mirror of
https://github.com/iNavFlight/inav.git
synced 2025-07-26 09:45:33 +03:00
Implement changes suggested during review
- Move implementation to common/time. - Use camelCase for function names. - Store just one value for the RTC, the real time when system was started. - Store real time as the number of milliseconds from 1970-01-01. - Remove BB functions for manipulating time, query the RTC directly when BB is started.
This commit is contained in:
Alberto García Hierro
parent
64d7fe2bb0
commit
6c8d1303dc
13 changed files with 194 additions and 235 deletions
2
Makefile
2
Makefile
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@ -548,6 +548,7 @@ COMMON_SRC = \
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common/maths.c \
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common/printf.c \
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common/streambuf.c \
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common/time.c \
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common/typeconversion.c \
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common/string_light.c \
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config/config_eeprom.c \
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@ -575,7 +576,6 @@ COMMON_SRC = \
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drivers/pwm_mapping.c \
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drivers/pwm_output.c \
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drivers/rcc.c \
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drivers/rtc.c \
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drivers/rx_pwm.c \
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drivers/serial.c \
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drivers/serial_uart.c \
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@ -34,6 +34,7 @@
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#include "common/axis.h"
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#include "common/encoding.h"
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#include "common/maths.h"
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#include "common/time.h"
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#include "common/utils.h"
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#include "config/feature.h"
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@ -42,7 +43,6 @@
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#include "drivers/accgyro/accgyro.h"
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#include "drivers/compass/compass.h"
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#include "drivers/rtc.h"
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#include "drivers/sensor.h"
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#include "drivers/time.h"
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@ -1003,8 +1003,6 @@ void blackboxStart(void)
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return;
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}
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blackboxSaveStartDateTime();
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memset(&gpsHistory, 0, sizeof(gpsHistory));
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blackboxHistory[0] = &blackboxHistoryRing[0];
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@ -1297,6 +1295,17 @@ static bool sendFieldDefinition(char mainFrameChar, char deltaFrameChar, const v
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return xmitState.headerIndex < headerCount;
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}
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// Buf must be at least FORMATTED_DATE_TIME_BUFSIZE
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static char *blackboxGetStartDateTime(char *buf)
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{
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dateTime_t dt;
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// rtcGetDateTime will fill dt with 0000-01-01T00:00:00
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// when time is not known.
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rtcGetDateTime(&dt);
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dateTimeFormat(buf, &dt);
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return buf;
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}
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#ifndef BLACKBOX_PRINT_HEADER_LINE
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#define BLACKBOX_PRINT_HEADER_LINE(name, format, ...) case __COUNTER__: \
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blackboxPrintfHeaderLine(name, format, __VA_ARGS__); \
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@ -1317,11 +1326,13 @@ static bool blackboxWriteSysinfo(void)
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return false;
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}
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char buf[FORMATTED_DATE_TIME_BUFSIZE];
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switch (xmitState.headerIndex) {
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BLACKBOX_PRINT_HEADER_LINE("Firmware type", "%s", "Cleanflight");
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BLACKBOX_PRINT_HEADER_LINE("Firmware revision", "INAV %s (%s) %s", FC_VERSION_STRING, shortGitRevision, targetName);
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BLACKBOX_PRINT_HEADER_LINE("Firmware date", "%s %s", buildDate, buildTime);
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BLACKBOX_PRINT_HEADER_LINE("Log start datetime", "%s", blackboxGetStartDateTime());
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BLACKBOX_PRINT_HEADER_LINE("Log start datetime", "%s", blackboxGetStartDateTime(buf));
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BLACKBOX_PRINT_HEADER_LINE("Craft name", "%s", systemConfig()->name);
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BLACKBOX_PRINT_HEADER_LINE("P interval", "%d/%d", blackboxConfig()->rate_num, blackboxConfig()->rate_denom);
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BLACKBOX_PRINT_HEADER_LINE("minthrottle", "%d", motorConfig()->minthrottle);
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@ -1708,32 +1719,6 @@ void blackboxUpdate(timeUs_t currentTimeUs)
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}
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}
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/*
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* Formats start time in ISO 8601 format, YYYY-MM-DDThh:mm:ss
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* Year value of "0000" indicates time not set.
