drv_hrt.h File Reference

High-resolution timer with callouts and timekeeping. More...

#include <sys/ioctl.h>
#include <sys/types.h>
#include <stdbool.h>
#include <inttypes.h>
#include <px4_platform_common/time.h>
#include <queue.h>

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Classes
struct	hrt_call
	Callout record. More...

Typedefs
typedef void(*	hrt_callout) (void *arg)
	Callout function type. More...
typedef struct hrt_call *	hrt_call_t
	Callout record. More...

Functions
__EXPORT hrt_abstime	hrt_absolute_time (void)
	Get absolute time in [us] (does not wrap). More...
__EXPORT hrt_abstime	ts_to_abstime (const struct timespec *ts)
	Convert a timespec to absolute time. More...
__EXPORT void	abstime_to_ts (struct timespec *ts, hrt_abstime abstime)
	Convert absolute time to a timespec. More...
static hrt_abstime	hrt_elapsed_time (const hrt_abstime *then)
	Compute the delta between a timestamp taken in the past and now. More...
__EXPORT hrt_abstime	hrt_elapsed_time_atomic (const volatile hrt_abstime *then)
	Compute the delta between a timestamp taken in the past and now. More...
__EXPORT hrt_abstime	hrt_store_absolute_time (volatile hrt_abstime *now)
	Store the absolute time in an interrupt-safe fashion. More...
__EXPORT void	hrt_call_after (struct hrt_call *entry, hrt_abstime delay, hrt_callout callout, void *arg)
	Call callout(arg) after delay has elapsed. More...
__EXPORT void	hrt_call_at (struct hrt_call *entry, hrt_abstime calltime, hrt_callout callout, void *arg)
	Call callout(arg) at absolute time calltime. More...
__EXPORT void	hrt_call_every (struct hrt_call *entry, hrt_abstime delay, hrt_abstime interval, hrt_callout callout, void *arg)
	Call callout(arg) after delay, and then after every interval. More...
__EXPORT bool	hrt_called (struct hrt_call *entry)
	If this returns true, the entry has been invoked and removed from the callout list, or it has never been entered. More...
__EXPORT void	hrt_cancel (struct hrt_call *entry)
	Remove the entry from the callout list. More...
__EXPORT void	hrt_call_init (struct hrt_call *entry)
	Initialise a hrt_call structure. More...
__EXPORT void	hrt_call_delay (struct hrt_call *entry, hrt_abstime delay)
__EXPORT void	hrt_init (void)

Variables
__BEGIN_DECLS typedef uint64_t	hrt_abstime
	Absolute time, in microsecond units. More...

Detailed Description

High-resolution timer with callouts and timekeeping.

Definition in file drv_hrt.h.

Typedef Documentation

hrt_call_t

typedef struct hrt_call * hrt_call_t

Callout record.

hrt_callout

typedef void(* hrt_callout) (void *arg)

Callout function type.

Note that callouts run in the timer interrupt context, so they are serialised with respect to each other, and must not block.

Definition at line 67 of file drv_hrt.h.

Function Documentation

abstime_to_ts()

__EXPORT void abstime_to_ts	(	struct timespec *	ts,
		hrt_abstime	abstime
	)

Convert absolute time to a timespec.

Referenced by Simulator::handle_message_hil_sensor().

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hrt_absolute_time()

__EXPORT hrt_abstime hrt_absolute_time

(

void

)

Get absolute time in [us] (does not wrap).

