mirror of https://github.com/ArduPilot/ardupilot
249 lines
7.1 KiB
C++
249 lines
7.1 KiB
C++
#include "AP_RTC_config.h"
|
|
|
|
#if AP_RTC_ENABLED
|
|
|
|
#include "AP_RTC.h"
|
|
|
|
#include <AP_HAL/AP_HAL.h>
|
|
#include <AP_Math/AP_Math.h>
|
|
#include <GCS_MAVLink/GCS.h>
|
|
#include <AP_Common/time.h>
|
|
|
|
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_us = 1640995200ULL*1000*1000; // 2022-01-01 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<<type))) {
|
|
return;
|
|
}
|
|
|
|
// don't allow old times
|
|
if (time_utc_usec < oldest_acceptable_date_us) {
|
|
return;
|
|
}
|
|
|
|
const uint64_t now = AP_HAL::micros64();
|
|
const int64_t tmp = int64_t(time_utc_usec) - int64_t(now);
|
|
if (tmp < rtc_shift) {
|
|
// can't allow time to go backwards, ever
|
|
return;
|
|
}
|
|
WITH_SEMAPHORE(rsem);
|
|
|
|
rtc_shift = tmp;
|
|
|
|
// update hardware clock:
|
|
if (type != SOURCE_HW) {
|
|
hal.util->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<uint32_t>(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<uint32_t>(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<uint32_t>(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<uint32_t>(total_delay_ms += (24*60*60*1000));
|
|
}
|
|
|
|
// total delay in milliseconds
|
|
return static_cast<uint32_t>(total_delay_ms);
|
|
}
|
|
|
|
// get date and time. Returns true on success and fills in year, month, day, hour, min, sec and ms
|
|
// 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
|
|
bool AP_RTC::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
|
|
{
|
|
// get local time of day in ms
|
|
uint64_t time_us = 0;
|
|
if (!get_utc_usec(time_us)) {
|
|
return false;
|
|
}
|
|
time_t utc_sec = time_us / (1000U * 1000U);
|
|
struct tm* tm = gmtime(&utc_sec);
|
|
if (tm == nullptr) {
|
|
return false;
|
|
}
|
|
year = tm->tm_year+1900; /* Year - 1900. */
|
|
month = tm->tm_mon; /* Month. [0-11] */
|
|
day = tm->tm_mday; /* Day. [1-31] */
|
|
hour = tm->tm_hour; /* Hours. [0-23] */
|
|
min = tm->tm_min; /* Minutes. [0-59] */
|
|
sec = tm->tm_sec; /* Seconds. [0-60] (1 leap second) */
|
|
ms = time_us / 1000U; /* milliseconds [0-999] */
|
|
return true;
|
|
}
|
|
|
|
// singleton instance
|
|
AP_RTC *AP_RTC::_singleton;
|
|
|
|
namespace AP {
|
|
|
|
AP_RTC &rtc()
|
|
{
|
|
return *AP_RTC::get_singleton();
|
|
}
|
|
|
|
}
|
|
|
|
#endif // AP_RTC_ENABLED
|