1 /* 2 * This software was developed by the Software and Component Technologies 3 * group of Trimble Navigation, Ltd. 4 * 5 * Copyright (c) 1997, 1998, 1999, 2000 Trimble Navigation Ltd. 6 * All rights reserved. 7 * 8 * Redistribution and use in source and binary forms, with or without 9 * modification, are permitted provided that the following conditions 10 * are met: 11 * 1. Redistributions of source code must retain the above copyright 12 * notice, this list of conditions and the following disclaimer. 13 * 2. Redistributions in binary form must reproduce the above copyright 14 * notice, this list of conditions and the following disclaimer in the 15 * documentation and/or other materials provided with the distribution. 16 * 3. All advertising materials mentioning features or use of this software 17 * must display the following acknowledgement: 18 * This product includes software developed by Trimble Navigation, Ltd. 19 * 4. The name of Trimble Navigation Ltd. may not be used to endorse or 20 * promote products derived from this software without specific prior 21 * written permission. 22 * 23 * THIS SOFTWARE IS PROVIDED BY TRIMBLE NAVIGATION LTD. ``AS IS'' AND 24 * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 25 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 26 * ARE DISCLAIMED. IN NO EVENT SHALL TRIMBLE NAVIGATION LTD. BE LIABLE 27 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL 28 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS 29 * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) 30 * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 31 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY 32 * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF 33 * SUCH DAMAGE. 34 */ 35 36 /* 37 * refclock_palisade - clock driver for the Trimble Palisade GPS 38 * timing receiver 39 * 40 * For detailed information on this program, please refer to the html 41 * Refclock 29 page accompanying the NTP distribution. 42 * 43 * for questions / bugs / comments, contact: 44 * sven_dietrich@trimble.com 45 * 46 * Sven-Thorsten Dietrich 47 * 645 North Mary Avenue 48 * Post Office Box 3642 49 * Sunnyvale, CA 94088-3642 50 * 51 */ 52 53 #ifndef _REFCLOCK_PALISADE_H 54 #define _REFCLOCK_PALISADE_H 55 56 #ifdef HAVE_CONFIG_H 57 #include "config.h" 58 #endif 59 60 #if defined HAVE_SYS_MODEM_H 61 #include <sys/modem.h> 62 #ifndef __QNXNTO__ 63 #define TIOCMSET MCSETA 64 #define TIOCMGET MCGETA 65 #define TIOCM_RTS MRTS 66 #endif 67 #endif 68 69 #ifdef HAVE_TERMIOS_H 70 # ifdef TERMIOS_NEEDS__SVID3 71 # define _SVID3 72 # endif 73 # include <termios.h> 74 # ifdef TERMIOS_NEEDS__SVID3 75 # undef _SVID3 76 # endif 77 #endif 78 79 #ifdef HAVE_SYS_IOCTL_H 80 #include <sys/ioctl.h> 81 #endif 82 83 #include "ntpd.h" 84 #include "ntp_io.h" 85 #include "ntp_control.h" 86 #include "ntp_refclock.h" 87 #include "ntp_unixtime.h" 88 #include "ntp_stdlib.h" 89 90 /* 91 * GPS Definitions 92 */ 93 #define DESCRIPTION "Trimble Palisade GPS" /* Long name */ 94 #define PRECISION (-20) /* precision assumed (about 1 us) */ 95 #define REFID "GPS\0" /* reference ID */ 96 #define TRMB_MINPOLL 4 /* 16 seconds */ 97 #define TRMB_MAXPOLL 5 /* 32 seconds */ 98 99 /* 100 * I/O Definitions 101 */ 102 #define DEVICE "/dev/palisade%d" /* device name and unit */ 103 #define SPEED232 B9600 /* uart speed (9600 baud) */ 104 105 /* 106 * TSIP Report Definitions 107 */ 108 #define LENCODE_8F0B 74 /* Length of TSIP 8F-0B Packet & header */ 109 #define LENCODE_NTP 22 /* Length of Palisade NTP Packet */ 110 111 /* Allowed Sub-Packet ID's */ 112 #define PACKET_8F0B 0x0B 113 #define PACKET_NTP 0xAD 114 115 #define DLE 0x10 116 #define ETX 0x03 117 118 /* parse states */ 119 #define TSIP_PARSED_EMPTY 0 120 #define TSIP_PARSED_FULL 1 121 #define TSIP_PARSED_DLE_1 2 122 #define TSIP_PARSED_DATA 3 123 #define TSIP_PARSED_DLE_2 4 124 125 /* 126 * Leap-Insert and Leap-Delete are encoded as follows: 127 * PALISADE_UTC_TIME set and PALISADE_LEAP_PENDING set: INSERT leap 128 */ 129 130 #define PALISADE_LEAP_INPROGRESS 0x08 /* This is the leap flag */ 131 #define PALISADE_LEAP_WARNING 0x04 /* GPS Leap Warning (see ICD-200) */ 132 #define PALISADE_LEAP_PENDING 0x02 /* Leap Pending (24 hours) */ 133 #define PALISADE_UTC_TIME 0x01 /* UTC time available */ 134 135 #define mb(_X_) (up->rpt_buf[(_X_ + 1)]) /* shortcut for buffer access */ 136 137 /* Conversion Definitions */ 138 #define GPS_PI (3.1415926535898) 139 #define R2D (180.0/GPS_PI) 140 141 /* 142 * Palisade unit control structure. 143 */ 144 struct palisade_unit { 145 short unit; /* NTP refclock unit number */ 146 int polled; /* flag to detect noreplies */ 147 char leap_status; /* leap second flag */ 148 char rpt_status; /* TSIP Parser State */ 149 short rpt_cnt; /* TSIP packet length so far */ 150 char rpt_buf[BMAX]; /* packet assembly buffer */ 151 int type; /* Clock mode type */ 152 }; 153 154 /* 155 * Function prototypes 156 */ 157 158 static int palisade_start P((int, struct peer *)); 159 static void palisade_shutdown P((int, struct peer *)); 160 static void palisade_receive P((struct peer *)); 161 static void palisade_poll P((int, struct peer *)); 162 static void palisade_io P((struct recvbuf *)); 163 int palisade_configure P((int, struct peer *)); 164 int TSIP_decode P((struct peer *)); 165 long HW_poll P((struct refclockproc *)); 166 float getfloat P((u_char *)); 167 double getdbl P((u_char *)); 168 short getint P((u_char *)); 169 170 #endif /* PALISADE_H */ 171