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Global: Define MSEC_PER_SEC, MSEC_PER_WEEK, SEC_PER_WEEK and UNIX_OFFSET.

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This commit is contained in:
murata 2017-02-04 07:51:15 +09:00 committed by Lucas De Marchi
parent d2cc340587
commit 30151c8253
5 changed files with 13 additions and 10 deletions
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6
libraries/AP_GPS/AP_GPS.cpp
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@ -611,9 +611,9 @@ AP_GPS::setHIL(uint8_t instance, GPS_Status _status, uint64_t time_epoch_ms,
istate.hdop = hdop;
istate.num_sats = _num_sats;
istate.last_gps_time_ms = tnow;
uint64_t gps_time_ms = time_epoch_ms - (17000ULL*86400ULL + 52*10*7000ULL*86400ULL - GPS_LEAPSECONDS_MILLIS);
istate.time_week = gps_time_ms / (86400*7*(uint64_t)1000);
istate.time_week_ms = gps_time_ms - istate.time_week*(86400*7*(uint64_t)1000);
uint64_t gps_time_ms = time_epoch_ms - UNIX_OFFSET;
istate.time_week = gps_time_ms / MSEC_PER_WEEK;
istate.time_week_ms = gps_time_ms - istate.time_week * MSEC_PER_WEEK;
timing[instance].last_message_time_ms = tnow;
timing[instance].last_fix_time_ms = tnow;
_type[instance].set(GPS_TYPE_HIL);

2
libraries/AP_GPS/AP_GPS.h
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@ -34,6 +34,8 @@
// the number of GPS leap seconds
#define GPS_LEAPSECONDS_MILLIS 18000ULL
#define UNIX_OFFSET (17000ULL * 86400ULL + 52 * 10 * MSEC_PER_WEEK - GPS_LEAPSECONDS_MILLIS)
class DataFlash_Class;
class AP_GPS_Backend;

8
libraries/AP_GPS/GPS_Backend.cpp
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@ -63,9 +63,7 @@ int16_t AP_GPS_Backend::swap_int16(int16_t v) const
*/
uint64_t AP_GPS::time_epoch_convert(uint16_t gps_week, uint32_t gps_ms)
{
const uint64_t ms_per_week = 7000ULL*86400ULL;
const uint64_t unix_offset = 17000ULL*86400ULL + 52*10*7000ULL*86400ULL - GPS_LEAPSECONDS_MILLIS;
uint64_t fix_time_ms = unix_offset + gps_week*ms_per_week + gps_ms;
uint64_t fix_time_ms = UNIX_OFFSET + gps_week * MSEC_PER_WEEK + gps_ms;
return fix_time_ms;
}
@ -120,8 +118,8 @@ void AP_GPS_Backend::make_gps_time(uint32_t bcd_date, uint32_t bcd_milliseconds)
ret -= 272764785UL;
// get GPS week and time
state.time_week = ret / (7*86400UL);
state.time_week_ms = (ret % (7*86400UL)) * 1000;
state.time_week = ret / SEC_PER_WEEK;
state.time_week_ms = (ret % SEC_PER_WEEK) * MSEC_PER_SEC;
state.time_week_ms += msec;
}

4
libraries/AP_HAL_SITL/sitl_gps.cpp
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@ -179,10 +179,10 @@ static void gps_time(uint16_t *time_week, uint32_t *time_week_ms)
simulation_timeval(&tv);
const uint32_t epoch = 86400*(10*365 + (1980-1969)/4 + 1 + 6 - 2) - (GPS_LEAPSECONDS_MILLIS / 1000ULL);
uint32_t epoch_seconds = tv.tv_sec - epoch;
*time_week = epoch_seconds / (86400*7UL);
*time_week = epoch_seconds / SEC_PER_WEEK;
uint32_t t_ms = tv.tv_usec / 1000;
// round time to nearest 200ms
*time_week_ms = (epoch_seconds % (86400*7UL))*1000 + ((t_ms/200) * 200);
*time_week_ms = (epoch_seconds % SEC_PER_WEEK) * MSEC_PER_SEC + ((t_ms/200) * 200);
}
/*

3
libraries/AP_Math/definitions.h
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@ -68,3 +68,6 @@ static const double WGS84_E = (sqrt(2 * WGS84_F - WGS84_F * WGS84_F));
#define NSEC_PER_USEC 1000ULL
#define USEC_PER_SEC 1000000ULL
#define USEC_PER_MSEC 1000ULL
#define MSEC_PER_SEC 1000UL
#define SEC_PER_WEEK (7UL * 86400UL)
#define MSEC_PER_WEEK (SEC_PER_WEEK * MSEC_PER_SEC)