psdk_time_sync.h
4.0 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
/**
********************************************************************
* @file psdk_time_sync.h
* @brief This is the header file for "psdk_time_synchronization.c", defining the structure and
* (exported) function prototypes.
*
* @copyright (c) 2021 DJI. All rights reserved.
*
* All information contained herein is, and remains, the property of DJI.
* The intellectual and technical concepts contained herein are proprietary
* to DJI and may be covered by U.S. and foreign patents, patents in process,
* and protected by trade secret or copyright law. Dissemination of this
* information, including but not limited to data and other proprietary
* material(s) incorporated within the information, in any form, is strictly
* prohibited without the express written consent of DJI.
*
* If you receive this source code without DJI’s authorization, you may not
* further disseminate the information, and you must immediately remove the
* source code and notify DJI of its removal. DJI reserves the right to pursue
* legal actions against you for any loss(es) or damage(s) caused by your
* failure to do so.
*
*********************************************************************
*/
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef PSDK_TIME_SYNC_H
#define PSDK_TIME_SYNC_H
/* Includes ------------------------------------------------------------------*/
#include "legacy_psdk2.x/psdk_typedef.h"
#include "dji_time_sync.h"
#ifdef __cplusplus
extern "C" {
#endif
/* Exported constants --------------------------------------------------------*/
/* Exported types ------------------------------------------------------------*/
/**
* @brief Prototype of callback function used to get the newest PPS triggered timestamp.
* @warning User can not execute blocking style operations or functions in callback function, because that will block PSDK
* root thread, causing problems such as slow system response, payload disconnection or infinite loop.
* @param localTimeUs: pointer to memory space used to store PPS triggered timestamp.
* @return Execution result.
*/
typedef DjiGetNewestPpsTriggerLocalTimeUsCallback GetNewestPpsTriggerLocalTimeUsCallback;
/**
* @brief Data structure of time in aircraft time system.
*/
typedef T_DjiTimeSyncAircraftTime T_PsdkTimeSyncAircraftTime;
/* Exported functions --------------------------------------------------------*/
/**
* @brief Initialise time synchronization module in blocking mode. User should call this function before all other time
* synchronization operations, just like transferring time.
* @note Max execution time of this function is slightly larger than 2000ms.
* @note This function have to be called in user task, rather than main() function, and after scheduler being started.
* @return Execution result.
*/
T_PsdkReturnCode PsdkTimeSync_Init(void);
/**
* @brief Register callback function used to get the newest timestamp in local time system when PPS rising edge signal
* is detected.
* @details PSDK uses the timestamp information to synchronise time of local time system and RTK navigation and
* positioning system.
* @param callback: pointer to the callback function.
* @return Execution result.
*/
T_PsdkReturnCode PsdkTimeSync_RegGetNewestPpsTriggerTimeCallback(GetNewestPpsTriggerLocalTimeUsCallback callback);
/**
* @brief Transfer local time to time in aircraft time system.
* @note Before calling the interface, users must call PsdkTimeSync_RegGetNewestPpsTriggerTimeCallback() to register
* callback function used to report the latest triggered time of PPS signal.
* @param localTimeUs: local time, unit: microsecond.
* @param aircraftTime: pointer to memory space used to store time in aircraft time system.
* @return Execution result.
*/
T_PsdkReturnCode PsdkTimeSync_TransferToAircraftTime(uint64_t localTimeUs, T_PsdkTimeSyncAircraftTime *aircraftTime);
#ifdef __cplusplus
}
#endif
#endif //PSDK_TIME_SYNC_H
/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/