From df43f9655d6f5f9d142d273d321d95b566fe6c4b Mon Sep 17 00:00:00 2001
From: bugobliterator <siddharthbharatpurohit@gmail.com>
Date: Tue, 25 Jun 2024 17:11:16 +1000
Subject: [PATCH] AP_GPS: use 64 bit time in the pps interrupt callback

---
 libraries/AP_GPS/AP_GPS_UBLOX.cpp | 4 ++--
 libraries/AP_GPS/AP_GPS_UBLOX.h   | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/libraries/AP_GPS/AP_GPS_UBLOX.cpp b/libraries/AP_GPS/AP_GPS_UBLOX.cpp
index f9308b8fc3cdcc..4fe001a6669ab6 100644
--- a/libraries/AP_GPS/AP_GPS_UBLOX.cpp
+++ b/libraries/AP_GPS/AP_GPS_UBLOX.cpp
@@ -1286,7 +1286,7 @@ 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;
@@ -1833,7 +1833,7 @@ 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
index 3bff854c325312..3b7085dc2ab356 100644
--- a/libraries/AP_GPS/AP_GPS_UBLOX.h
+++ b/libraries/AP_GPS/AP_GPS_UBLOX.h
@@ -873,7 +873,7 @@ 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