/* * This software was developed by the Software and Component Technologies * group of Trimble Navigation, Ltd. * * Copyright (c) 1997, 1998, 1999, 2000 Trimble Navigation Ltd. * All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions * are met: * 1. Redistributions of source code must retain the above copyright * notice, this list of conditions and the following disclaimer. * 2. Redistributions in binary form must reproduce the above copyright * notice, this list of conditions and the following disclaimer in the * documentation and/or other materials provided with the distribution. * 3. All advertising materials mentioning features or use of this software * must display the following acknowledgement: * This product includes software developed by Trimble Navigation, Ltd. * 4. The name of Trimble Navigation Ltd. may not be used to endorse or * promote products derived from this software without specific prior * written permission. * * THIS SOFTWARE IS PROVIDED BY TRIMBLE NAVIGATION LTD. ``AS IS'' AND * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE * ARE DISCLAIMED. IN NO EVENT SHALL TRIMBLE NAVIGATION LTD. BE LIABLE * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF * SUCH DAMAGE. */ /* * refclock_palisade - clock driver for the Trimble Palisade GPS * timing receiver * * For detailed information on this program, please refer to the html * Refclock 29 page accompanying the NTP distribution. * * for questions / bugs / comments, contact: * sven_dietrich@trimble.com * * Sven-Thorsten Dietrich * 645 North Mary Avenue * Post Office Box 3642 * Sunnyvale, CA 94088-3642 * * Version 2.45; July 14, 1999 * */ #ifdef HAVE_CONFIG_H #include "config.h" #endif #if defined(REFCLOCK) && (defined(PALISADE) || defined(CLOCK_PALISADE)) #ifdef SYS_WINNT extern int async_write(int, const void *, unsigned int); #undef write #define write(fd, data, octets) async_write(fd, data, octets) #endif #include "refclock_palisade.h" /* Table to get from month to day of the year */ const int days_of_year [12] = { 0, 31, 59, 90, 120, 151, 181, 212, 243, 273, 304, 334 }; #ifdef DEBUG const char * Tracking_Status[15][15] = { { "Doing Fixes\0" }, { "Good 1SV\0" }, { "Approx. 1SV\0" }, {"Need Time\0" }, { "Need INIT\0" }, { "PDOP too High\0" }, { "Bad 1SV\0" }, { "0SV Usable\0" }, { "1SV Usable\0" }, { "2SV Usable\0" }, { "3SV Usable\0" }, { "No Integrity\0" }, { "Diff Corr\0" }, { "Overdet Clock\0" }, { "Invalid\0" } }; #endif /* * Transfer vector */ struct refclock refclock_palisade = { palisade_start, /* start up driver */ palisade_shutdown, /* shut down driver */ palisade_poll, /* transmit poll message */ noentry, /* not used */ noentry, /* initialize driver (not used) */ noentry, /* not used */ NOFLAGS /* not used */ }; int day_of_year P((char *dt)); /* Extract the clock type from the mode setting */ #define CLK_TYPE(x) ((int)(((x)->ttl) & 0x7F)) /* Supported clock types */ #define CLK_TRIMBLE 0 /* Trimble Palisade */ #define CLK_PRAECIS 1 /* Endrun Technologies Praecis */ int praecis_msg; static void praecis_parse(struct recvbuf *rbufp, struct peer *peer); /* * palisade_start - open the devices and initialize data for processing */ static int palisade_start ( #ifdef PALISADE unit, peer ) int unit; struct peer *peer; #else /* ANSI */ int unit, struct peer *peer ) #endif { struct palisade_unit *up; struct refclockproc *pp; int fd; char gpsdev[20]; struct termios tio; #ifdef SYS_WINNT (void) sprintf(gpsdev, "COM%d:", unit); #else (void) sprintf(gpsdev, DEVICE, unit); #endif /* * Open serial port. */ #if defined PALISADE fd = open(gpsdev, O_RDWR #ifdef O_NONBLOCK | O_NONBLOCK #endif ); #else /* NTP 4.x */ fd = refclock_open(gpsdev, SPEED232, LDISC_RAW); #endif if (fd <= 0) { #ifdef DEBUG printf("Palisade(%d) start: open %s failed\n", unit, gpsdev); #endif return 0; } msyslog(LOG_NOTICE, "Palisade(%d) fd: %d dev: %s", unit, fd, gpsdev); #if defined PALISADE tio.c_cflag = (CS8|CLOCAL|CREAD|PARENB|PARODD); tio.c_iflag = (IGNBRK); tio.c_oflag = (0); tio.c_lflag = (0); if (cfsetispeed(&tio, SPEED232) == -1) { msyslog(LOG_ERR,"Palisade(%d) cfsetispeed(fd, &tio): %m",unit); #ifdef DEBUG printf("Palisade(%d) cfsetispeed(fd, &tio)\n",unit); #endif return 0; } if (cfsetospeed(&tio, SPEED232) == -1) { #ifdef DEBUG printf("Palisade(%d) cfsetospeed(fd, &tio)\n",unit); #endif msyslog(LOG_ERR,"Palisade(%d) cfsetospeed(fd, &tio): %m",unit); return 0; } #else /* NTP 4.x */ if (tcgetattr(fd, &tio) < 0) { msyslog(LOG_ERR, "Palisade(%d) tcgetattr(fd, &tio): %m",unit); #ifdef DEBUG printf("Palisade(%d) tcgetattr(fd, &tio)\n",unit); #endif return (0); } tio.c_cflag |= (PARENB|PARODD); tio.c_iflag &= ~ICRNL; #endif /* NTP 4.x */ if (tcsetattr(fd, TCSANOW, &tio) == -1) { msyslog(LOG_ERR, "Palisade(%d) tcsetattr(fd, &tio): %m",unit); #ifdef DEBUG printf("Palisade(%d) tcsetattr(fd, &tio)\n",unit); #endif return 0; } /* * Allocate and initialize unit structure */ up = (struct palisade_unit *) emalloc(sizeof(struct palisade_unit)); if (!(up)) { msyslog(LOG_ERR, "Palisade(%d) emalloc: %m",unit); #ifdef DEBUG printf("Palisade(%d) emalloc\n",unit); #endif (void) close(fd); return (0); } memset((char *)up, 0, sizeof(struct palisade_unit)); up->type = CLK_TYPE(peer); switch (up->type) { case CLK_TRIMBLE: /* Normal mode, do nothing */ break; case CLK_PRAECIS: msyslog(LOG_NOTICE, "Palisade(%d) Praecis mode enabled\n",unit); break; default: msyslog(LOG_NOTICE, "Palisade(%d) mode unknown\n",unit); break; } pp = peer->procptr; pp->io.clock_recv = palisade_io; pp->io.srcclock = (caddr_t)peer; pp->io.datalen = 0; pp->io.fd = fd; if (!io_addclock(&pp->io)) { #ifdef DEBUG printf("Palisade(%d) io_addclock\n",unit); #endif (void) close(fd); free(up); return (0); } /* * Initialize miscellaneous variables */ pp->unitptr = (caddr_t)up; pp->clockdesc = DESCRIPTION; peer->precision = PRECISION; peer->sstclktype = CTL_SST_TS_UHF; peer->minpoll = TRMB_MINPOLL; peer->maxpoll = TRMB_MAXPOLL; memcpy((char *)&pp->refid, REFID, 4); up->leap_status = 0; up->unit = (short) unit; up->rpt_status = TSIP_PARSED_EMPTY; up->rpt_cnt = 0; return 1; } /* * palisade_shutdown - shut down the clock */ static void palisade_shutdown ( #ifdef PALISADE unit, peer ) int unit; struct