1 /* 2 * /src/NTP/ntp-4/libparse/clk_trimtsip.c,v 4.13 1999/11/28 09:13:51 kardel RELEASE_19991128_A 3 * 4 * clk_trimtsip.c,v 4.13 1999/11/28 09:13:51 kardel RELEASE_19991128_A 5 * 6 * Trimble TSIP support - CURRENTLY VERY MUCH UNDER CONSTRUCTION 7 */ 8 9 #ifdef HAVE_CONFIG_H 10 # include <config.h> 11 #endif 12 13 #if defined(REFCLOCK) && defined(CLOCK_PARSE) && defined(CLOCK_TRIMTSIP) 14 15 #include "ntp_syslog.h" 16 #include "ntp_types.h" 17 #include "ntp_fp.h" 18 #include "ntp_unixtime.h" 19 #include "ntp_calendar.h" 20 #include "ntp_machine.h" 21 #include "ntp_stdlib.h" 22 23 #include "parse.h" 24 25 #ifndef PARSESTREAM 26 # include <stdio.h> 27 #else 28 # include "sys/parsestreams.h" 29 #endif 30 31 #include "ascii.h" 32 #include "binio.h" 33 #include "ieee754io.h" 34 #include "trimble.h" 35 36 /* 37 * Trimble low level TSIP parser / time converter 38 * 39 * The receiver uses a serial message protocol called Trimble Standard 40 * Interface Protocol (it can support others but this driver only supports 41 * TSIP). Messages in this protocol have the following form: 42 * 43 * <DLE><id> ... <data> ... <DLE><ETX> 44 * 45 * Any bytes within the <data> portion of value 10 hex (<DLE>) are doubled 46 * on transmission and compressed back to one on reception. Otherwise 47 * the values of data bytes can be anything. The serial interface is RS-422 48 * asynchronous using 9600 baud, 8 data bits with odd party (**note** 9 bits 49 * in total!), and 1 stop bit. The protocol supports byte, integer, single, 50 * and double datatypes. Integers are two bytes, sent most significant first. 51 * Singles are IEEE754 single precision floating point numbers (4 byte) sent 52 * sign & exponent first. Doubles are IEEE754 double precision floating point 53 * numbers (8 byte) sent sign & exponent first. 54 * The receiver supports a large set of messages, only a very small subset of 55 * which is used here. 56 * 57 * From this module the following are recognised: 58 * 59 * ID Description 60 * 61 * 41 GPS Time 62 * 46 Receiver health 63 * 4F UTC correction data (used to get leap second warnings) 64 * 65 * All others are accepted but ignored for time conversion - they are passed up to higher layers. 66 * 67 */ 68 69 static offsets_t trim_offsets = { 0, 1, 2, 3, 4, 5, 6, 7 }; 70 71 struct trimble 72 { 73 u_char t_in_pkt; /* first DLE received */ 74 u_char t_dle; /* subsequent DLE received */ 75 u_short t_week; /* GPS week */ 76 u_short t_weekleap; /* GPS week of next/last week */ 77 u_short t_dayleap; /* day in week */ 78 u_short t_gpsutc; /* GPS - UTC offset */ 79 u_short t_gpsutcleap; /* offset at next/last leap */ 80 u_char t_operable; /* receiver feels OK */ 81 u_char t_mode; /* actual operating mode */ 82 u_char t_leap; /* possible leap warning */ 83 u_char t_utcknown; /* utc offset known */ 84 }; 85 86 #define STATUS_BAD 0 /* BAD or UNINITIALIZED receiver status */ 87 #define STATUS_UNSAFE 1 /* not enough receivers for full precision */ 88 #define STATUS_SYNC 2 /* enough information for good operation */ 89 90 static unsigned long inp_tsip P((parse_t *, unsigned int, timestamp_t *)); 91 static unsigned long cvt_trimtsip P((unsigned char *, int, struct format *, clocktime_t *, void *)); 92 93 struct clockformat clock_trimtsip = 94 { 95 inp_tsip, /* Trimble TSIP input handler */ 96 cvt_trimtsip, /* Trimble TSIP conversion */ 97 pps_one, /* easy PPS monitoring */ 98 0, /* no configuration data */ 99 "Trimble TSIP", 100 400, /* input buffer */ 101 sizeof(struct trimble) /* private data */ 102 }; 103 104 #define ADDSECOND 0x01 105 #define DELSECOND 0x02 106 107 static unsigned long 108 inp_tsip( 109 parse_t *parseio, 110 unsigned int ch, 111 timestamp_t *tstamp 112 ) 113 { 114 struct trimble *t = (struct trimble *)parseio->parse_pdata; 115 116 if (!t) 117 return PARSE_INP_SKIP; /* local data not allocated - sigh! */ 118 119 if (!t->t_in_pkt && ch != DLE) { 120 /* wait for start of packet */ 121 return PARSE_INP_SKIP; 122 } 123 124 if ((parseio->parse_index >= (parseio->parse_dsize - 2)) || 125 (parseio->parse_dtime.parse_msglen >= (sizeof(parseio->parse_dtime.parse_msg) - 2))) 126 { /* OVERFLOW - DROP! */ 127 t->t_in_pkt = t->t_dle = 0; 128 parseio->parse_index = 0; 129 parseio->parse_dtime.parse_msglen = 0; 130 return PARSE_INP_SKIP; 131 } 132 133 switch (ch) { 134 case DLE: 135 if (!t->t_in_pkt) { 136 t->t_dle = 0; 137 t->t_in_pkt = 1; 138 parseio->parse_index = 0; 139 parseio->parse_data[parseio->parse_index++] = ch; 140 parseio->parse_dtime.parse_msglen = 0; 141 parseio->parse_dtime.parse_msg[parseio->parse_dtime.parse_msglen++] = ch; 142 parseio->parse_dtime.parse_stime = *tstamp; /* pick up time stamp at packet start */ 143 } else if (t->t_dle) { 144 /* Double DLE -> insert a DLE */ 145 t->t_dle = 0; 146 parseio->parse_data[parseio->parse_index++] = DLE; 147 parseio->parse_dtime.parse_msg[parseio->parse_dtime.parse_msglen++] = DLE; 148 } else 149 t->t_dle = 1; 150 break; 151 152 case ETX: 153 if (t->t_dle) { 154 /* DLE,ETX -> end of packet */ 155 parseio->parse_data[parseio->parse_index++] = DLE; 156 parseio->parse_data[parseio->parse_index] = ch; 157 parseio->parse_ldsize = parseio->parse_index+1; 158 memcpy(parseio->parse_ldata, parseio->parse_data, parseio->parse_ldsize); 159 parseio->parse_dtime.parse_msg[parseio->parse_dtime.parse_msglen++] = DLE; 160 parseio->parse_dtime.parse_msg[parseio->parse_dtime.parse_msglen++] = ch; 161 t->t_in_pkt = t->t_dle = 0; 162 return PARSE_INP_TIME|PARSE_INP_DATA; 163 } 164 165 default: /* collect data */ 166 t->t_dle = 0; 167 parseio->parse_data[parseio->parse_index++] = ch; 168 parseio->parse_dtime.parse_msg[parseio->parse_dtime.parse_msglen++] = ch; 169 } 170 171 return PARSE_INP_SKIP; 172 } 173 174 static int 175 getshort( 176 unsigned char *p 177 ) 178 { 179 return get_msb_short(&p); 180 } 181 182 /* 183 * cvt_trimtsip 184 * 185 * convert TSIP type format 186 */ 187 static unsigned long 188 