mirror of https://github.com/ArduPilot/ardupilot
73 lines
1.7 KiB
C++
73 lines
1.7 KiB
C++
#pragma once
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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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// replacement for mktime()
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static time_t mktime(const struct tm *t);
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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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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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};
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namespace AP {
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AP_RTC &rtc();
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};
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