ardupilot/libraries/AP_RTC/AP_RTC.h

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#pragma once
#include <AP_Param/AP_Param.h>
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#include <stdint.h>
class AP_RTC {
public:
AP_RTC();
static const struct AP_Param::GroupInfo var_info[];
AP_Int8 allowed_types;
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AP_Int16 tz_min;
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// ordering is important in source_type; lower-numbered is
// considered a better time source. These values are documented
// and used in the parameters!
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enum source_type : uint8_t {
SOURCE_GPS = 0,
SOURCE_MAVLINK_SYSTEM_TIME = 1,
SOURCE_HW = 2,
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SOURCE_NONE,
};
/*
get clock in UTC microseconds. Returns false if it is not available.
*/
bool get_utc_usec(uint64_t &usec) const;
// set the system time. If the time has already been set by
// something better (according to source_type), this set will be
// ignored.
void set_utc_usec(uint64_t time_utc_usec, source_type type);
/*
get time in UTC hours, minutes, seconds and milliseconds
*/
bool get_system_clock_utc(uint8_t &hour, uint8_t &min, uint8_t &sec, uint16_t &ms) const;
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bool get_local_time(uint8_t &hour, uint8_t &min, uint8_t &sec, uint16_t &ms) const;
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uint32_t get_time_utc(int32_t hour, int32_t min, int32_t sec, int32_t ms);
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// get date and time. Returns true on success and fills in year, month, day, hour, min, sec and ms
// year is the regular Gregorian year, month is 0~11, day is 1~31, hour is 0~23, minute is 0~59, second is 0~60 (1 leap second), ms is 0~999
bool get_date_and_time_utc(uint16_t& year, uint8_t& month, uint8_t& day, uint8_t &hour, uint8_t &min, uint8_t &sec, uint16_t &ms) const;
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// get singleton instance
static AP_RTC *get_singleton() {
return _singleton;
}
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// allow threads to lock against RTC update
HAL_Semaphore &get_semaphore(void) {
return rsem;
}
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private:
static AP_RTC *_singleton;
HAL_Semaphore rsem;
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source_type rtc_source_type = SOURCE_NONE;
int64_t rtc_shift;
};
namespace AP {
AP_RTC &rtc();
};