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*/
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static char started_buf[FORMATTED_DATE_TIME_BUFSIZE];
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const char * blackboxGetStartDateTime()
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{
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return started_buf;
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}
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void blackboxSaveStartDateTime()
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{
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date_time_t dt;
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if (!rtc_get_dt(&dt)) {
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dt.year = 0;
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dt.month = 1;
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dt.day = 1;
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dt.hours = 0;
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dt.minutes = 0;
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dt.seconds = 0;
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dt.nanos = 0;
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}
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date_time_format(started_buf, &dt);
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}
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static bool canUseBlackboxWithCurrentConfiguration(void)
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{
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return feature(FEATURE_BLACKBOX);
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@ -34,8 +34,6 @@ void blackboxLogEvent(FlightLogEvent event, flightLogEventData_t *data);
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void blackboxInit(void);
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void blackboxUpdate(timeUs_t currentTimeUs);
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const char *blackboxGetStartDateTime(void);
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void blackboxSaveStartDateTime(void);
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void blackboxStart(void);
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void blackboxFinish(void);
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bool blackboxMayEditConfig(void);
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120
src/main/common/time.c
Normal file
120
src/main/common/time.c
Normal file
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@ -0,0 +1,120 @@
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#include "common/printf.h"
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#include "common/time.h"
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#include "drivers/time.h"
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#define UNIX_REFERENCE_YEAR 1970
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// rtcTime_t when the system was started.
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// Calculated in rtcSet().
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static rtcTime_t started = 0;
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static const uint16_t days[4][12] =
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{
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{ 0, 31, 60, 91, 121, 152, 182, 213, 244, 274, 305, 335},
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{ 366, 397, 425, 456, 486, 517, 547, 578, 609, 639, 670, 700},
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{ 731, 762, 790, 821, 851, 882, 912, 943, 974, 1004, 1035, 1065},
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{1096, 1127, 1155, 1186, 1216, 1247, 1277, 1308, 1339, 1369, 1400, 1430},
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};
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static rtcTime_t dateTimeToRtcTime(dateTime_t *dt)
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{
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unsigned int second = dt->seconds; // 0-59
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unsigned int minute = dt->minutes; // 0-59
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unsigned int hour = dt->hours; // 0-23
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unsigned int day = dt->day - 1; // 0-30
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unsigned int month = dt->month - 1; // 0-11
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unsigned int year = dt->year - UNIX_REFERENCE_YEAR; // 0-99
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int32_t unix = (((year / 4 * (365 * 4 + 1) + days[year % 4][month] + day) * 24 + hour) * 60 + minute) * 60 + second;
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return rtcTimeMake(unix, dt->millis);
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}
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static void rtcTimeToDateTime(dateTime_t *dt, rtcTime_t *t)
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{
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int32_t unix = *t / 1000;
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dt->seconds = unix % 60;
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unix /= 60;
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dt->minutes = unix % 60;
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unix /= 60;
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dt->hours = unix % 24;
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unix /= 24;
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unsigned int years = unix / (365 * 4 + 1) * 4;
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unix %= 365 * 4 + 1;
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unsigned int year;
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for (year = 3; year > 0; year--) {
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if (unix >= days[year][0]) {
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break;
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}
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}
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unsigned int month;
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for (month = 11; month > 0; month--) {
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if (unix >= days[year][month]) {
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break;
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}
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}
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dt->year = years + year + UNIX_REFERENCE_YEAR;
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dt->month = month + 1;
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dt->day = unix - days[year][month] + 1;
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dt->millis = *t % 1000;
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}
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rtcTime_t rtcTimeMake(int32_t secs, uint16_t millis)
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{
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return ((rtcTime_t)secs) * 1000 + millis;
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}
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void dateTimeFormat(char *buf, dateTime_t *dt)
