/*
* 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
*
*
*
* 31/03/06: Added support for Thunderbolt GPS Disciplined Clock.
* Contact: Fernando Pablo Hauscarriaga
* E-mail: fernandoph@iar.unlp.edu.ar
* Home page: www.iar.unlp.edu.ar/~fernandoph
* Instituto Argentino de Radioastronomia
* www.iar.unlp.edu.ar
*
* 14/01/07: Conditinal compilation for Thunderbolt support no longer needed
* now we use mode 2 for decode thunderbolt packets.
* Fernando P. Hauscarriaga
*
* 30/08/09: Added support for Trimble Acutime Gold Receiver.
* Fernando P. Hauscarriaga (fernandoph@iar.unlp.edu.ar)
*/
#ifdef HAVE_CONFIG_H
# include "config.h"
#endif
#if defined(REFCLOCK) && 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"
#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 */
};
static int decode_date(struct refclockproc *pp, const char *cp);
/* 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 */
#define CLK_THUNDERBOLT 2 /* Trimble Thunderbolt GPS Receiver */
#define CLK_ACUTIME 3 /* Trimble Acutime Gold */
#define CLK_ACUTIMEB 4 /* Trimble Actutime Gold Port B */
int praecis_msg;
static void praecis_parse(struct recvbuf *rbufp, struct peer *peer);
/* These routines are for sending packets to the Thunderbolt receiver
* They are taken from Markus Prosch
*/
#ifdef PALISADE_SENDCMD_RESURRECTED
/*
* sendcmd - Build data packet for sending
*/
static void
sendcmd (
struct packettx *buffer,
int c
)
{
*buffer->data = DLE;
*(buffer->data + 1) = (unsigned char)c;
buffer->size = 2;
}
#endif /* PALISADE_SENDCMD_RESURRECTED */
/*
* sendsupercmd - Build super data packet for sending
*/
static void
sendsupercmd (
struct packettx *buffer,
int c1,
int c2
)
{
*buffer->data = DLE;
*(buffer->data + 1) = (unsigned char)c1;
*(buffer->data + 2) = (unsigned char)c2;
buffer->size = 3;
}
/*
* sendbyte -
*/
static void
sendbyte (
struct packettx *buffer,
int b
)
{
if (b == DLE)
*(buffer->data+buffer->size++) = DLE;
*(buffer->data+buffer->size++) = (unsigned char)b;
}
/*
* sendint -
*/
static void
sendint (
struct packettx *buffer,
int a
)
{
sendbyte(buffer, (unsigned char)((a>>8) & 0xff));
sendbyte(buffer, (unsigned char)(a & 0xff));
}
/*
* sendetx - Send packet or super packet to the device
*/
static int
sendetx (
struct packettx *buffer,
int fd
)
{
int result;
*(buffer->data+buffer->size++) = DLE;
*(buffer->data+buffer->size++) = ETX;
result = write(fd, buffer->data, (unsigned long)buffer->size);
if (result != -1)
return (result);
else
return (-1);
}
/*
* init_thunderbolt - Prepares Thunderbolt receiver to be used with
* NTP (also taken from Markus Prosch).
*/
static void
init_thunderbolt (
int fd
)
{
struct packettx tx;
tx.size = 0;
tx.data = (u_char *) emalloc(100);
/* set UTC time */
sendsupercmd (&tx, 0x8E, 0xA2);
sendbyte (&tx, 0x3);
sendetx (&tx, fd);
/* activate packets 0x8F-AB and 0x8F-AC */
sendsupercmd (&tx, 0x8E, 0xA5);
sendint (&tx, 0x5);
sendetx (&tx, fd);
free(tx.data);
}
/*
* init_acutime - Prepares Acutime Receiver to be used with NTP
*/
static void
init_acutime (
int fd
)
{
/* Disable all outputs, Enable Event-Polling on PortA so
we can ask for time packets */
struct packettx tx;
tx.size = 0;
tx.data = (u_char *) emalloc(100);
sendsupercmd(&tx, 0x8E, 0xA5);
sendbyte(&tx, 0x02);
sendbyte(&tx, 0x00);
sendbyte(&tx, 0x00);
sendbyte(&tx, 0x00);
sendetx(&tx, fd);
free(tx.data);
}
/*
* palisade_start - open the devices and initialize data for processing
*/
static int
palisade_start (
int unit,
struct peer *peer
)
{
struct palisade_unit *up;
struct refclockproc *pp;
int fd;
char gpsdev[20];
struct termios tio;
snprintf(gpsdev, sizeof(gpsdev), DEVICE, unit);
/*
* Open serial port.