Referenced by vmount::InputMavlinkCmdMount::_ack_vehicle_command(), _auth_method_arm_req_check(), _auth_method_two_arm_check(), load_mon::LoadMon::_cpuload(), MavlinkFTP::_ensure_buffers_exist(), land_detector::MulticopterLandDetector::_get_landed_state(), land_detector::MulticopterLandDetector::_get_maybe_landed_state(), rpi_rc_in::RcInput::_measure(), linux_sbus::RcInput::_measure(), _param_notify_changes(), DfLtc2946Wrapper::_publish(), DfMS5607Wrapper::_publish(), DfMS5611Wrapper::_publish(), DfBmp280Wrapper::_publish(), DfBebopRangeFinderWrapper::_publish(), DfAK8963Wrapper::_publish(), DfHmc5883Wrapper::_publish(), DfTROneWrapper::_publish(), DfISL29501Wrapper::_publish(), DfMPU6050Wrapper::_publish(), DfLsm9ds1Wrapper::_publish(), DfBebopBusWrapper::_publish(), DfMpu9250Wrapper::_publish(), ObstacleAvoidance::_publishVehicleCmdDoLoiter(), load_mon::LoadMon::_ram_used(), land_detector::LandDetector::_update_state(), FlightTasks::_updateCommand(), QShell::_wait_for_retval(), sensors::VotedSensorsUpdate::accelPoll(), px4::logger::Logger::ack_vehicle_command(), MavlinkReceiver::acknowledge(), FlightTask::activate(), Simulator::actuator_controls_from_outputs(), adc_measure(), BatteryStatus::adc_poll(), Sensors::adc_poll(), UavcanBarometerBridge::air_pressure_sub_cb(), events::SendEvent::answer_command(), answer_command(), arm_auth_request_msg_send(), arming_state_transition(), autosave_worker(), sensors::VotedSensorsUpdate::baroPoll(), battery_failsafe(), UavcanBatteryBridge::battery_sub_cb(), blink_msg_state(), launchdetection::CatapultLaunchMethod::CatapultLaunchMethod(), UavcanEscController::check_escs_status(), Commander::check_posvel_validity(), check_reboot(), BMI055_gyro::check_registers(), BMI055_accel::check_registers(), BMI088_gyro::check_registers(), BMI088_accel::check_registers(), BMI160::check_registers(), MPU9250::check_registers(), MPU6000::check_registers(), ICM20948::check_registers(), PrecLand::check_state_conditions(), MavlinkCommandSender::check_timeout(), Commander::check_valid(), Geofence::checkAll(), ObstacleAvoidance::checkAvoidanceProgress(), sensors::VotedSensorsUpdate::checkFailover(), BMP280::collect(), MS5525::collect(), TFMINI::collect(), ETSAirspeed::collect(), SDP3X::collect(), MEASAirspeed::collect(), SRF02::collect(), TERARANGER::collect(), CM8JL65::collect(), VL53LXX::collect(), LidarLiteI2C::collect(), Radar::collect(), MB12XX::collect(), MPL3115A2::collect(), SF1XX::collect(), PX4FLOW::collect(), SF0X::collect(), LSM303AGR::collect(), MS5611::collect(), LPS22HB::collect(), RM3100::collect(), MappyDot::collect(), LIS3MDL::collect(), INA226::collect(), LPS25H::collect(), QMC5883::collect(), HMC5883::collect(), BMM150::collect(), IST8310::collect(), BMP388::collect(), Commander::Commander(), FixedwingPositionControl::control_landing(), uORB::FastRpcChannel::control_msg_queue_add(), RoverPositionControl::control_position(), FixedwingPositionControl::control_position(), control_status_leds(), FixedwingPositionControl::control_takeoff(), controls_tick(), uORB::SubscriptionInterval::copy(), RCTest::crsfTest(), events::SendEvent::custom_command(), RCInput::cycle(), TAP_ESC::cycle(), Commander::data_link_check(), mpu9x50::data_ready_isr(), px4::logger::Logger::debug_print_buffer(), DShotTelemetry::decodeByte(), detect_orientation(), uORB::DeviceMaster::DeviceMaster(), Sensors::diff_pres_poll(), do_esc_calibration(), do_level_calibration(), dsm_config(), dsm_input(), GPS::dumpGpsData(), CameraTrigger::engage(), UavcanEscController::esc_status_sub_cb(), Commander::estimator_check(), MulticopterPositionControl::failsafe(), Navigator::fake_traffic(), uORB::KraitFastRpcChannel::fastrpc_recv_thread(), Tiltrotor::fill_actuator_outputs(), Tailsitter::fill_actuator_outputs(), Standard::fill_actuator_outputs(), fill_