#include "AP_RTC.h" #include #include #include #include extern const AP_HAL::HAL& hal; 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), // @Param: _TZ_MIN // @DisplayName: Timezone offset from UTC // @Description: Adds offset in +- minutes from UTC to calculate local time // @Range: -720 +840 // @User: Advanced AP_GROUPINFO("_TZ_MIN", 2, AP_RTC, tz_min, 0), AP_GROUPEND }; void AP_RTC::set_utc_usec(uint64_t time_utc_usec, source_type type) { const uint64_t oldest_acceptable_date = 1546300800000; // 2019-01-01 0:00 if (type >= rtc_source_type) { // e.g. system-time message when we've been set by the GPS return; } // check it's from an allowed sources: if (!(allowed_types & (1<set_hw_rtc(time_utc_usec); } rtc_source_type = type; #if HAL_GCS_ENABLED // update signing timestamp GCS_MAVLINK::update_signing_timestamp(time_utc_usec); #endif } bool AP_RTC::get_utc_usec(uint64_t &usec) const { if (rtc_source_type == SOURCE_NONE) { return false; } usec = AP_HAL::micros64() + rtc_shift; return true; } bool AP_RTC::get_system_clock_utc(uint8_t &hour, uint8_t &min, uint8_t &sec, uint16_t &ms) const { // get time of day in ms uint64_t time_ms = 0; if (!get_utc_usec(time_ms)) { return false; } time_ms /= 1000U; // separate time into ms, sec, min, hour and days but all expressed in milliseconds ms = time_ms % 1000; uint32_t sec_ms = (time_ms % (60 * 1000)) - ms; uint32_t min_ms = (time_ms % (60 * 60 * 1000)) - sec_ms - ms; uint32_t hour_ms = (time_ms % (24 * 60 * 60 * 1000)) - min_ms - sec_ms - ms; // convert times as milliseconds into appropriate units sec = sec_ms / 1000; min = min_ms / (60 * 1000); hour = hour_ms / (60 * 60 * 1000); return true; } bool AP_RTC::get_local_time(uint8_t &hour, uint8_t &min, uint8_t &sec, uint16_t &ms) const { // get local time of day in ms uint64_t time_ms = 0; uint64_t ms_local = 0; if (!get_utc_usec(time_ms)) { return false; } time_ms /= 1000U; ms_local = time_ms + (tz_min * 60000); // separate time into ms, sec, min, hour and days but all expressed in milliseconds ms = ms_local % 1000; uint32_t sec_ms = (ms_local % (60 * 1000)) - ms; uint32_t min_ms = (ms_local % (60 * 60 * 1000)) - sec_ms - ms; uint32_t hour_ms = (ms_local % (24 * 60 * 60 * 1000)) - min_ms - sec_ms - ms; // convert times as milliseconds into appropriate units sec = sec_ms / 1000; min = min_ms / (60 * 1000); hour = hour_ms / (60 * 60 * 1000); return true; } // get milliseconds from now to a target time of day expressed as // hour, min, sec, ms. Match starts from first value that is not // -1. I.e. specifying hour=-1, minutes=10 will ignore the hour and // return time until 10 minutes past 12am (utc) NOTE: if this time has // just past then you can expect a return value of roughly 86340000 - // the number of milliseconds in a day. uint32_t AP_RTC::get_time_utc(int32_t hour, int32_t min, int32_t sec, int32_t ms) { // determine highest value specified (0=none, 1=ms, 2=sec, 3=min, 4=hour) int8_t largest_element = 0; if (hour != -1) { largest_element = 4; } else if (min != -1) { largest_element = 3; } else if (sec != -1) { largest_element = 2; } else if (ms != -1) { largest_element = 1; } else { // exit immediately if no time specified return 0; } // get start_time_ms as h, m, s, ms uint8_t curr_hour, curr_min, curr_sec; uint16_t curr_ms; if (!get_system_clock_utc(curr_hour, curr_min, curr_sec, curr_ms)) { return 0; } int32_t total_delay_ms = 0; // calculate ms to target if (largest_element >= 1) { total_delay_ms += ms - curr_ms; } if (largest_element == 1 && total_delay_ms < 0) { return static_cast(total_delay_ms += 1000); } // calculate sec to target if (largest_element >= 2) { total_delay_ms += (sec - curr_sec)*1000; } if (largest_element == 2 && total_delay_ms < 0) { return static_cast(total_delay_ms += (60*1000)); } // calculate min to target if (largest_element >= 3) { total_delay_ms += (min - curr_min)*60*1000; } if (largest_element == 3 && total_delay_ms < 0) { return static_cast(total_delay_ms += (60*60*1000)); } // calculate hours to target if (largest_element >= 4) { total_delay_ms += (hour - curr_hour)*60*60*1000; } if (largest_element == 4 && total_delay_ms < 0) { return static_cast(total_delay_ms += (24*60*60*1000)); } // total delay in milliseconds return static_cast(total_delay_ms); } /* mktime replacement from Samba */ time_t AP_RTC::mktime(const struct tm *t) { time_t epoch = 0; int n; int mon [] = { 31, 28, 31, 30, 31, 30, 31, 31, 30, 31, 30, 31 }, y, m, i; const unsigned MINUTE = 60; const unsigned HOUR = 60*MINUTE; const unsigned DAY = 24*HOUR; const unsigned YEAR = 365*DAY; if (t->tm_year < 70) { return (time_t)-1; } n = t->tm_year + 1900 - 1; epoch = (t->tm_year - 70) * YEAR + ((n / 4 - n / 100 + n / 400) - (1969 / 4 - 1969 / 100 + 1969 / 400)) * DAY; y = t->tm_year + 1900; m = 0; for (i = 0; i < t->tm_mon; i++) { epoch += mon [m] * DAY; if (m == 1 && y % 4 == 0 && (y % 100 != 0 || y % 400 == 0)) { epoch += DAY; } if (++m > 11) { m = 0; y++; } } epoch += (t->tm_mday - 1) * DAY; epoch += t->tm_hour * HOUR + t->tm_min * MINUTE + t->tm_sec; return epoch; } // singleton instance AP_RTC *AP_RTC::_singleton; namespace AP { AP_RTC &rtc() { return *AP_RTC::get_singleton(); } }