Fix systime_now_us() occasional fault#189
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JcZou merged 1 commit intoFirmament-Autopilot:masterfrom Mar 9, 2026
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Pan-Chenliang
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Mar 8, 2026
| now_us = time_now_ms * 1000ULL + systick_us; | ||
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| /* Fix the race condition where the SysTick hardware timer has wrapped around */ | ||
| if (now_us < monotonic_us) { |
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这里可能用while会更好？
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在 i2c timeout 故障中，捕捉两次调用systime_now_us的时间差，出现故障的时候时间差总是1000us。分析发现systime_now_us()有极小概率出现 毫秒+微妙 刚好多跳了一毫秒的情况。类似秒针跳到60，分针+1，但是秒针还没回0。此时的读取会多1000us，导致i2c超时函数直接判定超时。
经过在6c上测试，修改后50次启动中没有出现i2c启动失败的情况。