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28 <h2><font size="+1">Synopsis</font></h2>
61 <tt><font size="+1">Serial I/O:</font></tt></div>
63 <td><b>9600 baud, 8-bits, 1-stop, odd parity</b></td>
68 <tt><font size="+1">Serial I/O (Thunderbolt):</font></tt></div>
70 <td><b>9600 baud, 8-bits, 1-stop, no parity</b></td>
75 <tt><font size="+1">Serial I/O (Copernicus II):</font></tt></div>
77 <td><b>38400 baud, 8-bits, 1-stop, no parity</b></td>
80 <h2><font size="+1">Description</font></h2>
81 …p://www.trimble.com/products/ntp">Trimble Navigation's Palisade Smart Antenna GPS receiver</a>.<br>
82 …is available from: <a href="http://www.trimble.com/oem/ntp">http://www.trimble.com/oem/ntp</a>.<br>
85 …<p>This documentation describes version 1 of the Thunderbolt Receiver Firmware, no tests have been…
94 <h2><font size="+1">Operating System Compatibility</font></h2>
95 The Palisade driver has been tested on the following software and hardware platforms:<br>
108 <td>10 us</td>
114 <td>1 ms</td>
123 <td valign="CENTER" width="23%">Hewlett-Packard</td>
124 <td valign="CENTER">HPUX 9, 10, 11</td>
125 <td><a href="http://us-support.external.hp.com">http://us-support.external.hp.com</a></td>
137 <h2><font size="+1">GPS Receiver</font></h2>
138 …The Palisade GPS receiver is an 8-channel smart antenna, housing the GPS receiver, antenna and int…
139 …<p>Palisade generates a PPS synchronized to UTC within +/- 100 ns. The Palisade's external e…
140 …eiver is required. This driver is compatible with the following versions of Palisade:<br> </p>
168 26664-00</center>
182 26664-10</center>
196 38158-00</center>
203 …Note: When using Palisade 26664-00, you must set fudge flag2 to 1 in <b>ntp.conf</b>. See <a href=…
206 <h3><font size="+1">GPS <a name="Installation"></a>Installation</font></h3>
208 …<p>The 12 conductor (dia. 10 mm) power and I/O cable must be routed from the rooftop site to…
209 <h3><font size="+1">GPS <a name="Connection"></a>Connection</font></h3>
210 …ade is equipped with dual (A & B) RS-422 serial interfaces and a differential TTL PPS output. …
211 …and the PPS output are not currently used by the Palisade NTP reference clock driver.<br> </p>
214 <h2><font size="+1">O/S Serial Port Configuration</font></h2>
215 … number as defined by the LSB of the refclock address. Valid refclock unit numbers are 0 - 3.
218 <tt>ln -s /dev/ttyS0 /dev/palisade0</tt></blockquote>
219 …sed on the refclock unit number, where unit 1 corresponds to COM<b>1</b>: and unit 3 corresponds t…
220 <h2><a name="Configuration"></a><font size="+1">NTP Configuration</font></h2>
221 Palisade NTP configuration file <b><tt>"ntp.conf"</tt></b> with event polling:<br>
222 <tt>#------------------------------------------------------------------------------</tt><br>
223 <tt># The Primary reference</tt><br>
224 <tt>server 127.127.29.0 # Trimble Palisade GPS Refclock Unit #0</tt><br>
225 <tt>peer terrapin.csc.ncsu.edu # internet server</tt><br>
226 <tt># Drift file for expedient re-synchronization after downtime or reboot.</tt><br>
227 <tt>driftfile /etc/ntp.drift</tt><br>
228 <tt>#------------------------------------------------------------------------------</tt>
229 <p>Configuration without event polling:<br>
230 <tt>#------------------------------------------------------------------------------</tt><br>
231 <tt># The Primary reference</tt><br>
232 <tt>server 127.127.29.0 # Trimble Palisade GPS (Stratum 1).</tt><br>