rc_input_msg(), UavcanFlowBridge::flow_sub_cb(), frsky_send_frame2(), frsky_telemetry_thread_main(), MulticopterAttitudeControl::generate_attitude_setpoint(), uORB::FastRpcChannel::get_bulk_data(), uORB::FastRpcChannel::get_data(), px4::logger::util::get_log_time(), CollisionPrevention::getElapsedTime(), FlightTask::getPositionSetpoint(), DShotTelemetry::getRequestMotorIndex(), CollisionPrevention::getTime(), UavcanGnssBridge::gnss_auxiliary_sub_cb(), CameraCapture::gpio_interrupt_routine(), sensors::VotedSensorsUpdate::gyroPoll(), Commander::handle_command(), VtolAttitudeControl::handle_command(), Commander::handle_command_motor_test(), MavlinkParametersManager::handle_message(), MavlinkTimesync::handle_message(), MavlinkReceiver::handle_message_adsb_vehicle(), MavlinkReceiver::handle_message_battery_status(), MavlinkReceiver::handle_message_cellular_status(), MavlinkReceiver::handle_message_collision(), MavlinkReceiver::handle_message_command_ack(), MavlinkReceiver::handle_message_command_int(), MavlinkReceiver::handle_message_command_long(), MavlinkReceiver::handle_message_debug(), MavlinkReceiver::handle_message_debug_float_array(), MavlinkReceiver::handle_message_debug_vect(), MavlinkReceiver::handle_message_distance_sensor(), MavlinkReceiver::handle_message_follow_target(), MavlinkReceiver::handle_message_gps_global_origin(), MavlinkReceiver::handle_message_heartbeat(), MavlinkReceiver::handle_message_hil_gps(), MavlinkReceiver::handle_message_hil_optical_flow(), MavlinkReceiver::handle_message_hil_sensor(), Simulator::handle_message_hil_sensor(), MavlinkReceiver::handle_message_hil_state_quaternion(), Simulator::handle_message_hil_state_quaternion(), Simulator::handle_message_landing_target(), MavlinkReceiver::handle_message_manual_control(), MavlinkReceiver::handle_message_named_value_float(), MavlinkReceiver::handle_message_obstacle_distance(), MavlinkReceiver::handle_message_onboard_computer_status(), MavlinkReceiver::handle_message_optical_flow_rad(), MavlinkReceiver::handle_message_ping(), MavlinkReceiver::handle_message_radio_status(), MavlinkReceiver::handle_message_rc_channels_override(), MavlinkReceiver::handle_message_set_actuator_control_target(), MavlinkReceiver::handle_message_set_attitude_target(), MavlinkReceiver::handle_message_set_mode(), MavlinkReceiver::handle_message_set_position_target_global_int(), MavlinkReceiver::handle_message_set_position_target_local_ned(), MavlinkReceiver::handle_message_statustext(), MavlinkReceiver::handle_message_trajectory_representation_waypoints(), MavlinkReceiver::handle_message_utm_global_position(), MavlinkMissionManager::handle_mission_ack(), MavlinkMissionManager::handle_mission_clear_all(), MavlinkMissionManager::handle_mission_count(), MavlinkMissionManager::handle_mission_item_both(), MavlinkMissionManager::handle_mission_request_both(), MavlinkMissionManager::handle_mission_request_list(), MavlinkMissionManager::handle_mission_set_current(), PX4IO::handle_motor_test(), MavlinkULog::handle_update(), MavlinkCommandSender::handle_vehicle_command(), DShotOutput::handleNewTelemetryData(), px4::Replay::handleTopicDelay(), hrt_elapsed_time(), runwaytakeoff::RunwayTakeoff::init(), PMW3901::init(), PAW3902::init(), MulticopterPositionControl::init(), TAP_ESC::init(), LeddarOne::init(), PX4IO::init(), MPU9250::init(), ICM20948::init(), px4muorb::KraitRpcWrapper::Initialize(), px4::logger::Logger::initialize_load_output(), ObstacleAvoidance::injectAvoidanceSetpoints(), Sih::inner_loop(), PX4IO::io_get_raw_rc_input(), PX4IO::io_handle_status(), PX4IO::io_handle_vservo(), PX4IO::io_publish_pwm_outputs(), MissionBlock::is_mission_item_reached(), MissionBlock::issue_command(), FixedwingPositionControl::landing_status_publish(), uORBTest::UnitTest::latency_test(), led_init(), UavcanMagnetometerBridge::mag2_sub_cb(), mag_calibration_worker(), UavcanMagnetometerBridge::mag_sub_cb(), sensors::VotedSensorsUpdate::magPoll(), HRTTest::main(), main_state_transition(), Mavlink::Mavlink(), Mavlink::mavlink_open_uart(), mavlink_vasprintf(), MavlinkStream::MavlinkStream(), MavlinkULog::MavlinkULog(), LidarLitePWM::measure(), AK09916::measure(), LidarLiteI2C::measure(), ADIS16477::measure(), FXAS21002C::measure(), ICM20948_mag::measure(), ADIS16448::measure(), MPU9250_mag::measure(), LeddarOne::measure(), ADIS16497::measure(), VOXLPM::measure(), BMA180::measure(), BMI055_gyro::measure(), BMI055_accel::measure(), BMI088_gyro::measure(), BMI088_accel::measure(), L3GD20::measure(), MPU9250::measure(), BMI160::measure(), MPU6000::measure(), ICM20948::measure(), LSM303D::measureAccelerometer(), LSM303D::measureMagnetometer(), Commander::mission_init(), MissionBlock::mission_item_to_position_setpoint(), MixerTest::mixerTest(), MK::mk_servo_locate(), motor_ramp_thread_main(), motor_test(), MixingOutput::motorTest(), nshterm_main(), Commander::offboard_control_update(), GpsFailure::on_activation(), PrecLand::on_activation(), GpsFailure::on_active(), FollowTarget::on_active(), UavcanEscController::orb_pub_timer_cb(), output_limit_calc(), vmount::OutputBase::OutputBase(), perf_begin(), perf_count(), perf_end(), events::rc_loss::RC_Loss_Alarm::play_tune(), power_button_state_notification_cb(), print_reject_arm(), print_reject_mode(), px4::logger::Logger::print_statistics(), uORB::DeviceMaster::printStatistics(), UavcanGnssBridge::process_fixx(), uORBTest::UnitTest::pub_test_multi2_main(), events::status::StatusDisplay::publish(), PWMIN::publish(), MavlinkULog::publish_ack(), Simulator::publish_distance_topic(), Simulator::publish_flow_topic(), publish_gam_message(), IridiumSBD::publish_iridium_status(), publish_led_control(), TemperatureCalibration::publish_led_control(), px4::logger::LogWriterMavlink::publish_message(), Navigator::publish_mission_result(), Simulator::publish_odometry_topic(), Navigator::publish_position_setpoint_triplet(), MulticopterAttitudeControl::publish_rates_setpoint(), Sih::publish_sih(), IridiumSBD::publish_subsystem_status(), Mavlink::publish_telemetry_status(), publish_tune_control(), Navigator::publish_vehicle_cmd(), Navigator::publish_vehicle_command_ack(), TimestampedList< MavlinkCommandSender::command_item_t >::put(), Integrator::put_with_interval(), pwmin_test(), px4muorb_get_absolute_time(), PWMIN::read(), IRLOCK::read_device(), GPSSIM::receive(), DShotTelemetry::redirectOutput(), registers_set(), MPU9250::reset(), MPU6000::reset(), ICM20948::reset(), Mission::reset_mission(), rgbled_set_color_and_mode(), VehicleAcceleration::Run(), VehicleAngularVelocity::Run(), SafetyButton::Run(), Sih::run(), px4::Replay::run(), ADC::Run(), MulticopterRateControl::Run(), MulticopterAttitudeControl::Run(), RCUpdate::RCUpdate::Run(), AttitudeEstimatorQ::Run(), CameraCapture::Run(), AirspeedModule::Run(), Commander::run(), FixedwingAttitudeControl::Run(), RoverPositionControl::run(), MulticopterPositionControl::Run(), VtolAttitudeControl::Run(), PAW3902::Run(), Sensors::run(), Navigator::run(), UavcanServers::run(), px4::logger::Logger::run(), GPS::run(), FXOS8701CQ::Run(), px4::logger::LogWriterFile::run(), PMW3901::Run(), FixedwingPositionControl::Run(), SF0X::Run(), land_detector::LandDetector::Run(), UavcanNode::Run(), BlockLocalPositionEstimator::Run(), MavlinkReceiver::Run(), CameraTrigger::Run(), BATT_SMBUS::Run(), PGA460::run(), PrecLand::run_state_horizontal_approach(), PrecLand::run_state_search(), PrecLand::run_state_start(), Mission::save_mission_state(), IridiumSBD::sbdsession_loop(), sbus1_output(), RCTest::sbus2Test(), sbus_config(), sbus_input(), schedule_reboot(), MavlinkStreamSystemTime::send(), MavlinkStreamTimesync::send(), MavlinkStreamCameraTrigger::send(), MavlinkStreamHILActuatorControls::send(), MavlinkStreamPositionTargetGlobalInt::send(), MavlinkStreamAltitude::send(), MavlinkStreamPing::send(), Mavlink::send_bytes(), MavlinkReceiver::send_flight_information(), uORB::FastRpcChannel::send_message(), uORB::KraitFastRpcChannel::send_message(), MavlinkMissionManager::send_mission_count(), MavlinkMissionManager::send_mission_item(), MavlinkMissionManager::send_mission_request(), MavlinkReceiver::send_storage_information(), MavlinkParametersManager::send_untransmitted(), MulticopterPositionControl::send_vehicle_cmd_do(), send_vehicle_command(), FlightTaskOrbit::sendTelemetry(), sensors::VotedSensorsUpdate::sensorsPoll(), Commander::set_home_position(), Commander::set_home_position_alt_only(), set_tune(), set_tune_override(), PX4IO::set_update_rate(), MixingOutput::setAndPublishActuatorOutputs(), uORB::DeviceMaster::showTop(), Simulator::Simulator(), PrecLand::slewrate(), IridiumSBD::standby_loop(), IridiumSBD::start_csq(), px4::logger::Logger::start_log_file(), IridiumSBD::start_sbd_session(), IridiumSBD::status(), FixedwingPositionControl::status_publish(), events::rc_loss::RC_Loss_Alarm::stop_tune(), PrecLand::switch_to_state_descend_above_target(), PrecLand::switch_to_state_done(), PrecLand::switch_to_state_fallback(), PrecLand::switch_to_state_final_approach(), PrecLand::switch_to_state_horizontal_approach(), PrecLand::switch_to_state_search(), PrecLand::switch_to_state_start(), MavlinkTimesync::sync_stamp(), task_main(), spektrum_rc::task_main(), TemperatureCalibration::task_main(), rc_receiver::task_main(), uart_esc::task_main(), linux_pwm_out::task_main(), snapdragon_pwm::task_main(), MK::task_main(), PX4IO::task_main(), Mavlink::task_main(), RoboClaw::taskMain(), FixedwingPositionControl::tecs_status_publish(), FixedwingPositionControl::tecs_update_pitch_throttle(), IRLOCK::test(), CameraTrigger::test(), TEST_F(), test_file(), test_hrt(), IridiumSBD::test_loop(), test_rc(), test_time(), test_uart_send(), time_fsync(), top_main(), tune_failsafe(), tune_home_set(), tune_mission_fail(), tune_mission_ok(), tune_negative(), tune_neutral(), tune_positive(), PGA460::uORB_publish_results(), launchdetection::CatapultLaunchMethod::update(), vmount::OutputMavlink::update(), vmount::OutputRC::update(), PX4Gyroscope::update(), DShotTelemetry::update(), landing_target_estimator::LandingTargetEstimator::update(), MavlinkStream::update(), LedController::update(), MavlinkMissionManager::update_active_mission(), Commander::update_control_mode(), TimestampedList< MavlinkCommandSender::command_item_t >::update_current(), MavlinkStreamHighLatency2::update_data(), VtolType::update_fw_state(), Simulator::update_gps(), vmount::InputMavlinkCmdMount::update_impl(), update_mem_usage(), OSDatxxxx::update_screen(), TemperatureCalibrationAccel::update_sensor_instance(), TemperatureCalibrationGyro::update_sensor_instance(), TemperatureCalibrationBaro::update_sensor_instance(), OSDatxxxx::update_topics(), Tiltrotor::update_transition_state(), Tailsitter::update_transition_state(), Standard::update_transition_state(), Tiltrotor::update_vtol_state(), Tailsitter::update_vtol_state(), Standard::update_vtol_state(), FailureDetector::updateAttitudeStatus(), ObstacleAvoidance::updateAvoidanceDesiredWaypoints(), FlightTask::updateInitialize(), MixingOutput::updateOutputSlewrate(), user_start(), MuorbTestExample::uSleepTest(), MicroBenchHRT::ut_declare_test_c(), FixedwingAttitudeControl::vehicle_manual_poll(), MulticopterPositionControl::warn_rate_limited(), px4::logger::watchdog_update(), uORB::DeviceNode::write(), IridiumSBD::write(), px4::logger::Logger::write_header(), px4::logger::Logger::write_load_output(), px4::logger::Logger::write_message(), and write_test().

