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GPS driver: Require valid minimum time to allow setting the wall clock. Protection against nulled time fields

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This commit is contained in:
Lorenz Meier
2015-01-04 16:24:43 +01:00
parent 0d103dcb38
commit 1cc92c0361
3 changed files with 50 additions and 33 deletions
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src/drivers/gps/ashtech.cpp
+16 -11
View File
@@ -99,21 +99,26 @@ int ASHTECH::handle_message(int len)
timeinfo.tm_sec = int(ashtech_sec);
time_t epoch = mktime(&timeinfo);
uint64_t usecs = static_cast<uint64_t>((ashtech_sec - static_cast<uint64_t>(ashtech_sec))) * 1e6;
if (epoch > GPS_EPOCH_SECS) {
uint64_t usecs = static_cast<uint64_t>((ashtech_sec - static_cast<uint64_t>(ashtech_sec))) * 1e6;
// FMUv2+ boards have a hardware RTC, but GPS helps us to configure it
// and control its drift. Since we rely on the HRT for our monotonic
// clock, updating it from time to time is safe.
// FMUv2+ boards have a hardware RTC, but GPS helps us to configure it
// and control its drift. Since we rely on the HRT for our monotonic
// clock, updating it from time to time is safe.
timespec ts;
ts.tv_sec = epoch;
ts.tv_nsec = usecs * 1000;
if (clock_settime(CLOCK_REALTIME, &ts)) {
warn("failed setting clock");
timespec ts;
ts.tv_sec = epoch;
ts.tv_nsec = usecs * 1000;
if (clock_settime(CLOCK_REALTIME, &ts)) {
warn("failed setting clock");
}
_gps_position->time_utc_usec = static_cast<uint64_t>(epoch) * 1000000ULL;
_gps_position->time_utc_usec += usecs;
} else {
_gps_position->time_utc_usec = 0;
}
_gps_position->time_utc_usec = static_cast<uint64_t>(epoch) * 1000000ULL;
_gps_position->time_utc_usec += usecs;
_gps_position->timestamp_time = hrt_absolute_time();
}
src/drivers/gps/gps_helper.h
+2
View File
@@ -43,6 +43,8 @@
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_gps_position.h>
#define GPS_EPOCH_SECS 1234567890ULL
class GPS_Helper
{
public:
src/drivers/gps/ubx.cpp
+32 -22
View File
@@ -748,19 +748,23 @@ UBX::payload_rx_done(void)
timeinfo.tm_sec = _buf.payload_rx_nav_pvt.sec;
time_t epoch = mktime(&timeinfo);
// FMUv2+ boards have a hardware RTC, but GPS helps us to configure it
// and control its drift. Since we rely on the HRT for our monotonic
// clock, updating it from time to time is safe.
if (epoch > GPS_EPOCH_SECS) {
// FMUv2+ boards have a hardware RTC, but GPS helps us to configure it
// and control its drift. Since we rely on the HRT for our monotonic
// clock, updating it from time to time is safe.
timespec ts;
ts.tv_sec = epoch;
ts.tv_nsec = _buf.payload_rx_nav_pvt.nano;
if (clock_settime(CLOCK_REALTIME, &ts)) {
warn("failed setting clock");
timespec ts;
ts.tv_sec = epoch;
ts.tv_nsec = _buf.payload_rx_nav_pvt.nano;
if (clock_settime(CLOCK_REALTIME, &ts)) {
warn("failed setting clock");
}
_gps_position->time_utc_usec = static_cast<uint64_t>(epoch) * 1000000ULL;
_gps_position->time_utc_usec += _buf.payload_rx_nav_timeutc.nano / 1000;
} else {
_gps_position->time_utc_usec = 0;
}
_gps_position->time_utc_usec = static_cast<uint64_t>(epoch) * 1000000ULL;
_gps_position->time_utc_usec += _buf.payload_rx_nav_timeutc.nano / 1000;
}
_gps_position->timestamp_time = hrt_absolute_time();
@@ -820,19 +824,25 @@ UBX::payload_rx_done(void)
timeinfo.tm_sec = _buf.payload_rx_nav_timeutc.sec;
time_t epoch = mktime(&timeinfo);
// FMUv2+ boards have a hardware RTC, but GPS helps us to configure it
// and control its drift. Since we rely on the HRT for our monotonic
// clock, updating it from time to time is safe.
// only set the time if it makes sense
timespec ts;
ts.tv_sec = epoch;
ts.tv_nsec = _buf.payload_rx_nav_timeutc.nano;
if (clock_settime(CLOCK_REALTIME, &ts)) {
warn("failed setting clock");
if (epoch > GPS_EPOCH_SECS) {
// FMUv2+ boards have a hardware RTC, but GPS helps us to configure it
// and control its drift. Since we rely on the HRT for our monotonic
// clock, updating it from time to time is safe.
timespec ts;
ts.tv_sec = epoch;
ts.tv_nsec = _buf.payload_rx_nav_timeutc.nano;
if (clock_settime(CLOCK_REALTIME, &ts)) {
warn("failed setting clock");
}
_gps_position->time_utc_usec = static_cast<uint64_t>(epoch) * 1000000ULL;
_gps_position->time_utc_usec += _buf.payload_rx_nav_timeutc.nano / 1000;
} else {
_gps_position->time_utc_usec = 0;
}
_gps_position->time_utc_usec = static_cast<uint64_t>(epoch) * 1000000ULL;
_gps_position->time_utc_usec += _buf.payload_rx_nav_timeutc.nano / 1000;
}
_gps_position->timestamp_time = hrt_absolute_time();