233 <tt># Set packet delay</tt><br>
234 <tt><a href="#time1">fudge 127.127.29.0 time1 0.020</a></tt><br>
235 <tt># and set flag2 to turn off event polling.</tt><br>
236 <tt><a href="#flag2">fudge 127.127.29.0 flag2 1</a></tt><br>
237 …<tt>#------------------------------------------------------------------------------</tt><br> …
240 <tt>#------------------------------------------------------------------------------</tt>
241 <p>Configuration without event polling:<br>
242 <tt>#------------------------------------------------------------------------------</tt><br>
243 <tt># The Primary reference</tt><br>
244 <tt>server 127.127.29.0 mode 2 # Trimble Thunderbolt GPS (Stratum 1).</tt><br>
245 <tt># Set packet delay</tt><br>
246 <tt><a href="#time1">fudge 127.127.29.0 time1 0.020</a></tt><br>
247 <tt># and set flag2 to turn off event polling.</tt><br>
248 <tt><a href="#flag2">fudge 127.127.29.0 flag2 1</a></tt><br>
249 …<tt>#------------------------------------------------------------------------------</tt><br> …
252 <tt>#------------------------------------------------------------------------------</tt>
253 <p>Configuration without event polling:<br>
254 <tt>#------------------------------------------------------------------------------</tt><br>
255 <tt># The Primary reference</tt><br>
256 <tt>server 127.127.29.0 mode 5 # Trimble Resolution GPS (Stratum 1).</tt><br>
257 <tt># Set packet delay</tt><br>
258 <tt><a href="#time1">fudge 127.127.29.0 time1 0.410</a></tt><br>
259 <tt># and set flag2 to turn off event polling.</tt><br>
260 <tt><a href="#flag2">fudge 127.127.29.0 flag2 1</a></tt><br>
261 …<tt>#------------------------------------------------------------------------------</tt><br> …
264 <tt>#------------------------------------------------------------------------------</tt>
265 <p>Configuration with event polling:<br>
266 <tt>#------------------------------------------------------------------------------</tt><br>
267 <tt># The Primary reference</tt><br>
268 <tt>server 127.127.29.0 mode 6 # Trimble ACE III GPS (Stratum 1).</tt><br>
269 <tt># Set packet delay</tt><br>
270 <tt><a href="#time1">fudge 127.127.29.0 time1 0.720</a></tt><br>
271 …<tt>#------------------------------------------------------------------------------</tt><br> …
274 <tt>#------------------------------------------------------------------------------</tt>
275 <p>Configuration without event polling:<br>
276 <tt>#------------------------------------------------------------------------------</tt><br>
277 <tt># The Primary reference</tt><br>
278 <tt>server 127.127.29.0 mode 7 # Trimble Copernicus II GPS (Stratum 1).</tt><br>
279 <tt># Set packet delay</tt><br>
280 <tt><a href="#time1">fudge 127.127.29.0 time1 0.240</a></tt><br>
281 <tt># and set flag2 to turn off event polling.</tt><br>
282 <tt><a href="#flag2">fudge 127.127.29.0 flag2 1</a></tt><br>
283 …<tt>#------------------------------------------------------------------------------</tt><br> …
285 <h2><a name="TimeTransfer"></a><font size="+1">Time Transfer and Polling</font></h2>
288 …ial UTC download, the receiver will always start with correct UTC offset information.<br> </p>
289 <h2><font size="+1">Run NTP in Debugging Mode</font></h2>
293 …<li>Verify presence of timing packets by observing the 1 Hz (PPS) led on the interface module. It …
297 <li>Run NTP in debug mode (-d -d), to observe Palisade_receive events.