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{
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tfp_sprintf(buf, "%04u-%02u-%02uT%02u:%02u:%02u.%03d",
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dt->year, dt->month, dt->day,
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dt->hours, dt->minutes, dt->seconds, dt->millis);
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}
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bool rtcHasTime()
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{
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return started != 0;
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}
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bool rtcGet(rtcTime_t *t)
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{
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if (!rtcHasTime()) {
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return false;
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}
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*t = started + millis();
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return true;
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}
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bool rtcSet(rtcTime_t *t)
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{
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started = *t - millis();
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return true;
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}
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bool rtcGetDateTime(dateTime_t *dt)
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{
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rtcTime_t t;
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if (rtcGet(&t)) {
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rtcTimeToDateTime(dt, &t);
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return true;
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}
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// No time stored, fill dt with 0000-01-01T00:00:00.000
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dt->year = 0;
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dt->month = 1;
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dt->day = 1;
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dt->hours = 0;
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dt->minutes = 0;
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dt->seconds = 0;
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dt->millis = 0;
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return false;
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}
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bool rtcSetDateTime(dateTime_t *dt)
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{
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rtcTime_t t = dateTimeToRtcTime(dt);
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return rtcSet(&t);
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}
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@ -17,6 +17,7 @@
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#pragma once
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#include <stdbool.h>
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#include <stdint.h>
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#include "platform.h"
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@ -35,3 +36,38 @@ typedef uint32_t timeUs_t;
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#endif
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static inline timeDelta_t cmpTimeUs(timeUs_t a, timeUs_t b) { return (timeDelta_t)(a - b); }
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// Milliseconds since Jan 1 1970
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typedef int64_t rtcTime_t;
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rtcTime_t rtcTimeMake(int32_t secs, uint16_t millis);
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typedef struct _dateTime_s {
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// full year
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uint16_t year;
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// 1-12
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uint8_t month;
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// 1-31
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uint8_t day;
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// 0-23
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uint8_t hours;
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// 0-59
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uint8_t minutes;
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// 0-59
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uint8_t seconds;
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// 0-999
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uint16_t millis;
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} dateTime_t;
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#define FORMATTED_DATE_TIME_BUFSIZE 24
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// buf must be at least FORMATTED_DATE_TIME_BUFSIZE
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void dateTimeFormat(char *buf, dateTime_t *dt);
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bool rtcHasTime();
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bool rtcGet(rtcTime_t *t);
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bool rtcSet(rtcTime_t *t);
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bool rtcGetDateTime(dateTime_t *dt);
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bool rtcSetDateTime(dateTime_t *dt);
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@ -1,136 +0,0 @@
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#include "common/printf.h"
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#include "drivers/rtc.h"
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#include "drivers/time.h"
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#define UNIX_REFERENCE_YEAR 1970
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#define NANOS_PER_SECOND 1000000000
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// millis() when rtc_set() was called
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static timeMs_t rtcMillisSet = 0;
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// timestamp_t set via set_rtc_ts(), used
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// as an offset to count from.
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static timestamp_t rtcTsSet = {0,};
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timestamp_t timestamp_unix(int32_t unix, uint32_t nanos)
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{
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while (nanos >= NANOS_PER_SECOND) {
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nanos -= NANOS_PER_SECOND;
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unix++;
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}
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return (timestamp_t){ .unix = unix, nanos = nanos};
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}