peer *peer; #else /* ANSI */ int unit, struct peer *peer ) #endif { struct palisade_unit *up; struct refclockproc *pp; pp = peer->procptr; up = (struct palisade_unit *)pp->unitptr; io_closeclock(&pp->io); free(up); } /* * unpack_date - get day and year from date */ int day_of_year ( #ifdef PALISADE dt ) char * dt; #else char * dt ) #endif { int day, mon, year; mon = dt[1]; /* Check month is inside array bounds */ if ((mon < 1) || (mon > 12)) return -1; day = dt[0] + days_of_year[mon - 1]; year = getint((u_char *) (dt + 2)); if ( !(year % 4) && ((year % 100) || (!(year % 100) && !(year%400))) &&(mon > 2)) day ++; /* leap year and March or later */ return day; } /* * TSIP_decode - decode the TSIP data packets */ int TSIP_decode ( #ifdef PALISADE peer ) struct peer *peer; #else struct peer *peer ) #endif { int st; long secint; double secs; double secfrac; unsigned short event = 0; struct palisade_unit *up; struct refclockproc *pp; pp = peer->procptr; up = (struct palisade_unit *)pp->unitptr; /* * Check the time packet, decode its contents. * If the timecode has invalid length or is not in * proper format, declare bad format and exit. */ if ((up->rpt_buf[0] == (char) 0x41) || (up->rpt_buf[0] == (char) 0x46) || (up->rpt_buf[0] == (char) 0x54) || (up->rpt_buf[0] == (char) 0x4B) || (up->rpt_buf[0] == (char) 0x6D)) { /* standard time packet - GPS time and GPS week number */ #ifdef DEBUG printf("Palisade Port B packets detected. Connect to Port A\n"); #endif return 0; } /* * We cast both to u_char to as 0x8f uses the sign bit on a char */ if ((u_char) up->rpt_buf[0] == (u_char) 0x8f) { /* * Superpackets */ event = (unsigned short) (getint((u_char *) &mb(1)) & 0xffff); if (!((pp->sloppyclockflag & CLK_FLAG2) || event)) /* Ignore Packet */ return 0; switch (mb(0) & 0xff) { int GPS_UTC_Offset; case PACKET_8F0B: if (up->polled <= 0) return 0; if (up->rpt_cnt != LENCODE_8F0B) /* check length */ break; #ifdef DEBUG if (debug > 1) { int ts; double lat, lon, alt; lat = getdbl((u_char *) &mb(42)) * R2D; lon = getdbl((u_char *) &mb(50)) * R2D; alt = getdbl((u_char *) &mb(58)); printf("TSIP_decode: unit %d: Latitude: %03.4f Longitude: %03.4f Alt: %05.2f m\n", up->unit, lat,lon,alt); printf("TSIP_decode: unit %d: Sats:", up->unit); for (st = 66, ts = 0; st <= 73; st++) if (mb(st)) { if (mb(st) > 0) ts++; printf(" %02d", mb(st)); } printf(" : Tracking %d\n", ts); } #endif GPS_UTC_Offset = getint((u_char *) &mb(16)); if (GPS_UTC_Offset == 0) { /* Check UTC offset */ #ifdef DEBUG printf("TSIP_decode: UTC Offset Unknown\n"); #endif break; } secs = getdbl((u_char *) &mb(3)); secint = (long) secs; secfrac = secs - secint; /* 0.0 <= secfrac < 1.0 */ pp->nsec = (long) (secfrac * 1000000000); secint %= 86400; /* Only care about today */ pp->hour = secint / 3600; secint %= 3600; pp->minute = secint / 60; secint %= 60; pp->second = secint % 60; if ((pp->day = day_of_year(&mb(11))) < 0) break; pp->year = getint((u_char *) &mb(13)); #ifdef DEBUG if (debug > 1) printf("TSIP_decode: unit %d: %02X #%d %02d:%02d:%02d.