302 <h2><font size="+1">Event Logging</font></h2>
307 <h2><font size="+1">Fudge Factors</font></h2>
309 …<dt><a name="time1"></a><tt><font size="+1"><a href="#Configuration">time1 <i>time</i></a></font><…
311 <dt><tt><font size="+1">stratum <i>number</i></font></tt>
313 <dt><tt><font size="+1"><a href="#REFID">refid <i>string</i></a></font></tt>
315 <dt><a name="flag2"></a><tt><font size="+1"><a href="#Configuration">flag2 0 | 1</a></font></tt>
316 …<dd>When set to 1, driver does not use hardware event capture. The synchronous packet output by th…
318 <h2><font size="+1">Mode Parameter</font></h2>
320 <dt><tt><font size="+1">mode <i>number</i></font></tt>
324 <p><b>1</b> for an <b>Endrun Praecis</b> in Trimble emulation mode</p>
332 <h2><font size="+1">DEFINEs</font></h2>
333 …. These defines may be modified to improve performance or adapt to new operating systems.<br>
349 <td>1 microsecond</td>
353 <td>Host RS-232 baud rate</td>
358 <td>Host RS-232 baud rate (Copernicus II mode)</td>
373 <h2><a name="DataFormat"></a><font size="+1">Data Format</font></h2>
375 <h3><b><font size="+0">Packet 8F-AD (Primary NTP Packet)</font></b></h3>
386 <td>Sub-Packet ID</td>
391 <td>1 - 2</td>
397 <td>3 - 10</td>
406 <td>Hour (0 - 23)</td>
412 <td>Minute (0 - 59)</td>
418 <td>Second (0 - 59; 60 = leap)</td>
424 <td>Date (1 - 31)</td>
430 <td>Month (1 - 12)</td>
433 <td>16 - 17</td>
466 <h4>Leap Second Flag Definition:</h4>Bit 0: (1) UTC Time is available<br>
467 …1 - 3: Undefined<br>Bit 4: (1) Leap Scheduled: Leap second pending asserted by GPS control s…
481 <td>+/- 1 us</td>
485 <td valign="CENTER" width="5%">1</td>
486 <td valign="CENTER" width="59%">Static 1 Sat. Timing Mode </td>
487 <td>+/- 1 us</td>
488 <td>1-D Timing</td>
493 <td>20 - 50 ms</td>
516 <td valign="CENTER" width="59%">Static 1 Sat. Timing: Sat. not usable</td>
518 <td>1-D Timing</td>
528 <td valign="CENTER" width="59%">Only 1 Satellite Usable</td>
529 <td>20 - 50 ms</td>
535 <td>20 - 50 ms</td>
539 <td valign="CENTER" width="5%">10</td>
541 <td>20 - 50 ms</td>
559 <td>+/- 100 ns</td>
564 <h3><b><font size="+0">Packet 8F-0B (Comprehensive Timing Packet)</font></b></h3>
575 <td valign="CENTER" width="27%">Sub-Packet ID</td>
580 <td valign="TOP" width="9%">1 - 2</td>
586 <td valign="TOP" width="9%">3 - 10</td>
604 <td valign="CENTER" width="9%">13 - 14</td>
613 …br>0: Horizontal (2D) <br>1: Full Position (3D) <br>2: Single Satellite (0D) <br>3:…
617 <td valign="CENTER" width="9%">15 - 17</td>
623 <td valign="CENTER" width="9%">18 - 25</td>
629 <td valign="TOP" width="9%">26 - 33</td>
635 <td valign="CENTER" width="9%">34 - 37</td>
641 <td valign="CENTER" width="9%">38 - 41</td>
647 <td valign="CENTER" width="9%">42 - 49</td>
653 <td valign="CENTER" width="9%">50 - 57</td>
659 <td valign="CENTER" width="9%">58 - 65</td>
665 <td valign="CENTER" width="9%">66 - 73</td>
674 <h4><b>Primary Timing Packet - 0x8FAB</h4>
694 <td>1-4</td>
702 <td>5-6</td>
710 <td>7-8</td>
719 …<td><table><tr><td>0</td></tr><tr><td>1</td></tr><tr><td>2</td></tr><tr><td>3</tr><tr><td>4</tr></…
722 …ign="top"><table><tr><td>0 or 1</td></tr><tr><td>0 or 1</td></tr><tr><td>0 or 1</td></tr><tr><td>0…
726 <td>10</td>
730 <td>0-59</td>
738 <td>0-59</td>
746 <td>0-23</td>
754 <td>1-31</td>
762 <td>1-12</td>
766 <td>15-16</td>