*/
fd = refclock_open(gpsdev, SPEED232, LDISC_RAW);
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 (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
close(fd);
return (0);
}
tio.c_cflag |= (PARENB|PARODD);
tio.c_iflag &= ~ICRNL;
/*
* Allocate and initialize unit structure
*/
up = emalloc_zero(sizeof(*up));
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"
,unit);
break;
case CLK_THUNDERBOLT:
msyslog(LOG_NOTICE, "Palisade(%d) Thunderbolt mode enabled"
,unit);
tio.c_cflag = (CS8|CLOCAL|CREAD);
break;
case CLK_ACUTIME:
msyslog(LOG_NOTICE, "Palisade(%d) Acutime Gold mode enabled"
,unit);
break;
default:
msyslog(LOG_NOTICE, "Palisade(%d) mode unknown",unit);
break;
}
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
close(fd);
free(up);
return 0;
}
pp = peer->procptr;
pp->io.clock_recv = palisade_io;
pp->io.srcclock = peer;
pp->io.datalen = 0;
pp->io.fd = fd;
if (!io_addclock(&pp->io)) {
#ifdef DEBUG
printf("Palisade(%d) io_addclock\n",unit);
#endif
close(fd);
pp->io.fd = -1;
free(up);
return (0);
}
/*
* Initialize miscellaneous variables
*/
pp->unitptr = 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;
if (up->type == CLK_THUNDERBOLT)
init_thunderbolt(fd);
if (up->type == CLK_ACUTIME)
init_acutime(fd);
return 1;
}
/*
* palisade_shutdown - shut down the clock
*/
static void
palisade_shutdown (
int unit,
struct peer *peer
)
{
struct palisade_unit *up;
struct refclockproc *pp;
pp = peer->procptr;
up = pp->unitptr;
if (-1 != pp->io.fd)
io_closeclock(&pp->io);
if (NULL != up)
free(up);
}
/*
* unpack helpers
*/
static inline uint8_t
get_u8(
const char *cp)
{
return ((const u_char*)cp)[0];
}
static inline uint16_t
get_u16(
const char *cp)
{
return ((uint16_t)get_u8(cp) << 8) | get_u8(cp + 1);
}
/*
* unpack & fix date (the receiver provides a valid time for 1024 weeks
* after 1997-12-14 and therefore folds back in 2017, 2037,...)
*
* Returns -1 on error, day-of-month + (month * 32) othertwise.
*/
int
decode_date(
struct refclockproc *pp,
const char *cp)
{
static int32_t s_baseday = 0;
struct calendar jd;
int32_t rd;
if (0 == s_baseday) {
if (!ntpcal_get_build_date(&jd)) {
jd.year = 2015;
jd.month = 1;
jd.monthday = 1;
}
s_baseday = ntpcal_date_to_rd(&jd);
}
/* get date fields and convert to RDN */
jd.monthday = get_u8 ( cp );
jd.month = get_u8 (cp + 1);
jd.year = get_u16(cp + 2);
rd = ntpcal_date_to_rd(&jd);
/* for the paranoid: do reverse calculation and cross-check */
ntpcal_rd_to_date(&jd, rd);
if ((jd.monthday != get_u8 ( cp )) ||
(jd.month != get_u8 (cp + 1)) ||
(jd.year != get_u16(cp + 2)) )
return - 1;
/* calculate cycle shift to base day and calculate re-folded
* date
*
* One could do a proper modulo calculation here, but a counting
* loop is probably faster for the next few rollovers...