%06ld %02d/%02d/%04d UTC %02d\n", up->unit, mb(0) & 0xff, event, pp->hour, pp->minute, pp->second, pp->nsec, mb(12), mb(11), pp->year, GPS_UTC_Offset); #endif /* Only use this packet when no * 8F-AD's are being received */ if (up->leap_status) { up->leap_status = 0; return 0; } return 2; break; case PACKET_NTP: /* Palisade-NTP Packet */ if (up->rpt_cnt != LENCODE_NTP) /* check length */ break; up->leap_status = mb(19); if (up->polled <= 0) return 0; /* Check Tracking Status */ st = mb(18); if (st < 0 || st > 14) st = 14; if ((st >= 2 && st <= 7) || st == 11 || st == 12) { #ifdef DEBUG printf("TSIP_decode: Not Tracking Sats : %s\n", *Tracking_Status[st]); #endif refclock_report(peer, CEVNT_BADTIME); up->polled = -1; return 0; break; } if (up->leap_status & PALISADE_LEAP_PENDING) { if (up->leap_status & PALISADE_UTC_TIME) pp->leap = LEAP_ADDSECOND; else pp->leap = LEAP_DELSECOND; } else if (up->leap_status) pp->leap = LEAP_NOWARNING; else { /* UTC flag is not set: * Receiver may have been reset, and lost * its UTC almanac data */ pp->leap = LEAP_NOTINSYNC; #ifdef DEBUG printf("TSIP_decode: UTC Almanac unavailable: %d\n", mb(19)); #endif refclock_report(peer, CEVNT_BADTIME); up->polled = -1; return 0; } pp->nsec = (long) (getdbl((u_char *) &mb(3)) * 1000000000); if ((pp->day = day_of_year(&mb(14))) < 0) break; pp->year = getint((u_char *) &mb(16)); pp->hour = mb(11); pp->minute = mb(12); pp->second = mb(13); #ifdef DEBUG if (debug > 1) printf("TSIP_decode: unit %d: %02X #%d %02d:%02d:%02d.%06ld %02d/%02d/%04d UTC %02x %s\n", up->unit, mb(0) & 0xff, event, pp->hour, pp->minute, pp->second, pp->nsec, mb(15), mb(14), pp->year, mb(19), *Tracking_Status[st]); #endif return 1; break; default: /* Ignore Packet */ return 0; } /* switch */ }/* if 8F packets */ refclock_report(peer, CEVNT_BADREPLY); up->polled = -1; #ifdef DEBUG printf("TSIP_decode: unit %d: bad packet %02x-%02x event %d len %d\n", up->unit, up->rpt_buf[0] & 0xff, mb(0) & 0xff, event, up->rpt_cnt); #endif return 0; } /* * palisade__receive - receive data from the serial interface */ static void palisade_receive ( #ifdef PALISADE peer ) struct peer * peer; #else /* ANSI */ struct peer * peer ) #endif { struct palisade_unit *up; struct refclockproc *pp; /* * Initialize pointers and read the timecode and timestamp. */ pp = peer->procptr; up = (struct palisade_unit *)pp->unitptr; if (! TSIP_decode(peer)) return; if (up->polled <= 0) return; /* no poll pending, already received or timeout */ up->polled = 0; /* Poll reply received */ pp->lencode = 0; /* clear time code */ #ifdef DEBUG if (debug) printf( "palisade_receive: unit %d: %4d %03d %02d:%02d:%02d.%06ld\n", up->unit, pp->year, pp->day, pp->hour, pp->minute, pp->second, pp->nsec); #endif /* * Process the sample * Generate timecode: YYYY DoY HH:MM:SS.microsec * report and process */ (void) sprintf(pp->a_lastcode,"%4d %03d %02d:%02d:%02d.%06ld", pp->year,pp->day,pp->hour,pp->minute, pp->second,pp->nsec); pp->lencode = 24; #ifdef PALISADE pp->lasttime = current_time; #endif if (!refclock_process(pp #ifdef PALISADE , PALISADE_SAMPLES, PALISADE_SAMPLES * 3 / 5 #endif )) { refclock_report(peer, CEVNT_BADTIME); #ifdef DEBUG printf("palisade_receive: unit %d: refclock_process failed!