mirror of https://github.com/ArduPilot/ardupilot
87 lines
2.5 KiB
C++
87 lines
2.5 KiB
C++
#pragma once
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#include "AP_RTC_config.h"
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#if AP_RTC_ENABLED
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#include <AP_Param/AP_Param.h>
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#include <stdint.h>
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class AP_RTC {
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public:
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AP_RTC();
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static const struct AP_Param::GroupInfo var_info[];
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AP_Int8 allowed_types;
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AP_Int16 tz_min;
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// ordering is important in source_type; lower-numbered is
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// considered a better time source. These values are documented
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// and used in the parameters!
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enum source_type : uint8_t {
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SOURCE_GPS = 0,
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SOURCE_MAVLINK_SYSTEM_TIME = 1,
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SOURCE_HW = 2,
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SOURCE_NONE,
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};
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/*
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get clock in UTC microseconds. Returns false if it is not available.
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*/
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bool get_utc_usec(uint64_t &usec) const;
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// set the system time. If the time has already been set by
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// something better (according to source_type), this set will be
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// ignored.
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void set_utc_usec(uint64_t time_utc_usec, source_type type);
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/*
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get time in UTC hours, minutes, seconds and milliseconds
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*/
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bool get_system_clock_utc(uint8_t &hour, uint8_t &min, uint8_t &sec, uint16_t &ms) const;
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bool get_local_time(uint8_t &hour, uint8_t &min, uint8_t &sec, uint16_t &ms) const;
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uint32_t get_time_utc(int32_t hour, int32_t min, int32_t sec, int32_t ms);
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// get date and time. Returns true on success and fills in year, month, day, hour, min, sec and ms
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// year is the regular Gregorian year, month is 0~11, day is 1~31, hour is 0~23, minute is 0~59, second is 0~60 (1 leap second), ms is 0~999
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bool get_date_and_time_utc(uint16_t& year, uint8_t& month, uint8_t& day, uint8_t &hour, uint8_t &min, uint8_t &sec, uint16_t &ms) const;
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// get singleton instance
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static AP_RTC *get_singleton() {
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return _singleton;
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}
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// allow threads to lock against RTC update
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HAL_Semaphore &get_semaphore(void) {
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return rsem;
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}
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bool clock_s_to_date_fields(const uint32_t utc_sec32, uint16_t& year, uint8_t& month, uint8_t& day, uint8_t &hour, uint8_t &min, uint8_t &sec, uint8_t &wday) const;
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uint32_t date_fields_to_clock_s(uint16_t year, uint8_t month, uint8_t day, uint8_t hour, uint8_t min, uint8_t sec) const;
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private:
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static AP_RTC *_singleton;
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HAL_Semaphore rsem;
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source_type rtc_source_type = SOURCE_NONE;
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int64_t rtc_shift;
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void clock_ms_to_hms_fields(const uint64_t time_ms, uint8_t &hour, uint8_t &min, uint8_t &sec, uint16_t &ms) const;
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static bool _is_leap(uint32_t y);
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static uint32_t _timegm(struct tm &tm);
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};
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namespace AP {
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AP_RTC &rtc();
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};
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#endif // AP_RTC_ENABLED
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