*/
while (rd < s_baseday)
rd += 7*1024;
ntpcal_rd_to_date(&jd, rd);
/* fill refclock structure & indicate success */
pp->day = jd.yearday;
pp->year = jd.year;
return ((int)jd.month << 5) | jd.monthday;
}
/*
* TSIP_decode - decode the TSIP data packets
*/
int
TSIP_decode (
struct peer *peer
)
{
int st;
long secint;
double secs;
double secfrac;
unsigned short event = 0;
int mmday;
struct palisade_unit *up;
struct refclockproc *pp;
pp = peer->procptr;
up = 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->type != CLK_THUNDERBOLT) & (up->type != CLK_ACUTIME)){
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;
long tow;
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;
mmday = decode_date(pp, &mb(11));
if (mmday < 0)
break;
#ifdef DEBUG
if (debug > 1)
printf("TSIP_decode: unit %d: %02X #%d %02d:%02d:%02d.%09ld %02d/%02d/%04d UTC %02d\n",
up->unit, mb(0) & 0xff, event, pp->hour, pp->minute,
pp->second, pp->nsec, (mmday >> 5), (mmday & 31), 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;
}
mmday = decode_date(pp, &mb(14));
if (mmday < 0)
break;
up->month = (mmday >> 5); /* Save for LEAP check */
if ( (up->leap_status & PALISADE_LEAP_PENDING) &&
/* Avoid early announce: https://bugs.ntp.org/2773 */
(6 == up->month || 12 == up->month) ) {
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);
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.%09ld %02d/%02d/%04d UTC %02x %s\n",
up->unit, mb(0) & 0xff, event, pp->hour, pp->minute,
pp->second, pp->nsec, (mmday >> 5), (mmday & 31), pp->year,
mb(19), *Tracking_Status[st]);
#endif
return 1;
break;
case PACKET_8FAC:
if (up->polled <= 0)
return 0;
if (up->rpt_cnt != LENCODE_8FAC)/* check length */
break;
#ifdef DEBUG
if (debug > 1) {
double lat, lon, alt;
lat = getdbl((u_char *) &mb(36)) * R2D;
lon = getdbl((u_char *) &mb(44)) * R2D;
alt = getdbl((u_char *) &mb(52));
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\n", up->unit);
}
#endif
if ( (getint((u_char *) &mb(10)) & 0x80) &&
/* Avoid early announce: https://bugs.ntp.org/2773 */
(6 == up->month || 12 == up->month) )
pp->leap = LEAP_ADDSECOND; /* we ASSUME addsecond */
else
pp->leap = LEAP_NOWARNING;
#ifdef DEBUG
if (debug > 1)
printf("TSIP_decode: unit %d: 0x%02x leap %d\n",
up->unit, mb(0) & 0xff, pp->leap);
if (debug > 1) {
printf("Receiver MODE: 0x%02X\n", (u_char)mb(1));
if (mb(1) == 0x00)
printf(" AUTOMATIC\n");
if (mb(1) == 0x01)
printf(" SINGLE SATELLITE\n");
if (mb(1) == 0x03)
printf(" HORIZONTAL(2D)\n");
if (mb(1) == 0x04)
printf(" FULL POSITION(3D)\n");
if (mb(1) == 0x05)
printf(" DGPR REFERENCE\n");
if (mb(1) == 0x06)
printf(" CLOCK HOLD(2D)\n");
if (mb(1) == 0x07)
printf(" OVERDETERMINED CLOCK\n");
printf("\n** Disciplining MODE 0x%02X:\n", (u_char)mb(2));
if (mb(2) == 0x00)
printf(" NORMAL\n");
if (mb(2) == 0x01)
printf(" POWER-UP\n");
if (mb(2) == 0x02)
printf(" AUTO HOLDOVER\n");
if (mb(2) == 0x03)
printf(" MANUAL HOLDOVER\n");
if (mb(2) == 0x04)
printf(" RECOVERY\n");
if (mb(2) == 0x06)
printf(" DISCIPLINING DISABLED\n");
}
#endif
return 0;
break;
case PACKET_8FAB:
/* Thunderbolt Primary Timing Packet */
if (up->rpt_cnt != LENCODE_8FAB) /* check length */
break;
if (up->polled <= 0)
return 0;
GPS_UTC_Offset = getint((u_char *) &mb(7));
if (GPS_UTC_Offset == 0){ /* Check UTC Offset */
#ifdef DEBUG
printf("TSIP_decode: UTC Offset Unknown\n");
#endif
break;
}
if ((mb(9) & 0x1d) == 0x0) {
/* if we know the GPS time and the UTC offset,
we expect UTC timing information !!! */
pp->leap = LEAP_NOTINSYNC;
refclock_report(peer, CEVNT_BADTIME);
up->polled = -1;
return 0;
}
pp->nsec = 0;