\n", up->unit); #endif return; } record_clock_stats(&peer->srcadr, pp->a_lastcode); #ifdef DEBUG if (debug) printf("palisade_receive: unit %d: %s\n", up->unit, prettydate(&pp->lastrec)); #endif pp->lastref = pp->lastrec; refclock_receive(peer #ifdef PALISADE , &pp->offset, 0, pp->dispersion, &pp->lastrec, &pp->lastrec, pp->leap #endif ); } /* * palisade_poll - called by the transmit procedure * */ static void palisade_poll ( #ifdef PALISADE unit, peer ) int unit; struct peer *peer; #else int unit, struct peer *peer ) #endif { struct palisade_unit *up; struct refclockproc *pp; pp = peer->procptr; up = (struct palisade_unit *)pp->unitptr; pp->polls++; if (up->polled > 0) /* last reply never arrived or error */ refclock_report(peer, CEVNT_TIMEOUT); up->polled = 2; /* synchronous packet + 1 event */ #ifdef DEBUG if (debug) printf("palisade_poll: unit %d: polling %s\n", unit, (pp->sloppyclockflag & CLK_FLAG2) ? "synchronous packet" : "event"); #endif if (pp->sloppyclockflag & CLK_FLAG2) return; /* using synchronous packet input */ if(up->type == CLK_PRAECIS) { if(write(peer->procptr->io.fd,"SPSTAT\r\n",8) < 0) msyslog(LOG_ERR, "Palisade(%d) write: %m:",unit); else { praecis_msg = 1; return; } } if (HW_poll(pp) < 0) refclock_report(peer, CEVNT_FAULT); } static void praecis_parse(struct recvbuf *rbufp, struct peer *peer) { static char buf[100]; static int p = 0; struct refclockproc *pp; pp = peer->procptr; memcpy(buf+p,rbufp->recv_space.X_recv_buffer, rbufp->recv_length); p += rbufp->recv_length; if(buf[p-2] == '\r' && buf[p-1] == '\n') { buf[p-2] = '\0'; record_clock_stats(&peer->srcadr, buf); p = 0; praecis_msg = 0; if (HW_poll(pp) < 0) refclock_report(peer, CEVNT_FAULT); } } static void palisade_io ( #ifdef PALISADE rbufp ) struct recvbuf *rbufp; #else /* ANSI */ struct recvbuf *rbufp ) #endif { /* * Initialize pointers and read the timecode and timestamp. */ struct palisade_unit *up; struct refclockproc *pp; struct peer *peer; char * c, * d; peer = (struct peer *)rbufp->recv_srcclock; pp = peer->procptr; up = (struct palisade_unit *)pp->unitptr; if(up->type == CLK_PRAECIS) { if(praecis_msg) { praecis_parse(rbufp,peer); return; } } c = (char *) &rbufp->recv_space; d = c + rbufp->recv_length; while (c != d) { /* Build time packet */ switch (up->rpt_status) { case TSIP_PARSED_DLE_1: switch (*c) { case 0: case DLE: case ETX: up->rpt_status = TSIP_PARSED_EMPTY; break; default: up->rpt_status = TSIP_PARSED_DATA; /* save packet ID */ up->rpt_buf[0] = *c; break; } break; case TSIP_PARSED_DATA: if (*c == DLE) up->rpt_status = TSIP_PARSED_DLE_2; else mb(up->rpt_cnt++) = *c; break; case TSIP_PARSED_DLE_2: if (*c == DLE) { up->rpt_status = TSIP_PARSED_DATA; mb(up->rpt_cnt++) = *c; } else if (*c == ETX) up->rpt_status = TSIP_PARSED_FULL; else { /* error: start new report packet */ up->rpt_status = TSIP_PARSED_DLE_1; up->rpt_buf[0] = *c; } break; case TSIP_PARSED_FULL: case TSIP_PARSED_EMPTY: default: if ( *c != DLE) up->rpt_status = TSIP_PARSED_EMPTY; else up->rpt_status = TSIP_PARSED_DLE_1; break; } c++; if (up->rpt_status == TSIP_PARSED_DLE_1) { up->rpt_cnt = 0; if (pp->sloppyclockflag & CLK_FLAG2) /* stamp it */ get_systime(&pp->lastrec); } else if (up->rpt_status == TSIP_PARSED_EMPTY) up->rpt_cnt = 0; else if (up->rpt_cnt > BMAX) up->rpt_status =TSIP_PARSED_EMPTY; if (up->rpt_status == TSIP_PARSED_FULL) palisade_receive(peer); } /* while chars in buffer */ } /* * Trigger the Palisade's event input, which is driven off the RTS * * Take a system time stamp to match the GPS time stamp. * */ long HW_poll ( #ifdef PALISADE pp /* pointer to unit structure */ ) struct refclockproc * pp; /* pointer to unit structure */ #else struct refclockproc * pp /* pointer to unit structure */ ) #endif { int x; /* state before & after RTS set */ struct palisade_unit *up; up = (struct palisade_unit *) pp->unitptr; /* read the current status, so we put things back right */ if (ioctl(pp->io.fd, TIOCMGET, &x) < 0) { #ifdef DEBUG if (debug) printf("Palisade HW_poll: unit %d: GET %s\n", up->unit, strerror(errno)); #endif msyslog(LOG_ERR, "Palisade(%d) HW_poll: ioctl(fd,GET): %m", up->unit); return -1; } x |= TIOCM_RTS; /* turn on RTS */ /* Edge trigger */ if (ioctl(pp->io.fd, TIOCMSET, &x) < 0) { #ifdef DEBUG if (debug) printf("Palisade HW_poll: unit %d: SET \n", up->unit); #endif msyslog(LOG_ERR, "Palisade(%d) HW_poll: ioctl(fd, SET, RTS_on): %m", up->unit); return -1; } x &= ~TIOCM_RTS; /* turn off RTS */ /* poll timestamp */ get_systime(&pp->lastrec); if (ioctl(pp->io.fd, TIOCMSET, &x) == -1) { #ifdef DEBUG if (debug) printf("Palisade HW_poll: unit %d: UNSET \n", up->unit); #endif msyslog(LOG_ERR, "Palisade(%d) HW_poll: ioctl(fd, UNSET, RTS_off): %m", up->unit); return -1; } return 0; } #if 0 /* unused */ /* * this 'casts' a character array into a float */ float getfloat ( #ifdef PALISADE bp ) u_char *bp; #else u_char *bp ) #endif { float sval; #ifdef WORDS_BIGENDIAN ((char *) &sval)[0] = *bp++; ((char *) &sval)[1] = *bp++; ((char *) &sval)[2] = *bp++; ((char *) &sval)[3] = *bp++; #else ((char *) &sval)[3] = *bp++; ((char *) &sval)[2] = *bp++; ((char *) &sval)[1] = *bp++; ((char *) &sval)[0] = *bp; #endif /* ! XNTP_BIG_ENDIAN */ return sval; } #endif /* * this 'casts' a character array into a double */ double getdbl ( #ifdef PALISADE bp ) u_char *bp; #else u_char *bp ) #endif { double dval; #ifdef WORDS_BIGENDIAN ((char *) &dval)[0] = *bp++; ((char *) &dval)[1] = *bp++; ((char *) &dval)[2] = *bp++; ((char *) &dval)[3] = *bp++; ((char *) &dval)[4] = *bp++; ((char *) &dval)[5] = *bp++; ((char *) &dval)[6] = *bp++; ((char *) &dval)[7] = *bp; #else ((char *) &dval)[7] = *bp++; ((char *) &dval)[6] = *bp++; ((char *) &dval)[5] = *bp++; ((char *) &dval)[4] = *bp++; ((char *) &dval)[3] = *bp++; ((char *) &dval)[2] = *bp++; ((char *) &dval)[1] = *bp++; ((char *) &dval)[0] = *bp; #endif /* ! XNTP_BIG_ENDIAN */ return dval; } /* * cast a 16 bit character array into a short (16 bit) int */ short getint ( #ifdef PALISADE bp ) u_char *bp; #else u_char *bp ) #endif { return (short) (bp[1] + (bp[0] << 8)); } #else int refclock_palisade_bs; #endif /* REFCLOCK */