hrt_call_after()

__EXPORT void hrt_call_after	(	struct hrt_call *	entry,
		hrt_abstime	delay,
		hrt_callout	callout,
		void *	arg
	)

Call callout(arg) after delay has elapsed.

If callout is NULL, this can be used to implement a timeout by testing the call with hrt_called().

Referenced by TEST_PPM::do_out(), PWMIN::hard_reset(), hrt_elapsed_time(), HRTTest::main(), CameraTrigger::Run(), CameraTrigger::shoot_once(), TEST_PPM::start(), test_hrt(), timer_expired(), and CameraTrigger::toggle_power().

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hrt_call_at()

__EXPORT void hrt_call_at	(	struct hrt_call *	entry,
		hrt_abstime	calltime,
		hrt_callout	callout,
		void *	arg
	)

Call callout(arg) at absolute time calltime.

Referenced by hrt_elapsed_time().

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hrt_call_delay()

__EXPORT void hrt_call_delay	(	struct hrt_call *	entry,
		hrt_abstime	delay
	)

Referenced by hrt_elapsed_time().

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hrt_call_every()

__EXPORT void hrt_call_every	(	struct hrt_call *	entry,
		hrt_abstime	delay,
		hrt_abstime	interval,
		hrt_callout	callout,
		void *	arg
	)

Call callout(arg) after delay, and then after every interval.

Note thet the interval is timed between scheduled, not actual, call times, so the call rate may jitter but should not drift.

Referenced by CameraTrigger::enable_keep_alive(), failsafe_led_init(), hrt_elapsed_time(), PWMIN::init(), Sih::run(), UavcanEsc::run(), UavcanNode::run(), px4::logger::Logger::run(), safety_init(), CameraTrigger::update_intervalometer(), and user_start().

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hrt_call_init()

__EXPORT void hrt_call_init

(

struct hrt_call *

entry

)

Initialise a hrt_call structure.

Referenced by hrt_elapsed_time().

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hrt_called()

__EXPORT bool hrt_called

(

struct hrt_call *

entry

)

If this returns true, the entry has been invoked and removed from the callout list, or it has never been entered.

Always returns false for repeating callouts.

Referenced by hrt_elapsed_time(), HRTTest::main(), and test_hrt().

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hrt_cancel()

__EXPORT void hrt_cancel

(

struct hrt_call *

entry

)

Remove the entry from the callout list.

Referenced by CameraTrigger::enable_keep_alive(), hrt_elapsed_time(), HRTTest::main(), Sih::run(), UavcanEsc::run(), UavcanNode::run(), px4::logger::Logger::run(), CameraTrigger::Run(), TEST_PPM::stop(), and CameraTrigger::stop().

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hrt_elapsed_time()

static hrt_abstime hrt_elapsed_time ( const hrt_abstime *  then )

inlinestatic

Compute the delta between a timestamp taken in the past and now.

This function is not interrupt save.

Definition at line 102 of file drv_hrt.h.

References __END_DECLS, hrt_call::arg, hrt_call::callout, hrt_absolute_time(), hrt_abstime, hrt_call_after(), hrt_call_at(), hrt_call_delay(), hrt_call_every(), hrt_call_init(), hrt_called(), hrt_cancel(), hrt_elapsed_time_atomic(), hrt_init(), and hrt_store_absolute_time().

