66 lines
2.2 KiB
Python
66 lines
2.2 KiB
Python
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import digitalio
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import time
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from car_os.system_clock import SystemClock
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class PPSClock:
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def __init__(self, pin):
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self._system_clock = SystemClock()
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self.pin = pin
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self.gpio = digitalio.DigitalInOut(self.pin)
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self.gpio.direction = digitalio.Direction.INPUT
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self.previous_value = self.gpio.value
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self.current_value = self.gpio.value
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self._pps_timestamp = 0
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self._pps_time_ns = time.monotonic_ns()
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self.gps_set = False
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self._pps_offset = [0, 0, 0, 0]
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self._gps_utc = [0, 0, 0]
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self._system_time = (0, 0, 0, 0)
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self._previous_timestamp = 0
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self._previous_utc_h = 0
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def update(self):
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self._system_clock.update()
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self.current_value = self.gpio.value
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if not self.current_value and self.previous_value:
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self._pps_timestamp = self._system_clock.utc_timestamp
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self._gps_utc[2] = self._gps_utc[2] + 1
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self._pps_time_ns = time.monotonic_ns()
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self.previous_value = self.current_value
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current_timestamp = self.utc_timestamp
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if self._previous_utc_h == 23 and self.utc_time[0] == 0:
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current_timestamp += 86400
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delta = current_timestamp - self._previous_timestamp
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self._previous_timestamp = current_timestamp
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self._previous_utc_h = self.utc_time[0]
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return max(0, delta)
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def update_utc_from_gps(self, gps):
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self._gps_utc[0] = gps.time[0]
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self._gps_utc[1] = gps.time[1]
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self._gps_utc[2] = gps.time[2]
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gps.time_updated = False
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self.gps_set = True
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def update_gps_fixed(self, has_fix):
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self.gps_set = has_fix
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@property
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def utc_time(self):
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s = self._system_clock.utc_timestamp - self._pps_timestamp
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ns = s % 1
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s = int(s - ns)
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m, s = divmod(self._gps_utc[2] + s, 60)
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h, m = divmod(self._gps_utc[1] + m, 60)
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_, h = divmod(self._gps_utc[0] + h, 24)
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return (h, m, s, ns*1e9)
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@property
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def utc_timestamp(self):
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return self.utc_time[0] * 3600 + self.utc_time[1] * 60 + self.utc_time[2] + (self.utc_time[3] / 1_000_000_000)
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@property
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def update_time_ns(self):
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return self._pps_time_ns
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