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AP_RTC: add parameter for source types we will set the system time from

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This commit is contained in:
Peter Barker 2018-06-14 12:16:41 +10:00 committed by Andrew Tridgell
parent 22a94addd5
commit f83e65e04e
2 changed files with 42 additions and 12 deletions
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30
libraries/AP_RTC/AP_RTC.cpp
View File

@ -13,6 +13,31 @@ const char *AP_RTC::_clock_source_types[] = {
"NONE", "NONE",
}; };
AP_RTC::AP_RTC()
{
AP_Param::setup_object_defaults(this, var_info);
if (_singleton != nullptr) {
// it's an error to get here. But I don't want to include
// AP_HAL here
return;
}
_singleton = this;
}
// table of user settable parameters
const AP_Param::GroupInfo AP_RTC::var_info[] = {
// @Param: _TYPES
// @DisplayName: Allowed sources of RTC time
// @Description: Specifies which sources of UTC time will be accepted
// @Bitmask: 0:GPS,1:MAVLINK_SYSTEM_TIME,2:HW
// @User: Advanced
AP_GROUPINFO("_TYPES", 1, AP_RTC, allowed_types, 1),
AP_GROUPEND
};
void AP_RTC::set_utc_usec(uint64_t time_utc_usec, source_type type) void AP_RTC::set_utc_usec(uint64_t time_utc_usec, source_type type)
{ {
if (type >= rtc_source_type) { if (type >= rtc_source_type) {
@ -20,6 +45,11 @@ void AP_RTC::set_utc_usec(uint64_t time_utc_usec, source_type type)
return; return;
} }
// check it's from an allowed sources:
if (!(allowed_types & (1<<type))) {
return;
}
const uint64_t now = AP_HAL::micros64(); const uint64_t now = AP_HAL::micros64();
const int64_t tmp = int64_t(time_utc_usec) - int64_t(now); const int64_t tmp = int64_t(time_utc_usec) - int64_t(now);
if (tmp < rtc_shift) { if (tmp < rtc_shift) {

24
libraries/AP_RTC/AP_RTC.h
View File

@ -1,26 +1,26 @@
#pragma once #pragma once
#include <AP_Param/AP_Param.h>
#include <stdint.h> #include <stdint.h>
class AP_RTC { class AP_RTC {
public: public:
AP_RTC() { AP_RTC();
if (_singleton != nullptr) {
// it's an error to get here. But I don't want to include static const struct AP_Param::GroupInfo var_info[];
// AP_HAL here
return; AP_Int8 allowed_types;
}
_singleton = this;
}
// ordering is important in source_type; lower-numbered is // ordering is important in source_type; lower-numbered is
// considered a better time source. // considered a better time source. These values are documented
// and used in the parameters!
enum source_type : uint8_t { enum source_type : uint8_t {
SOURCE_GPS, SOURCE_GPS = 0,
SOURCE_MAVLINK_SYSTEM_TIME, SOURCE_MAVLINK_SYSTEM_TIME = 1,
SOURCE_HW, SOURCE_HW = 2,
SOURCE_NONE, SOURCE_NONE,
}; };