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AP_GPS: move time_epoch calcs into proper file

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The frontend implementation was in the backend file
No functional change
This commit is contained in:
Randy Mackay 2017-03-08 18:59:27 +09:00
parent a79474dcbc
commit cd379b0e86
2 changed files with 23 additions and 23 deletions
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23
libraries/AP_GPS/AP_GPS.cpp
View File

@ -235,6 +235,29 @@ const uint32_t AP_GPS::_baudrates[] = {4800U, 19200U, 38400U, 115200U, 57600U, 9
// right mode
const char AP_GPS::_initialisation_blob[] = UBLOX_SET_BINARY MTK_SET_BINARY SIRF_SET_BINARY;
/**
convert GPS week and milliseconds to unix epoch in milliseconds
*/
uint64_t AP_GPS::time_epoch_convert(uint16_t gps_week, uint32_t gps_ms)
{
uint64_t fix_time_ms = UNIX_OFFSET_MSEC + gps_week * MSEC_PER_WEEK + gps_ms;
return fix_time_ms;
}
/**
calculate current time since the unix epoch in microseconds
*/
uint64_t AP_GPS::time_epoch_usec(uint8_t instance)
{
const GPS_State &istate = state[instance];
if (istate.last_gps_time_ms == 0) {
return 0;
}
uint64_t fix_time_ms = time_epoch_convert(istate.time_week, istate.time_week_ms);
// add in the milliseconds since the last fix
return (fix_time_ms + (AP_HAL::millis() - istate.last_gps_time_ms)) * 1000ULL;
}
/*
send some more initialisation string bytes if there is room in the
UART transmit buffer

23
libraries/AP_GPS/GPS_Backend.cpp
View File

@ -58,29 +58,6 @@ int16_t AP_GPS_Backend::swap_int16(int16_t v) const
return u.v;
}
/**
convert GPS week and milliseconds to unix epoch in milliseconds
*/
uint64_t AP_GPS::time_epoch_convert(uint16_t gps_week, uint32_t gps_ms)
{
uint64_t fix_time_ms = UNIX_OFFSET_MSEC + gps_week * MSEC_PER_WEEK + gps_ms;
return fix_time_ms;
}
/**
calculate current time since the unix epoch in microseconds
*/
uint64_t AP_GPS::time_epoch_usec(uint8_t instance)
{
const GPS_State &istate = state[instance];
if (istate.last_gps_time_ms == 0) {
return 0;
}
uint64_t fix_time_ms = time_epoch_convert(istate.time_week, istate.time_week_ms);
// add in the milliseconds since the last fix
return (fix_time_ms + (AP_HAL::millis() - istate.last_gps_time_ms)) * 1000ULL;
}
/**
fill in time_week_ms and time_week from BCD date and time components