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drivers/gps: update RTC only if time drift for 5s

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Add interrupt pause comment to help future code archeologists
This commit is contained in:
Igor Mišić 2021-02-25 15:25:36 +01:00 committed by Beat Küng
parent 143ebbad98
commit 5f9a98e316
1 changed files with 17 additions and 1 deletions
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18
src/drivers/gps/gps.cpp
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@ -245,6 +245,8 @@ private:
void dumpGpsData(uint8_t *data, size_t len, bool msg_to_gps_device);
void initializeCommunicationDump();
static constexpr int SET_CLOCK_DRIFT_TIME_S{5}; ///< RTC drift time when time synchronization is needed (in seconds)
};
px4::atomic_bool GPS::_is_gps_main_advertised{false};
@ -327,6 +329,8 @@ int GPS::callback(GPSCallbackType type, void *data1, int data2, void *user)
{
GPS *gps = (GPS *)user;
timespec rtc_system_time;
switch (type) {
case GPSCallbackType::readDeviceData: {
int num_read = gps->pollOrRead((uint8_t *)data1, data2, *((int *)data1));
@ -355,7 +359,19 @@ int GPS::callback(GPSCallbackType type, void *data1, int data2, void *user)
break;
case GPSCallbackType::setClock:
px4_clock_settime(CLOCK_REALTIME, (timespec *)data1);
px4_clock_gettime(CLOCK_REALTIME, &rtc_system_time);
timespec rtc_gps_time = *(timespec *)data1;
int drift_time = abs(rtc_system_time.tv_sec - rtc_gps_time.tv_sec);
if (drift_time >= SET_CLOCK_DRIFT_TIME_S) {
// as of 2021 setting the time on Nuttx temporarily pauses interrupts
// so only set the time if it is very wrong.
// TODO: clock slewing of the RTC for small time differences
px4_clock_settime(CLOCK_REALTIME, &rtc_gps_time);
}
break;
}