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 #if defined HAVE_SYS_MODEM_H 57 #include <sys/modem.h> 58 #ifndef __QNXNTO__ 59 #define TIOCMSET MCSETA 60 #define TIOCMGET MCGETA 61 #define TIOCM_RTS MRTS 62 #endif 63 #endif 64 65 #ifdef HAVE_TERMIOS_H 66 # ifdef TERMIOS_NEEDS__SVID3 67 # define _SVID3 68 # endif 69 # include <termios.h> 70 # include <sys/stat.h> 71 # ifdef TERMIOS_NEEDS__SVID3 72 # undef _SVID3 73 # endif 74 #endif 75 76 #ifdef HAVE_SYS_IOCTL_H 77 #include <sys/ioctl.h> 78 #endif 79 80 #include "ntpd.h" 81 #include "ntp_io.h" 82 #include "ntp_control.h" 83 #include "ntp_refclock.h" 84 #include "ntp_unixtime.h" 85 #include "ntp_calgps.h" 86 #include "ntp_stdlib.h" 87 88 /* 89 * GPS Definitions 90 */ 91 #define DESCRIPTION "Trimble Palisade GPS" /* Long name */ 92 #define PRECISION (-20) /* precision assumed (about 1 us) */ 93 #define REFID "GPS\0" /* reference ID */ 94 #define TRMB_MINPOLL 4 /* 16 seconds */ 95 #define TRMB_MAXPOLL 5 /* 32 seconds */ 96 97 /* 98 * I/O Definitions 99 */ 100 #define DEVICE "/dev/palisade%d" /* device name and unit */ 101 #define SPEED232 B9600 /* uart speed (9600 baud) */ 102 #define SPEED232COP B38400 /* uart speed for Copernicus II (38400 baud) */ 103 104 /* 105 * TSIP Report Definitions 106 */ 107 #define LENCODE_8F0B 74 /* Length of TSIP 8F-0B Packet & header */ 108 #define LENCODE_NTP 22 /* Length of Palisade NTP Packet */ 109 110 #define LENCODE_8FAC 68 /* Length of Thunderbolt 8F-AC Position Packet*/ 111 #define LENCODE_8FAB 17 /* Length of Thunderbolt Primary Timing Packet*/ 112 113 #define LENCODE_41 10 /* Length of Copernicus II GPS Time Packet*/ 114 115 /* Allowed Sub-Packet ID's */ 116 #define PACKET_8F0B 0x0B 117 #define PACKET_NTP 0xAD 118 119 /* Thunderbolt Packets */ 120 #define PACKET_8FAC 0xAC /* Supplementary Thunderbolt Time Packet */ 121 #define PACKET_8FAB 0xAB /* Primary Thunderbolt Time Packet */ 122 #define PACKET_6D 0x6D /* Supplementary Thunderbolt Tracking Stats */ 123 #define PACKET_41 0x41 /* Thunderbolt I dont know what this packet is, it's not documented on my manual*/ 124 125 /* Acutime Packets */ 126 #define PACKET_41A 0x41 /* GPS time */ 127 #define PACKET_46 0x46 /* Receiver Health */ 128 129 #define DLE 0x10 130 #define ETX 0x03 131 132 /* parse states */ 133 #define TSIP_PARSED_EMPTY 0 134 #define TSIP_PARSED_FULL 1 135 #define TSIP_PARSED_DLE_1 2 136 #define TSIP_PARSED_DATA 3 137 #define TSIP_PARSED_DLE_2 4 138 139 /* 140 * Leap-Insert and Leap-Delete are encoded as follows: 141 * PALISADE_UTC_TIME set and PALISADE_LEAP_PENDING set: INSERT leap 142 */ 143 144 #define PALISADE_LEAP_INPROGRESS 0x08 /* This is the leap flag */ 145 #define PALISADE_LEAP_WARNING 0x04 /* GPS Leap Warning (see ICD-200) */ 146 #define PALISADE_LEAP_PENDING 0x02 /* Leap Pending (24 hours) */ 147 #define PALISADE_UTC_TIME 0x01 /* UTC time available */ 148 149 #define mb(_X_) (up->rpt_buf[(_X_ + 1)]) /* shortcut for buffer access */ 150 151 /* Conversion Definitions */ 152 #define GPS_PI (3.1415926535898) 153 #define R2D (180.0/GPS_PI) 154 155 /* 156 * Structure for build data packets for send (thunderbolt uses it only) 157 * taken from Markus Prosch 158 */ 159 struct packettx 160 { 161 short size; 162 u_char *data; 163 }; 164 165 /* 166 * Palisade unit control structure. 167 */ 168 struct palisade_unit { 169 short unit; /* NTP refclock unit number */ 170 int polled; /* flag to detect noreplies */ 171 char leap_status; /* leap second flag */ 172 char rpt_status; /* TSIP Parser State */ 173 short rpt_cnt; /* TSIP packet length so far */ 174 char rpt_buf[BMAX]; /* packet assembly buffer */ 175 int type; /* Clock mode type */ 176 int month; /* for LEAP filter */ 177 }; 178 179 /* 180 * Function prototypes 181 */ 182 183 static int palisade_start (int, struct peer *); 184 static void palisade_shutdown (int, struct peer *); 185 static void palisade_receive (struct peer *); 186 static void palisade_poll (int, struct peer *); 187 static void palisade_io (struct recvbuf *); 188 int palisade_configure (int, struct peer *); 189 int TSIP_decode (struct peer *); 190 long HW_poll (struct refclockproc *); 191 static double getdbl (u_char *); 192 static short getint (u_char *); 193 static int32 getlong (u_char *); 194 static int32 getsingle (u_char *); 195 196 197 static void sendcmd (struct packettx *buffer, int c); 198 static void sendsupercmd (struct packettx *buffer, int c1, int c2); 199 static void sendbyte (struct packettx *buffer, int b); 200 static void sendint (struct packettx *buffer, int a); 201 static int sendetx (struct packettx *buffer, int fd); 202 static void init_thunderbolt (int fd); 203 static void init_acutime (int fd); 204 205 #endif /* REFCLOCK_PALISADE_H */ 206