#ifdef DEBUG
printf("\nTiming Flags are:\n");
printf("Timing flag value is: 0x%X\n", mb(9));
if ((mb(9) & 0x01) != 0)
printf (" Getting UTC time\n");
else
printf (" Getting GPS time\n");
if ((mb(9) & 0x02) != 0)
printf (" PPS is from UTC\n");
else
printf (" PPS is from GPS\n");
if ((mb(9) & 0x04) != 0)
printf (" Time is not Set\n");
else
printf (" Time is Set\n");
if ((mb(9) & 0x08) != 0)
printf(" I dont have UTC info\n");
else
printf (" I have UTC info\n");
if ((mb(9) & 0x10) != 0)
printf (" Time is from USER\n\n");
else
printf (" Time is from GPS\n\n");
#endif
mmday = decode_date(pp, &mb(13));
if (mmday < 0)
break;
tow = getlong((u_char *) &mb(1));
#ifdef DEBUG
if (debug > 1) {
printf("pp->day: %d\n", pp->day);
printf("TOW: %ld\n", tow);
printf("DAY: %d\n", (mmday & 31));
}
#endif
pp->hour = mb(12);
pp->minute = mb(11);
pp->second = mb(10);
#ifdef DEBUG
if (debug > 1)
printf("TSIP_decode: unit %d: %02X #%d %02d:%02d:%02d.%09ld %02d/%02d/%04d ",
up->unit, mb(0) & 0xff, event, pp->hour, pp->minute, pp->second,
pp->nsec, (mmday >> 5), (mmday & 31), pp->year);
#endif
return 1;
break;
default:
/* Ignore Packet */
return 0;
} /* switch */
} /* if 8F packets */
else if (up->rpt_buf[0] == (u_char)0x42) {
printf("0x42\n");
return 0;
}
else if (up->rpt_buf[0] == (u_char)0x43) {
printf("0x43\n");
return 0;
}
else if ((up->rpt_buf[0] == PACKET_41) & (up->type == CLK_THUNDERBOLT)){
printf("Undocumented 0x41 packet on Thunderbolt\n");
return 0;
}
else if ((up->rpt_buf[0] == PACKET_41A) & (up->type == CLK_ACUTIME)) {
#ifdef DEBUG
printf("GPS TOW: %ld\n", (long)getlong((u_char *) &mb(0)));
printf("GPS WN: %d\n", getint((u_char *) &mb(4)));
printf("GPS UTC-GPS Offser: %ld\n", (long)getlong((u_char *) &mb(6)));
#endif
return 0;
}
/* Health Status for Acutime Receiver */
else if ((up->rpt_buf[0] == PACKET_46) & (up->type == CLK_ACUTIME)) {
#ifdef DEBUG
if (debug > 1)
/* Status Codes */
switch (mb(0)) {
case 0x00:
printf ("Doing Position Fixes\n");
break;
case 0x01:
printf ("Do no have GPS time yet\n");
break;
case 0x03:
printf ("PDOP is too high\n");
break;
case 0x08:
printf ("No usable satellites\n");
break;
case 0x09:
printf ("Only 1 usable satellite\n");
break;
case 0x0A:
printf ("Only 2 usable satellites\n");
break;
case 0x0B:
printf ("Only 3 usable satellites\n");
break;
case 0x0C:
printf("The Chosen satellite is unusable\n");
break;
}
#endif
/* Error Codes */
if (mb(1) != 0) {
refclock_report(peer, CEVNT_BADTIME);
up->polled = -1;
#ifdef DEBUG
if (debug > 1) {
if (mb(1) & 0x01)
printf ("Signal Processor Error, reset unit.\n");
if (mb(1) & 0x02)
printf ("Alignment error, channel or chip 1, reset unit.\n");
if (mb(1) & 0x03)
printf ("Alignment error, channel or chip 2, reset unit.\n");
if (mb(1) & 0x04)
printf ("Antenna feed line fault (open or short)\n");
if (mb(1) & 0x05)
printf ("Excessive reference frequency error, refer to packet 0x2D and packet 0x4D documentation for further information\n");
}
#endif
return 0;
}
}
else if (up->rpt_buf[0] == 0x54)
return 0;
else if (up->rpt_buf[0] == PACKET_6D) {
#ifdef DEBUG
int sats;
if ((mb(0) & 0x01) && (mb(0) & 0x02))
printf("2d Fix Dimension\n");
if (mb(0) & 0x04)
printf("3d Fix Dimension\n");
if (mb(0) & 0x08)
printf("Fix Mode is MANUAL\n");
else
printf("Fix Mode is AUTO\n");
sats = mb(0) & 0xF0;
sats = sats >> 4;
printf("Tracking %d Satellites\n", sats);
#endif
return 0;
} /* else if not super packet */
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 (
struct peer * peer
)
{
struct palisade_unit *up;
struct refclockproc *pp;
/*
* Initialize pointers and read the timecode and timestamp.
