From: Keith Packard <keithp@keithp.com>
Date: Sun, 13 Nov 2022 07:34:34 +0000 (-0800)
Subject: altos: Add ao_gps_utc_tick
X-Git-Tag: 1.9.13~1^2~26^2~5
X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=commitdiff_plain;h=6c3f98370a7244a053f8e4858b8f136e2fd659b2

altos: Add ao_gps_utc_tick

This indicates which tick is associated with the UTC time found
in the current ao gps data

Signed-off-by: Keith Packard <keithp@keithp.com>
---

diff --git a/src/drivers/ao_gps_skytraq.c b/src/drivers/ao_gps_skytraq.c
index 3a253eea..00c6932f 100644
--- a/src/drivers/ao_gps_skytraq.c
+++ b/src/drivers/ao_gps_skytraq.c
@@ -40,6 +40,7 @@ static uint8_t ao_gps_cksum;
 static uint8_t ao_gps_error;
 
 AO_TICK_TYPE ao_gps_tick;
+AO_TICK_TYPE ao_gps_utc_tick;
 struct ao_telemetry_location	ao_gps_data;
 struct ao_telemetry_satellite	ao_gps_tracking_data;
 
@@ -296,7 +297,7 @@ ao_nmea_gga(void)
 	if (!ao_gps_error) {
 		ao_mutex_get(&ao_gps_mutex);
 		ao_gps_new |= AO_GPS_NEW_DATA;
-		ao_gps_tick = ao_gps_next_tick;
+		ao_gps_tick = ao_gps_utc_tick = ao_gps_next_tick;
 		memcpy(&ao_gps_data, &ao_gps_next, sizeof (ao_gps_data));
 		ao_mutex_put(&ao_gps_mutex);
 		ao_wakeup(&ao_gps_new);
diff --git a/src/drivers/ao_gps_ublox.c b/src/drivers/ao_gps_ublox.c
index 607e9ea9..3d615e9c 100644
--- a/src/drivers/ao_gps_ublox.c
+++ b/src/drivers/ao_gps_ublox.c
@@ -29,6 +29,7 @@
 uint8_t ao_gps_new;
 uint8_t ao_gps_mutex;
 AO_TICK_TYPE ao_gps_tick;
+AO_TICK_TYPE ao_gps_utc_tick;
 struct ao_telemetry_location	ao_gps_data;
 struct ao_telemetry_satellite	ao_gps_tracking_data;
 
@@ -398,6 +399,7 @@ ao_ublox_parse_nav_svinfo(void)
  * NAV-TIMEUTC message parsing
  */
 static struct nav_timeutc {
+	int32_t		nano;
 	uint16_t	year;
 	uint8_t		month;
 	uint8_t		day;
@@ -412,7 +414,8 @@ static struct nav_timeutc {
 #define NAV_TIMEUTC_VALID_UTC	2
 
 static const struct ublox_packet_parse nav_timeutc_packet[] = {
-	{ UBLOX_DISCARD, 12 },						/* 0 iTOW, tAcc, nano */
+	{ UBLOX_DISCARD, 8 },						/* 0 iTOW, tAcc */
+	{ UBLOX_U32, offsetof(struct nav_timeutc, nano) },		/* 8 nano */
 	{ UBLOX_U16, offsetof(struct nav_timeutc, year) },		/* 12 year */
 	{ UBLOX_U8, offsetof(struct nav_timeutc, month) },		/* 14 month */
 	{ UBLOX_U8, offsetof(struct nav_timeutc, day) },		/* 15 day */
@@ -722,7 +725,7 @@ ao_gps(void)
 			case UBLOX_NAV_TIMEUTC:
 				ao_mutex_get(&ao_gps_mutex);
 				ao_gps_tick = solution_tick;
-
+				ao_gps_utc_tick = packet_start_tick + (AO_TICK_TYPE) AO_NS_TO_TICKS(nav_timeutc.nano);
 				ao_gps_data.flags = 0;
 				ao_gps_data.flags |= AO_GPS_RUNNING;
 				if (nav_sol.gps_fix & (1 << NAV_SOL_FLAGS_GPSFIXOK)) {
diff --git a/src/kernel/ao.h b/src/kernel/ao.h
index 9ca2c60e..d714cecb 100644
--- a/src/kernel/ao.h
+++ b/src/kernel/ao.h
@@ -113,6 +113,7 @@ extern volatile AO_TICK_TYPE ao_tick_count;
 #endif
 #define AO_MS_TO_TICKS(ms)	((ms) / (1000 / AO_HERTZ))
 #define AO_SEC_TO_TICKS(s)	((AO_TICK_TYPE) (s) * AO_HERTZ)
+#define AO_NS_TO_TICKS(ns)	((ns) / (1000000000L / AO_HERTZ))
 
 /* Returns the current time in ticks */
 AO_TICK_TYPE
@@ -390,6 +391,7 @@ ao_spi_slave(void);
 
 extern uint8_t ao_gps_new;
 extern AO_TICK_TYPE ao_gps_tick;
+extern AO_TICK_TYPE ao_gps_utc_tick;
 extern uint8_t ao_gps_mutex;
 extern struct ao_telemetry_location ao_gps_data;
 extern struct ao_telemetry_satellite ao_gps_tracking_data;