Referenced by load_mon::LoadMon::_cpuload(), PWMIN::_freeze_test(), land_detector::MulticopterLandDetector::_get_ground_contact_state(), land_detector::VtolLandDetector::_get_landed_state(), land_detector::FixedwingLandDetector::_get_landed_state(), land_detector::MulticopterLandDetector::_get_maybe_landed_state(), land_detector::MulticopterLandDetector::_has_altitude_lock(), land_detector::MulticopterLandDetector::_is_climb_rate_enabled(), DfMPU6050Wrapper::_publish(), DfLsm9ds1Wrapper::_publish(), DfMpu9250Wrapper::_publish(), QShell::_wait_for_retval(), PreFlightCheck::accelerometerCheck(), adc_measure(), FixedwingPositionControl::airspeed_poll(), PreFlightCheck::airspeedCheck(), uORB::DeviceNode::appears_updated(), arm_disarm(), arming_state_transition(), PreFlightCheck::baroCheck(), Commander::battery_status_check(), Commander::check_posvel_validity(), MavlinkCommandSender::check_timeout(), Geofence::checkAll(), TFMINI::collect(), LidarLiteI2C::collect(), SF0X::collect(), commander_low_prio_loop(), FixedwingPositionControl::control_landing(), RoverPositionControl::control_position(), FixedwingPositionControl::control_position(), control_status_leds(), FixedwingPositionControl::control_takeoff(), Commander::data_link_check(), Mavlink::display_status(), do_esc_calibration(), do_level_calibration(), Commander::estimator_check(), FixedwingAttitudeControl::get_airspeed_and_update_scaling(), Mavlink::get_free_tx_buf(), runwaytakeoff::RunwayTakeoff::getThrottle(), PreFlightCheck::gyroCheck(), Simulator::handle_message_hil_sensor(), PX4IO::handle_motor_test(), MavlinkULog::handle_update(), FixedwingPositionControl::in_takeoff_situation(), PX4IO::init(), ObstacleAvoidance::injectAvoidanceSetpoints(), PX4IO::io_set_control_state(), Mavlink::is_connected(), PreFlightCheck::magnometerCheck(), mixer_tick(), MixerTest::mixerTest(), motor_ramp_thread_main(), MixingOutput::motorTest(), GpsFailure::on_active(), PrecLand::on_active(), output_limit_calc(), param_autosave(), param_print_status(), PreFlightCheck::powerCheck(), ppm_input(), Commander::preflight_check(), RCInput::print_status(), UavcanGnssBridge::process_fixx(), px4::logger::LogWriterMavlink::publish_message(), px4::Replay::run(), MulticopterRateControl::Run(), RCUpdate::RCUpdate::Run(), AttitudeEstimatorQ::Run(), Commander::run(), FixedwingAttitudeControl::Run(), Sensors::run(), Navigator::run(), FXOS8701CQ::Run(), LidarLiteI2C::Run(), LSM303D::Run(), land_detector::LandDetector::Run(), MavlinkReceiver::Run(), MavlinkFTP::send(), MavlinkMissionManager::send(), MavlinkStreamAltitude::send(), Mavlink::send_packet(), PX4IO::set_update_rate(), shutdown_if_allowed(), Mavlink::task_main(), FixedwingPositionControl::tecs_update_pitch_throttle(), time_fsync(), launchdetection::CatapultLaunchMethod::update(), PX4Gyroscope::update(), runwaytakeoff::RunwayTakeoff::update(), Mavlink::update_rate_mult(), uORB::SubscriptionInterval::updated(), px4::logger::LogWriterFile::write(), px4::logger::Logger::write_message(), and write_test().

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hrt_elapsed_time_atomic()

__EXPORT hrt_abstime hrt_elapsed_time_atomic

(

const volatile hrt_abstime *

then

)

Compute the delta between a timestamp taken in the past and now.

This function is safe to use even if the timestamp is updated by an interrupt during execution.

Referenced by uORB::SubscriptionCallbackWorkItem::call(), controls_tick(), hrt_elapsed_time(), HRTTest::main(), uORBTest::UnitTest::pubsublatency_main(), and MicroBenchHRT::ut_declare_test_c().

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hrt_init()

__EXPORT void hrt_init

(

void

)

Referenced by hrt_elapsed_time(), and user_start().

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hrt_store_absolute_time()

__EXPORT hrt_abstime hrt_store_absolute_time

(

volatile hrt_abstime *

now

)

Store the absolute time in an interrupt-safe fashion.

This function ensures that the timestamp cannot be seen half-written by an interrupt handler.

Referenced by hrt_elapsed_time().

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ts_to_abstime()

__EXPORT hrt_abstime ts_to_abstime

(

const struct timespec *

ts

)

Convert a timespec to absolute time.

Variable Documentation

hrt_abstime

__BEGIN_DECLS typedef uint64_t hrt_abstime

Absolute time, in microsecond units.

Absolute time is measured from some arbitrary epoch shortly after system startup. It should never wrap or go backwards.

Definition at line 58 of file drv_hrt.h.

