprzlog_tp, get_sys_time_usec);
+  pprzlog_transport_init(&pprzlog_tp, get_sys_time_usec100);
 }