fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-11-05 07:21:36 +08:00
Code Issues Packages Projects Releases Wiki Activity

For VOXL flight controllers, Use DSP clock directly on Posix for CLOCK_MONOTONIC

Browse Source
This commit is contained in:
Eric Katzfey
2026-02-09 15:22:36 -07:00
committed by Eric Katzfey
parent 1dbee4100a
commit aacb7e35dd
2 changed files with 16 additions and 26 deletions
Download Patch File Download Diff File Expand all files Collapse all files
boards/modalai/voxl2/libfc-sensor-api
+1 -1
Submodule boards/modalai/voxl2/libfc-sensor-api updated: 85151aaf6b...d5abf9cbbf
platforms/posix/src/px4/common/drv_hrt.cpp
+15 -25
View File
@@ -51,7 +51,7 @@
#include <errno.h> #include <errno.h>
#include "hrt_work.h" #include "hrt_work.h"
// Voxl2 board specific API definitions to get time offset // Voxl board specific API definitions to get time
#if defined(CONFIG_MUORB_APPS_SYNC_TIMESTAMP) #if defined(CONFIG_MUORB_APPS_SYNC_TIMESTAMP)
#include "fc_sensor.h" #include "fc_sensor.h"
#endif #endif
@@ -112,29 +112,6 @@ hrt_abstime hrt_absolute_time()
#else // defined(ENABLE_LOCKSTEP_SCHEDULER) #else // defined(ENABLE_LOCKSTEP_SCHEDULER)
struct timespec ts; struct timespec ts;
px4_clock_gettime(CLOCK_MONOTONIC, &ts); px4_clock_gettime(CLOCK_MONOTONIC, &ts);
# if defined(CONFIG_MUORB_APPS_SYNC_TIMESTAMP)
hrt_abstime temp_abstime = ts_to_abstime(&ts);
int apps_time_offset = fc_sensor_get_time_offset();
if (apps_time_offset < 0) {
hrt_abstime temp_offset = -apps_time_offset;
if (temp_offset >= temp_abstime) {
temp_abstime = 0;
} else {
temp_abstime -= temp_offset;
}
} else {
temp_abstime += (hrt_abstime) apps_time_offset;
}
ts.tv_sec = temp_abstime / 1000000;
ts.tv_nsec = (temp_abstime % 1000000) * 1000;
# endif // defined(CONFIG_MUORB_APPS_SYNC_TIMESTAMP)
return ts_to_abstime(&ts); return ts_to_abstime(&ts);
#endif // defined(ENABLE_LOCKSTEP_SCHEDULER) #endif // defined(ENABLE_LOCKSTEP_SCHEDULER)
} }
@@ -476,8 +453,21 @@ int px4_clock_gettime(clockid_t clk_id, struct timespec *tp)
} }
#endif // defined(ENABLE_LOCKSTEP_SCHEDULER) #endif // defined(ENABLE_LOCKSTEP_SCHEDULER)
return system_clock_gettime(clk_id, tp);
int rv = system_clock_gettime(clk_id, tp);
# if defined(CONFIG_MUORB_APPS_SYNC_TIMESTAMP)
// On VOXL use DSP clock as reference for MONOTONIC
if (clk_id == CLOCK_MONOTONIC) {
hrt_abstime temp_abstime = fc_sensor_get_dsp_timestamp_us();
tp->tv_sec = temp_abstime / 1000000;
tp->tv_nsec = (temp_abstime % 1000000) * 1000;
}
# endif // defined(CONFIG_MUORB_APPS_SYNC_TIMESTAMP)
return rv;
} }
#if defined(ENABLE_LOCKSTEP_SCHEDULER) #if defined(ENABLE_LOCKSTEP_SCHEDULER)