ardupilot/libraries/AP_RTC/AP_RTC.h

73 lines
1.7 KiB
C++

#pragma once
#include <AP_Param/AP_Param.h>
#include <stdint.h>
class AP_RTC {
public:
AP_RTC();
static const struct AP_Param::GroupInfo var_info[];
AP_Int8 allowed_types;
AP_Int16 tz_min;
// ordering is important in source_type; lower-numbered is
// considered a better time source. These values are documented
// and used in the parameters!
enum source_type : uint8_t {
SOURCE_GPS = 0,
SOURCE_MAVLINK_SYSTEM_TIME = 1,
SOURCE_HW = 2,
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);
bool get_local_time(uint8_t &hour, uint8_t &min, uint8_t &sec, uint16_t &ms);
uint32_t get_time_utc(int32_t hour, int32_t min, int32_t sec, int32_t ms);
// replacement for mktime()
static time_t mktime(const struct tm *t);
// get singleton instance
static AP_RTC *get_singleton() {
return _singleton;
}
// allow threads to lock against RTC update
HAL_Semaphore &get_semaphore(void) {
return rsem;
}
private:
static AP_RTC *_singleton;
HAL_Semaphore rsem;
source_type rtc_source_type = SOURCE_NONE;
int64_t rtc_shift;
};
namespace AP {
AP_RTC &rtc();
};