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int32_t timestamp_get_unix(timestamp_t ts)
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{
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return ts.unix;
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}
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uint32_t timestamp_get_nanos(timestamp_t ts)
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{
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return ts.nanos;
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}
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static timestamp_t timestamp_add_millis(timestamp_t ts, timeMs_t ms) {
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uint32_t seconds = ms / 1000;
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uint32_t rem = ms % 1000;
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return timestamp_unix(timestamp_get_unix(ts) + seconds, timestamp_get_nanos(ts) + rem * 1000000);
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}
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static uint16_t days[4][12] =
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{
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{ 0, 31, 60, 91, 121, 152, 182, 213, 244, 274, 305, 335},
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{ 366, 397, 425, 456, 486, 517, 547, 578, 609, 639, 670, 700},
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{ 731, 762, 790, 821, 851, 882, 912, 943, 974,1004,1035,1065},
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{1096,1127,1155,1186,1216,1247,1277,1308,1339,1369,1400,1430},
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};
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static timestamp_t date_time_to_timestamp(date_time_t *dt)
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{
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unsigned int second = dt->seconds; // 0-59
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unsigned int minute = dt->minutes; // 0-59
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unsigned int hour = dt->hours; // 0-23
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unsigned int day = dt->day - 1; // 0-30
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unsigned int month = dt->month - 1; // 0-11
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unsigned int year = dt->year - UNIX_REFERENCE_YEAR; // 0-99
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int32_t unix = (((year/4*(365*4+1)+days[year%4][month]+day)*24+hour)*60+minute)*60+second;
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return timestamp_unix(unix, dt->nanos);
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}
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static void timestamp_to_date_time(date_time_t *dt, timestamp_t ts)
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{
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int32_t unix = timestamp_get_unix(ts);
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dt->seconds = unix%60;
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unix /= 60;
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dt->minutes = unix%60;
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unix /= 60;
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dt->hours = unix%24;
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unix /= 24;
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unsigned int years = unix/(365*4+1)*4;
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unix %= 365*4+1;
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unsigned int year;
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for (year=3; year>0; year--) {
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if (unix >= days[year][0]) {
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break;
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}
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}
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unsigned int month;
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for (month = 11; month > 0; month--) {
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if (unix >= days[year][month]) {
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break;
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}
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}
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dt->year = years + year + UNIX_REFERENCE_YEAR;
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dt->month = month + 1;
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dt->day = unix - days[year][month] + 1;
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dt->nanos = timestamp_get_nanos(ts);
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}
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void date_time_format(char *buf, date_time_t *dt)
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{
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tfp_sprintf(buf, "%04u-%02u-%02uT%02u:%02u:%02u.%09d",
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dt->year, dt->month, dt->day,
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dt->hours, dt->minutes, dt->seconds, dt->nanos);
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}
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bool rtc_has_time()
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{
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return rtcMillisSet > 0;
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}
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bool rtc_get(timestamp_t *ts)
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{
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if (!rtc_has_time()) {
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return false;
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}
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timeMs_t delta = millis() - rtcMillisSet;
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*ts = timestamp_add_millis(rtcTsSet, delta);
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return true;
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}
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bool rtc_set(timestamp_t ts)
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{
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rtcMillisSet = millis();
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rtcTsSet = ts;
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return true;
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}
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bool rtc_get_dt(date_time_t *dt)
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{
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timestamp_t ts;
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if (rtc_get(&ts)) {
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timestamp_to_date_time(dt, ts);
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return true;
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}
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return false;
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}
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bool rtc_set_dt(date_time_t *dt)
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{
