AP_GPS: use 64 bit time in the pps interrupt callback

CubePilot · Jun 25, 2024 · caa0cf6 · caa0cf6
1 parent 0455a02
commit caa0cf6
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Showing 2 changed files with 3 additions and 3 deletions.
diff --git a/libraries/AP_GPS/AP_GPS_UBLOX.cpp b/libraries/AP_GPS/AP_GPS_UBLOX.cpp
@@ -1245,7 +1245,7 @@ AP_GPS_UBLOX::_parse_gps(void)
                   (unsigned)_buffer.nav_tp5.flags,
                   (unsigned)_buffer.nav_tp5.freqPeriod);
 #ifdef HAL_GPIO_PPS
-            hal.gpio->attach_interrupt(HAL_GPIO_PPS, FUNCTOR_BIND_MEMBER(&AP_GPS_UBLOX::pps_interrupt, void, uint8_t, bool, uint32_t), AP_HAL::GPIO::INTERRUPT_FALLING);
+            hal.gpio->attach_interrupt(HAL_GPIO_PPS, FUNCTOR_BIND_MEMBER(&AP_GPS_UBLOX::pps_interrupt, void, uint8_t, bool, uint64_t), AP_HAL::GPIO::INTERRUPT_FALLING);
 #endif
             const uint16_t desired_flags = 0x003f;
             const uint16_t desired_period_hz = _pps_freq;
@@ -1858,7 +1858,7 @@ AP_GPS_UBLOX::_parse_gps(void)
  */
 #ifdef HAL_GPIO_PPS
 void
-AP_GPS_UBLOX::pps_interrupt(uint8_t pin, bool high, uint32_t timestamp_us)
+AP_GPS_UBLOX::pps_interrupt(uint8_t pin, bool high, uint64_t timestamp_us)
 {
     _last_pps_time_us = timestamp_us;
 }

diff --git a/libraries/AP_GPS/AP_GPS_UBLOX.h b/libraries/AP_GPS/AP_GPS_UBLOX.h
@@ -872,7 +872,7 @@ class AP_GPS_UBLOX : public AP_GPS_Backend
 
     uint8_t _pps_freq = 1;
 #ifdef HAL_GPIO_PPS
-    void pps_interrupt(uint8_t pin, bool high, uint32_t timestamp_us);
+    void pps_interrupt(uint8_t pin, bool high, uint64_t timestamp_us);
     void set_pps_desired_freq(uint8_t freq) override;
 #endif