*/
pp = peer->procptr;
up = 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.%09ld\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
*/
snprintf(pp->a_lastcode, sizeof(pp->a_lastcode),
"%4d %03d %02d:%02d:%02d.%09ld",
pp->year, pp->day,
pp->hour,pp->minute, pp->second, pp->nsec);
pp->lencode = 24;
if (!refclock_process(pp)) {
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);
}
/*
* palisade_poll - called by the transmit procedure
*
*/
static void
palisade_poll (
int unit,
struct peer *peer
)
{
struct palisade_unit *up;
struct refclockproc *pp;
pp = peer->procptr;
up = 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 (
struct recvbuf *rbufp
)
{
/*
* Initialize pointers and read the timecode and timestamp.
*/
struct palisade_unit *up;
struct refclockproc *pp;
struct peer *peer;
char * c, * d;
peer = rbufp->recv_peer;
pp = peer->procptr;
up = 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 (
struct refclockproc * pp /* pointer to unit structure */
)
{
int x; /* state before & after RTS set */
struct palisade_unit *up;
up = pp->unitptr;
/* read the current status, so we put things back right */
if (ioctl(pp->io.fd, TIOCMGET, &x) < 0) {
DPRINTF(1, ("Palisade HW_poll: unit %d: GET %m\n",
up->unit));
msyslog(LOG_ERR, "Palisade(%d) HW_poll: ioctl(fd,GET): %m",
up->unit);
return -1;
}
x |= TIOCM_RTS; /* turn on RTS */
/* Edge trigger */
if (up->type == CLK_ACUTIME)
write (pp->io.fd, "", 1);
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;
}
/*
* copy/swap a big-endian palisade double into a host double
*/
static double
getdbl (
u_char *bp
)
{
#ifdef WORDS_BIGENDIAN
double out;
memcpy(&out, bp, sizeof(out));
return out;
#else
union {
u_char ch[8];
u_int32 u32[2];
} ui;
union {
double out;
u_int32 u32[2];
} uo;
memcpy(ui.ch, bp, sizeof(ui.ch));
/* least-significant 32 bits of double from swapped bp[4] to bp[7] */
uo.u32[0] = ntohl(ui.u32[1]);
/* most-significant 32 bits from swapped bp[0] to bp[3] */
uo.u32[1] = ntohl(ui.u32[0]);
return uo.out;
#endif
}
/*
* copy/swap a big-endian palisade short into a host short
*/
static short
getint (
u_char *bp
)
{
u_short us;
memcpy(&us, bp, sizeof(us));
return (short)ntohs(us);
}
/*
* copy/swap a big-endian palisade 32-bit int into a host 32-bit int
*/
static int32
getlong(
u_char *bp
)
{
u_int32 u32;
memcpy(&u32, bp, sizeof(u32));
return (int32)(u_int32)ntohl(u32);
}
#else /* REFCLOCK && CLOCK_PALISADE*/
int refclock_palisade_c_notempty;
#endif