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return rtc_set(date_time_to_timestamp(dt));
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}
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@ -1,44 +0,0 @@
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#pragma once
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#include <stdbool.h>
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#include <stdint.h>
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// Don't access the fields directly. Use the getter
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// functions below.
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typedef struct {
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int32_t unix;
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uint32_t nanos;
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} timestamp_t;
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timestamp_t timestamp_unix(int32_t unix, uint32_t nanos);
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int32_t timestamp_get_unix(timestamp_t ts);
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uint32_t timestamp_get_nanos(timestamp_t ts);
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typedef struct _date_time_s {
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// full year
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uint16_t year;
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// 1-12
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uint8_t month;
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// 1-31
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uint8_t day;
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// 0-23
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uint8_t hours;
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// 0-59
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uint8_t minutes;
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// 0-59
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uint8_t seconds;
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uint32_t nanos;
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} date_time_t;
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#define FORMATTED_DATE_TIME_BUFSIZE 30
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// buf must be at least FORMATTED_DATE_TIME_BUFSIZE
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void date_time_format(char *buf, date_time_t *dt);
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bool rtc_has_time();
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bool rtc_get(timestamp_t *ts);
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bool rtc_set(timestamp_t ts);
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bool rtc_get_dt(date_time_t *dt);
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||||
bool rtc_set_dt(date_time_t *dt);
|
||||
|
|
@ -43,8 +43,9 @@ extern uint8_t __config_end;
|
|||
#include "common/color.h"
|
||||
#include "common/maths.h"
|
||||
#include "common/printf.h"
|
||||
#include "common/typeconversion.h"
|
||||
#include "common/string_light.h"
|
||||
#include "common/time.h"
|
||||
#include "common/typeconversion.h"
|
||||
|
||||
#include "config/config_eeprom.h"
|
||||
#include "config/feature.h"
|
||||
|
|
@ -58,7 +59,6 @@ extern uint8_t __config_end;
|
|||
#include "drivers/io.h"
|
||||
#include "drivers/io_impl.h"
|
||||
#include "drivers/logging.h"
|
||||
#include "drivers/rtc.h"
|
||||
#include "drivers/rx_pwm.h"
|
||||
#include "drivers/sdcard.h"
|
||||
#include "drivers/sensor.h"
|
||||
|
|
@ -2321,17 +2321,13 @@ static void cliStatus(char *cmdline)
|
|||
{
|
||||
UNUSED(cmdline);
|
||||
|
||||
char buf[FORMATTED_DATE_TIME_BUFSIZE];
|
||||
dateTime_t dt;
|
||||
|
||||
cliPrintLinef("System Uptime: %d seconds", millis() / 1000);
|
||||
cliPrint("Current Time: ");
|
||||
date_time_t dt;
|
||||
if (rtc_get_dt(&dt)) {
|
||||
char buf[FORMATTED_DATE_TIME_BUFSIZE];
|
||||
date_time_format(buf, &dt);
|
||||
cliPrint(buf);
|
||||
} else {
|
||||
cliPrint("unknown");
|
||||
}
|
||||
cliPrintLinefeed();
|
||||
rtcGetDateTime(&dt);
|
||||
dateTimeFormat(buf, &dt);
|
||||
cliPrintLinef("Current Time: %s", buf);
|
||||
cliPrintLinef("Voltage: %d * 0.1V (%dS battery - %s)", vbat, batteryCellCount, getBatteryStateString());
|
||||
cliPrintf("CPU Clock=%dMHz", (SystemCoreClock / 1000000));
|
||||
|
||||
|
|
|
|||
|
|
@ -32,6 +32,7 @@
|
|||
#include "common/maths.h"
|
||||
#include "common/streambuf.h"
|
||||
#include "common/bitarray.h"
|
||||
#include "common/time.h"
|
||||
#include "common/utils.h"
|
||||
|
||||
#include "drivers/accgyro/accgyro.h"
|
||||
|
|
@ -39,7 +40,6 @@
|
|||
#include "drivers/compass/compass.h"
|
||||
#include "drivers/max7456.h"
|
||||
#include "drivers/pwm_mapping.h"
|
||||
#include "drivers/rtc.h"
|
||||
#include "drivers/sdcard.h"
|
||||
#include "drivers/serial.h"
|
||||
#include "drivers/system.h"
|
||||
|
|
@ -2116,9 +2116,13 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
|
|||
|
||||
case MSP_SET_RTC:
|
||||
{
|
||||
int32_t unix = (int32_t)sbufReadU32(src);
|
||||
uint32_t nanos = sbufReadU32(src);
|
||||
rtc_set(timestamp_unix(unix, nanos));
|
||||
// Use seconds and milliseconds to make senders
|
||||
// easier to implement. Generating a 64 bit value
|
||||
// might not be trivial in some platforms.
|
||||
int32_t secs = (int32_t)sbufReadU32(src);
|
||||
uint16_t millis = sbufReadU16(src);
|
||||
rtcTime_t t = rtcTimeMake(secs, millis);
|
||||
rtcSet(&t);
|
||||
}
|
||||
break;
|
||||
|
||||
|
|
|
|||
|
|
@ -148,8 +148,8 @@ void gpsSetState(gpsState_e state)
|
|||
|
||||
static void gpsUpdateTime(void)
|
||||
{
|
||||
if (!rtc_has_time() && gpsSol.flags.validTime) {
|
||||
rtc_set_dt(&gpsSol.time);
|
||||
if (!rtcHasTime() && gpsSol.flags.validTime) {
|
||||
rtcSetDateTime(&gpsSol.time);
|
||||
}
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -21,7 +21,7 @@
|
|||
|
||||
#include "config/parameter_group.h"
|
||||
|
||||
#include "drivers/rtc.h"
|
||||
#include "common/time.h"
|
||||
|
||||
#define GPS_DBHZ_MIN 0
|
||||
#define GPS_DBHZ_MAX 55
|
||||
|
|
@ -133,7 +133,7 @@ typedef struct gpsSolutionData_s {
|
|||
|
||||
uint16_t hdop; // generic HDOP value (*100)
|
||||
|
||||
date_time_t time; // Time in UTC
|
||||
dateTime_t time; // GPS time in UTC
|
||||
|
||||
} gpsSolutionData_t;
|
||||
|
||||
|
|
|
|||
|
|
@ -489,7 +489,7 @@ static bool gpsParceFrameUBLOX(void)
|
|||
gpsSol.time.hours = _buffer.pvt.hour;
|
||||
gpsSol.time.minutes = _buffer.pvt.min;
|
||||
gpsSol.time.seconds = _buffer.pvt.sec;
|
||||
gpsSol.time.nanos = _buffer.pvt.nano;
|
||||
gpsSol.time.millis = _buffer.pvt.nano / (1000*1000);
|
||||
|
||||
gpsSol.flags.validTime = 1;
|
||||
} else {
|
||||
|
|
|
|||
|
|
@ -319,7 +319,7 @@
|
|||
#define MSP_SERVO_MIX_RULES 241 //out message Returns servo mixer configuration
|
||||
#define MSP_SET_SERVO_MIX_RULE 242 //in message Sets servo mixer configuration
|
||||
#define MSP_SET_4WAY_IF 245 //in message Sets 4way interface
|
||||
#define MSP_SET_RTC 246 //in message Sets the RTC clock - TODO: Make sure this code is not used by other forks
|
||||
#define MSP_SET_RTC 246 //in message Sets the RTC clock (args: secs(i32) millis(u16))
|
||||
|
||||
// MSPv2 includes
|
||||
#include "msp_protocol_v2_inav.h"
|
||||
Loading…
Add table
Add a link
Reference in a new issue