Referenced by _auth_method_arm_req_check(), _auth_method_two_arm_check(), MavlinkFtpTest::_burst_test(), CollisionPrevention::_calculateConstrainedSetpoint(), load_mon::LoadMon::_cpuload(), FlightTaskManual::_evaluateSticks(), land_detector::MulticopterLandDetector::_get_maybe_landed_state(), DfLtc2946Wrapper::_publish(), DfBebopBusWrapper::_publish(), MavlinkFtpTest::_receive_message_handler_burst(), land_detector::MulticopterLandDetector::_update_params(), land_detector::LandDetector::_update_state(), QShell::_wait_for_retval(), adc_measure(), Sensors::adc_poll(), UavcanEscController::check_escs_status(), Commander::check_valid(), BMP280::collect(), TFMINI::collect(), CM8JL65::collect(), LidarLiteI2C::collect(), BMP388::collect(), uORB::FastRpcChannel::control_msg_queue_add(), control_status_leds(), uORB::DeviceNode::copy_and_get_timestamp(), RCTest::crsfTest(), RCInput::cycle(), TAP_ESC::cycle(), detect_orientation(), do_esc_calibration(), do_level_calibration(), dsm_input(), uORB::KraitFastRpcChannel::fastrpc_recv_thread(), frsky_telemetry_thread_main(), Battery::full_cell_voltage(), uORB::FastRpcChannel::get_bulk_data(), uORB::FastRpcChannel::get_data(), MavlinkStream::get_interval(), DShotOutput::get_mode(), PX4FMU::get_mode(), systemlib::Hysteresis::get_state(), Simulator::handle_message_hil_sensor(), MavlinkReceiver::handle_message_ping(), MavlinkULog::handle_update(), hrt_elapsed_time(), FixedwingPositionControl::in_takeoff_situation(), TAP_ESC::init(), LeddarOne::init(), PX4IO::init(), px4::logger::Logger::initialize_load_output(), ObstacleAvoidance::injectAvoidanceSetpoints(), uORB::DeviceNode::ioctl(), MissionBlock::is_mission_item_reached(), mag_calibration_worker(), HRTTest::main(), mavlink_get_channel_buffer(), LidarLitePWM::measure(), AK09916::measure(), ADIS16477::measure(), FXAS21002C::measure(), ICM20948_mag::measure(), ADIS16448::measure(), MPU9250_mag::measure(), ADIS16497::measure(), VOXLPM::measure(), BMI055_gyro::measure(), BMI055_accel::measure(), BMI088_gyro::measure(), BMI088_accel::measure(), L3GD20::measure(), MPU9250::measure(), BMI160::measure(), MPU6000::measure(), ICM20948::measure(), LSM303D::measureAccelerometer(), LSM303D::measureMagnetometer(), mixer_tick(), MixerTest::mixerTest(), motor_ramp_thread_main(), output_limit_calc(), param_autosave(), perf_count(), print_reject_arm(), print_reject_mode(), uORB::DeviceMaster::printStatistics(), px4::logger::LogWriterMavlink::publish_message(), TimestampedList< MavlinkCommandSender::command_item_t >::put(), Integrator::put_with_interval(), Sih::run(), ADC::Run(), MulticopterRateControl::Run(), MulticopterAttitudeControl::Run(), AttitudeEstimatorQ::Run(), Commander::run(), MulticopterPositionControl::Run(), PAW3902::Run(), Ekf2::Run(), Navigator::run(), px4::logger::Logger::run(), FXOS8701CQ::Run(), px4::logger::LogWriterFile::run(), land_detector::LandDetector::Run(), MavlinkReceiver::Run(), sbus1_output(), RCTest::sbus2Test(), sbus_input(), uORB::FastRpcChannel::send_message(), uORB::KraitFastRpcChannel::send_message(), MavlinkRateLimiter::set_interval(), PX4Rangefinder::set_min_distance(), PX4Magnetometer::set_sensitivity(), PX4Barometer::set_temperature(), PX4Accelerometer::set_temperature(), PX4Gyroscope::set_temperature(), PX4IO::set_update_rate(), Takeoff::setSpoolupTime(), uORB::DeviceMaster::showTop(), task_main(), spektrum_rc::task_main(), TemperatureCalibration::task_main(), linux_pwm_out::task_main(), snapdragon_pwm::task_main(), PX4IO::task_main(), Mavlink::task_main(), TEST(), TEST_F(), test_file(), test_hrt(), uORBTest::UnitTest::test_multi2(), test_time(), time_fsync(), top_main(), vmount::OutputMavlink::update(), vmount::OutputRC::update(), systemlib::Hysteresis::update(), DShotTelemetry::update(), LedController::update(), MavlinkStreamHighLatency2::update_data(), vmount::InputMavlinkCmdMount::update_impl(), FailureDetector::updateAttitudeStatus(), MixingOutput::updateLatencyPerfCounter(), MixingOutput::updateOutputSlewrate(), MulticopterPositionControl::warn_rate_limited(), px4::logger::watchdog_update(), px4::logger::Logger::write_load_output(), and write_test().