cvt_trimtsip( 189 unsigned char *buffer, 190 int size, 191 struct format *format, 192 clocktime_t *clock_time, 193 void *local 194 ) 195 { 196 register struct trimble *t = (struct trimble *)local; /* get local data space */ 197 #define mb(_X_) (buffer[2+(_X_)]) /* shortcut for buffer access */ 198 register u_char cmd; 199 200 clock_time->flags = 0; 201 202 if (!t) { 203 return CVT_NONE; /* local data not allocated - sigh! */ 204 } 205 206 if ((size < 4) || 207 (buffer[0] != DLE) || 208 (buffer[size-1] != ETX) || 209 (buffer[size-2] != DLE)) 210 { 211 printf("TRIMBLE BAD packet, size %d:\n", size); 212 return CVT_NONE; 213 } 214 else 215 { 216 unsigned char *bp; 217 cmd = buffer[1]; 218 219 switch(cmd) 220 { 221 case CMD_RCURTIME: 222 { /* GPS time */ 223 l_fp secs; 224 int week = getshort((unsigned char *)&mb(4)); 225 l_fp utcoffset; 226 l_fp gpstime; 227 228 bp = &mb(0); 229 if (fetch_ieee754(&bp, IEEE_SINGLE, &secs, trim_offsets) != IEEE_OK) 230 return CVT_FAIL|CVT_BADFMT; 231 232 if ((secs.l_i <= 0) || 233 (t->t_utcknown == 0)) 234 { 235 clock_time->flags = PARSEB_POWERUP; 236 return CVT_OK; 237 } 238 if (week < 990) { 239 week += 1024; 240 } 241 242 /* time OK */ 243 244 /* fetch UTC offset */ 245 bp = &mb(6); 246 if (fetch_ieee754(&bp, IEEE_SINGLE, &utcoffset, trim_offsets) != IEEE_OK) 247 return CVT_FAIL|CVT_BADFMT; 248 249 L_SUB(&secs, &utcoffset); /* adjust GPS time to UTC time */ 250 251 gpstolfp((unsigned short)week, (unsigned short)0, 252 secs.l_ui, &gpstime); 253 254 gpstime.l_uf = secs.l_uf; 255 256 clock_time->utctime = gpstime.l_ui - JAN_1970; 257 258 TSFTOTVU(gpstime.l_uf, clock_time->usecond); 259 260 if (t->t_leap == ADDSECOND) 261 clock_time->flags |= PARSEB_LEAPADD; 262 263 if (t->t_leap == DELSECOND) 264 clock_time->flags |= PARSEB_LEAPDEL; 265 266 switch (t->t_operable) 267 { 268 case STATUS_SYNC: 269 clock_time->flags &= ~(PARSEB_POWERUP|PARSEB_NOSYNC); 270 break; 271 272 case STATUS_UNSAFE: 273 clock_time->flags |= PARSEB_NOSYNC; 274 break; 275 276 case STATUS_BAD: 277 clock_time->flags |= PARSEB_NOSYNC|PARSEB_POWERUP; 278 break; 279 } 280 281 if (t->t_mode == 0) 282 clock_time->flags |= PARSEB_POSITION; 283 284 clock_time->flags |= PARSEB_S_LEAP|PARSEB_S_POSITION; 285 286 return CVT_OK; 287 288 } /* case 0x41 */ 289 290 case CMD_RRECVHEALTH: 291 { 292 /* TRIMBLE health */ 293 u_char status = mb(0); 294 295 switch (status) 296 { 297 case 0x00: /* position fixes */ 298 t->t_operable = STATUS_SYNC; 299 break; 300 301 case 0x09: /* 1 satellite */ 302 case 0x0A: /* 2 satellites */ 303 case 0x0B: /* 3 satellites */ 304 t->t_operable = STATUS_UNSAFE; 305 break; 306 307 default: 308 t->t_operable = STATUS_BAD; 309 break; 310 } 311 t->t_mode = status; 312 } 313 break; 314 315 case CMD_RUTCPARAM: 316 { 317 l_fp t0t; 318 unsigned char *lbp; 319 320 /* UTC correction data - derive a leap warning */ 321 int tls = t->t_gpsutc = getshort((unsigned char *)&mb(12)); /* current leap correction (GPS-UTC) */ 322 int tlsf = t->t_gpsutcleap = getshort((unsigned char *)&mb(24)); /* new leap correction */ 323 324 t->t_weekleap = getshort((unsigned char *)&mb(20)); /* week no of leap correction */ 325 if (t->t_weekleap < 990) 326 t->t_weekleap += 1024; 327 328 t->t_dayleap = getshort((unsigned char *)&mb(22)); /* day in week of leap correction */ 329 t->t_week = getshort((unsigned char *)&mb(18)); /* current week no */ 330 if (t->t_week < 990) 331 t->t_week += 1024; 332 333 lbp = (unsigned char *)&mb(14); /* last update time */ 334 if (fetch_ieee754(&lbp, IEEE_SINGLE, &t0t, trim_offsets) != IEEE_OK) 335 return CVT_FAIL|CVT_BADFMT; 336 337 t->t_utcknown = t0t.l_ui != 0; 338 339 if ((t->t_utcknown) && /* got UTC information */ 340 (tlsf != tls) && /* something will change */ 341 ((t->t_weekleap - t->t_week) < 5)) /* and close in the future */ 342 { 343 /* generate a leap warning */ 344 if (tlsf > tls) 345 t->t_leap = ADDSECOND; 346 else 347 t->t_leap = DELSECOND; 348 } 349 else 350 { 351 t->t_leap = 0; 352 } 353 } 354 break; 355 356 default: 357 /* it's validly formed, but we don't care about it! */ 358 break; 359 } 360 } 361 return CVT_SKIP; 362 } 363 364 #else /* not (REFCLOCK && CLOCK_PARSE && CLOCK_TRIMTSIP && !PARSESTREAM) */ 365 int clk_trimtsip_bs; 366 #endif /* not (REFCLOCK && CLOCK_PARSE && CLOCK_TRIMTSIP && !PARSESTREAM) */ 367 368 /* 369 * History: 370 * 371 * clk_trimtsip.c,v 372 * Revision 4.13 1999/11/28 09:13:51 kardel 373 * RECON_4_0_98F 374 * 375 * Revision 4.12 1999/02/28 13:00:08 kardel 376 * *** empty log message *** 377 * 378 * Revision 4.11 1999/02/28 11:47:54 kardel 379 * (struct trimble): new member t_utcknown 380 * (cvt_trimtsip): fixed status monitoring, bad receiver states are 381 * now recognized 382 * 383 * Revision 4.10 1999/02/27 15:57:15 kardel 384 * use mmemcpy instead of bcopy 385 * 386 * Revision 4.9 1999/02/21 12:17:42 kardel 387 * 4.91f reconcilation 388 * 389 * Revision 4.8 1998/11/15 20:27:58 kardel 390 * Release 4.0.73e13 reconcilation 391 * 392 * Revision 4.7 1998/08/16 18:49:20 kardel 393 * (cvt_trimtsip): initial kernel capable version (no more floats) 394 * (clock_trimtsip =): new format name 395 * 396 * Revision 4.6 1998/08/09 22:26:05 kardel 397 * Trimble TSIP support 398 * 399 * Revision 4.5 1998/08/02 10:37:05 kardel 400 * working TSIP parser 401 * 402 * Revision 4.4 1998/06/28 16:50:40 kardel 403 * (getflt): fixed ENDIAN issue 404 * (getdbl): fixed ENDIAN issue 405 * (getint): use get_msb_short() 406 * (cvt_trimtsip): use gpstolfp() for conversion 407 * 408 * Revision 4.3 1998/06/13 12:07:31 kardel 409 * fix SYSV clock name clash 410 * 411 * Revision 4.2 1998/06/12 15:22:30 kardel 412 * fix prototypes 413 * 414 * Revision 4.1 1998/05/24 09:39:54 kardel 415 * implementation of the new IO handling model 416 * 417 * Revision 4.0 1998/04/10 19:45:32 kardel 418 * Start 4.0 release version numbering 419 * 420 * from V3 1.8 loginfo deleted 1998/04/11 kardel 421 */ 422