775 <h4><b>Supplemental Timing Packet - 0x8FAC</h4>
795 <td valign="top">1</td>
799 …<td valign="top"><table><tr><td>0</td></tr><tr><td>1</td></tr><tr><td>2</td></tr><tr><td>3</td></t…
807 …<td valign="top"><table><tr><td>0</td></tr><tr><td>1</td></tr><tr><td>2</td></tr><tr><td>3</td></t…
808 …<td valign="top"><table><tr>Normal<td></td></tr><tr><td>Power-Up</td></tr><tr><td>Auto Holdover</t…
813 <td>Self-Survey Progress</td>
815 <td>0-100%</td>
818 <td>4-7</td>
826 <td valign="top">8-9</td>
827 …<td><table><tr><td>0</td></tr><tr><td>1</td></tr><tr><td>2</td></tr><tr><td>3</tr><tr><td>4</tr></…
834 <td valign="top">10-11</td>
835 …<td valign="top"><table><tr><td>0</td></tr><tr><td>1</td></tr><tr><td>2</td></tr><tr><td>3</tr><tr…
839 …<td valign="top"><table><tr><td>Normal</td></tr><tr><td>Power-Up</td></tr><tr><td>Auto Holdover</t…
846 …<td valign="top"><table><tr><td>0</td></tr><tr><td>1</td></tr><tr><td>3</td></tr><tr><td>8</tr><tr…
847 …r><tr><td>PDOP is too high</td></tr><tr><td>No usable sats</tr><tr><td>Only 1 usable sat</tr><tr><…
854 …<td><table><tr><td>0</td></tr><tr><td>1</td></tr><tr><td>2</td></tr><tr><td>3</tr><tr><td>4</tr><t…
860 <td>Spare Status 1</td>
874 <td>16-19</td>
882 <td>20-23</td>
884 <td>10 MHz Offset</td>
890 <td>24-27</td>
895 <td>Offset binary (0x00 - 0xFFFFF)</td>
898 <td>28-31</td>
906 <td>32-35</td>
914 <td>36-43</td>
922 <td>44-51</td>
930 <td>52-59</td>
938 <td>60-67</td>
947 <h2><a name="Pinouts"></a><font size="+1">Pinouts</font></h2>
948 …he following connections are required when connecting Palisade with a host:</a><br> <br>
962 <td><u>DB-9</u></td>
963 <td><u>DB-25</u></td>
965 <td><u>RS-232</u></td>
966 <td><u>RS-422</u></td>
973 <td><--></td>
976 <td>8 (T-) & 10 (T+)</td>
982 <td><--></td>
985 <td>6 (R-) & 7 (R+)</td>
991 <td><--></td>
1018 <td><--></td>
1021 <td>4 (T-) & 5 (T+)</td>
1027 <td><--></td>
1030 <td>2 (R-) & 3 (R+)</td>
1036 <td><--></td>
1044 …Note: If driving the RS-422 inputs on the Palisade single ended, i.e. using the Green and Gray con…
1046 The 12 pin connector pinout definition:<br>
1047 Face the round 12 pin connector at the end of the cable, with the notch turned upwards.<br>
1048 …1 is to the left of the notch. Pins 2 - 8 wrap around the bottom, counterclockwise to pin 9 on the…
1050 …<a name="SIM"></a>Pinouts for the Palisade NTP host adapter (Trimble PN 37070) DB-25 M connector a…
1054 <td valign="CENTER" width="12%">DB-25M</td>
1060 <td valign="CENTER" width="12%">1 </td>
1062 <td valign="CENTER" width="16%">1</td>
1075 <td valign="CENTER" width="41%">PPS -</td>
1078 <td valign="CENTER" width="12%">10 </td>
1081 <td valign="CENTER" width="41%">Transmit Port A (T-)</td>
1087 <td valign="CENTER" width="41%">Transmit Port B (T-)</td>
1110 <td valign="CENTER" width="16%">10</td>
1123 <td valign="CENTER" width="41%">Receive Port A (R-)</td>
1129 <td valign="CENTER" width="41%">Receive Port B (R-)</td>
1136 …t support (for now) event-polling, the reason is that the Thunderbolt receiver the patch is writte…
1138 …//lists.ntp.isc.org/pipermail/hackers/2006-April/002216.html">https://lists.ntp.isc.org/pipermail/…
1141 <p>Questions or Comments:<br>
1142 <a href="mailto:sven_dietrich@trimble.com">Sven Dietrich</a><br>
1144 <a href="mailto:fernandoph@iar.unlp.edu.ar">Fernando P. Hauscarriaga</a><br>