clk_trimtsip.c revision 182007
1/* 2 * /src/NTP/ntp4-dev/libparse/clk_trimtsip.c,v 4.17 2005/04/16 17:32:10 kardel RELEASE_20050508_A 3 * 4 * clk_trimtsip.c,v 4.17 2005/04/16 17:32:10 kardel RELEASE_20050508_A 5 * 6 * Trimble TSIP support 7 * Thanks to Sven Dietrich for providing test hardware 8 * 9 * Copyright (c) 1995-2005 by Frank Kardel <kardel <AT> ntp.org> 10 * Copyright (c) 1989-1994 by Frank Kardel, Friedrich-Alexander Universit�t Erlangen-N�rnberg, Germany 11 * 12 * Redistribution and use in source and binary forms, with or without 13 * modification, are permitted provided that the following conditions 14 * are met: 15 * 1. Redistributions of source code must retain the above copyright 16 * notice, this list of conditions and the following disclaimer. 17 * 2. Redistributions in binary form must reproduce the above copyright 18 * notice, this list of conditions and the following disclaimer in the 19 * documentation and/or other materials provided with the distribution. 20 * 3. Neither the name of the author nor the names of its contributors 21 * may be used to endorse or promote products derived from this software 22 * without specific prior written permission. 23 * 24 * THIS SOFTWARE IS PROVIDED BY THE AUTHOR AND CONTRIBUTORS ``AS IS'' AND 25 * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 26 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 27 * ARE DISCLAIMED. IN NO EVENT SHALL THE AUTHOR OR CONTRIBUTORS BE LIABLE 28 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL 29 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS 30 * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) 31 * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 32 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY 33 * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF 34 * SUCH DAMAGE. 35 * 36 */ 37 38#ifdef HAVE_CONFIG_H 39# include <config.h> 40#endif 41 42#if defined(REFCLOCK) && defined(CLOCK_PARSE) && defined(CLOCK_TRIMTSIP) 43 44#include "ntp_syslog.h" 45#include "ntp_types.h" 46#include "ntp_fp.h" 47#include "ntp_unixtime.h" 48#include "ntp_calendar.h" 49#include "ntp_machine.h" 50#include "ntp_stdlib.h" 51 52#include "parse.h" 53 54#ifndef PARSESTREAM 55# include <stdio.h> 56#else 57# include "sys/parsestreams.h" 58#endif 59 60#include "ascii.h" 61#include "binio.h" 62#include "ieee754io.h" 63#include "trimble.h" 64 65/* 66 * Trimble low level TSIP parser / time converter 67 * 68 * The receiver uses a serial message protocol called Trimble Standard 69 * Interface Protocol (it can support others but this driver only supports 70 * TSIP). Messages in this protocol have the following form: 71 * 72 * <DLE><id> ... <data> ... <DLE><ETX> 73 * 74 * Any bytes within the <data> portion of value 10 hex (<DLE>) are doubled 75 * on transmission and compressed back to one on reception. Otherwise 76 * the values of data bytes can be anything. The serial interface is RS-422 77 * asynchronous using 9600 baud, 8 data bits with odd party (**note** 9 bits 78 * in total!), and 1 stop bit. The protocol supports byte, integer, single, 79 * and double datatypes. Integers are two bytes, sent most significant first. 80 * Singles are IEEE754 single precision floating point numbers (4 byte) sent 81 * sign & exponent first. Doubles are IEEE754 double precision floating point 82 * numbers (8 byte) sent sign & exponent first. 83 * The receiver supports a large set of messages, only a very small subset of 84 * which is used here. 85 * 86 * From this module the following are recognised: 87 * 88 * ID Description 89 * 90 * 41 GPS Time 91 * 46 Receiver health 92 * 4F UTC correction data (used to get leap second warnings) 93 * 94 * All others are accepted but ignored for time conversion - they are passed up to higher layers. 95 * 96 */ 97 98static offsets_t trim_offsets = { 0, 1, 2, 3, 4, 5, 6, 7 }; 99 100struct trimble 101{ 102 u_char t_in_pkt; /* first DLE received */ 103 u_char t_dle; /* subsequent DLE received */ 104 u_short t_week; /* GPS week */ 105 u_short t_weekleap; /* GPS week of next/last week */ 106 u_short t_dayleap; /* day in week */ 107 u_short t_gpsutc; /* GPS - UTC offset */ 108 u_short t_gpsutcleap; /* offset at next/last leap */ 109 u_char t_operable; /* receiver feels OK */ 110 u_char t_mode; /* actual operating mode */ 111 u_char t_leap; /* possible leap warning */ 112 u_char t_utcknown; /* utc offset known */ 113}; 114 115#define STATUS_BAD 0 /* BAD or UNINITIALIZED receiver status */ 116#define STATUS_UNSAFE 1 /* not enough receivers for full precision */ 117#define STATUS_SYNC 2 /* enough information for good operation */ 118 119static unsigned long inp_tsip P((parse_t *, unsigned int, timestamp_t *)); 120static unsigned long cvt_trimtsip P((unsigned char *, int, struct format *, clocktime_t *, void *)); 121 122struct clockformat clock_trimtsip = 123{ 124 inp_tsip, /* Trimble TSIP input handler */ 125 cvt_trimtsip, /* Trimble TSIP conversion */ 126 pps_one, /* easy PPS monitoring */ 127 0, /* no configuration data */ 128 "Trimble TSIP", 129 400, /* input buffer */ 130 sizeof(struct trimble) /* private data */ 131}; 132 133#define ADDSECOND 0x01 134#define DELSECOND 0x02 135 136static unsigned long 137inp_tsip( 138 parse_t *parseio, 139 unsigned int ch, 140 timestamp_t *tstamp 141 ) 142{ 143 struct trimble *t = (struct trimble *)parseio->parse_pdata; 144 145 if (!t) 146 return PARSE_INP_SKIP; /* local data not allocated - sigh! */ 147 148 if (!t->t_in_pkt && ch != DLE) { 149 /* wait for start of packet */ 150 return PARSE_INP_SKIP; 151 } 152 153 if ((parseio->parse_index >= (parseio->parse_dsize - 2)) || 154 (parseio->parse_dtime.parse_msglen >= (sizeof(parseio->parse_dtime.parse_msg) - 2))) 155 { /* OVERFLOW - DROP! */ 156 t->t_in_pkt = t->t_dle = 0; 157 parseio->parse_index = 0; 158 parseio->parse_dtime.parse_msglen = 0; 159 return PARSE_INP_SKIP; 160 } 161 162 switch (ch) { 163 case DLE: 164 if (!t->t_in_pkt) { 165 t->t_dle = 0; 166 t->t_in_pkt = 1; 167 parseio->parse_index = 0; 168 parseio->parse_data[parseio->parse_index++] = ch; 169 parseio->parse_dtime.parse_msglen = 0; 170 parseio->parse_dtime.parse_msg[parseio->parse_dtime.parse_msglen++] = ch; 171 parseio->parse_dtime.parse_stime = *tstamp; /* pick up time stamp at packet start */ 172 } else if (t->t_dle) { 173 /* Double DLE -> insert a DLE */ 174 t->t_dle = 0; 175 parseio->parse_data[parseio->parse_index++] = DLE; 176 parseio->parse_dtime.parse_msg[parseio->parse_dtime.parse_msglen++] = DLE; 177 } else 178 t->t_dle = 1; 179 break; 180 181 case ETX: 182 if (t->t_dle) { 183 /* DLE,ETX -> end of packet */ 184 parseio->parse_data[parseio->parse_index++] = DLE; 185 parseio->parse_data[parseio->parse_index] = ch; 186 parseio->parse_ldsize = parseio->parse_index+1; 187 memcpy(parseio->parse_ldata, parseio->parse_data, parseio->parse_ldsize); 188 parseio->parse_dtime.parse_msg[parseio->parse_dtime.parse_msglen++] = DLE; 189 parseio->parse_dtime.parse_msg[parseio->parse_dtime.parse_msglen++] = ch; 190 t->t_in_pkt = t->t_dle = 0; 191 return PARSE_INP_TIME|PARSE_INP_DATA; 192 } 193 194 default: /* collect data */ 195 t->t_dle = 0; 196 parseio->parse_data[parseio->parse_index++] = ch; 197 parseio->parse_dtime.parse_msg[parseio->parse_dtime.parse_msglen++] = ch; 198 } 199 200 return PARSE_INP_SKIP; 201} 202 203static int 204getshort( 205 unsigned char *p 206 ) 207{ 208 return get_msb_short(&p); 209} 210 211/* 212 * cvt_trimtsip 213 * 214 * convert TSIP type format 215 */ 216static unsigned long 217cvt_trimtsip( 218 unsigned char *buffer, 219 int size, 220 struct format *format, 221 clocktime_t *clock_time, 222 void *local 223 ) 224{ 225 register struct trimble *t = (struct trimble *)local; /* get local data space */ 226#define mb(_X_) (buffer[2+(_X_)]) /* shortcut for buffer access */ 227 register u_char cmd; 228 229 clock_time->flags = 0; 230 231 if (!t) { 232 return CVT_NONE; /* local data not allocated - sigh! */ 233 } 234 235 if ((size < 4) || 236 (buffer[0] != DLE) || 237 (buffer[size-1] != ETX) || 238 (buffer[size-2] != DLE)) 239 { 240 printf("TRIMBLE BAD packet, size %d:\n", size); 241 return CVT_NONE; 242 } 243 else 244 { 245 unsigned char *bp; 246 cmd = buffer[1]; 247 248 switch(cmd) 249 { 250 case CMD_RCURTIME: 251 { /* GPS time */ 252 l_fp secs; 253 int week = getshort((unsigned char *)&mb(4)); 254 l_fp utcoffset; 255 l_fp gpstime; 256 257 bp = &mb(0); 258 if (fetch_ieee754(&bp, IEEE_SINGLE, &secs, trim_offsets) != IEEE_OK) 259 return CVT_FAIL|CVT_BADFMT; 260 261 if ((secs.l_i <= 0) || 262 (t->t_utcknown == 0)) 263 { 264 clock_time->flags = PARSEB_POWERUP; 265 return CVT_OK; 266 } 267 if (week < 990) { 268 week += 1024; 269 } 270 271 /* time OK */ 272 273 /* fetch UTC offset */ 274 bp = &mb(6); 275 if (fetch_ieee754(&bp, IEEE_SINGLE, &utcoffset, trim_offsets) != IEEE_OK) 276 return CVT_FAIL|CVT_BADFMT; 277 278 L_SUB(&secs, &utcoffset); /* adjust GPS time to UTC time */ 279 280 gpstolfp((unsigned short)week, (unsigned short)0, 281 secs.l_ui, &gpstime); 282 283 gpstime.l_uf = secs.l_uf; 284 285 clock_time->utctime = gpstime.l_ui - JAN_1970; 286 287 TSFTOTVU(gpstime.l_uf, clock_time->usecond); 288 289 if (t->t_leap == ADDSECOND) 290 clock_time->flags |= PARSEB_LEAPADD; 291 292 if (t->t_leap == DELSECOND) 293 clock_time->flags |= PARSEB_LEAPDEL; 294 295 switch (t->t_operable) 296 { 297 case STATUS_SYNC: 298 clock_time->flags &= ~(PARSEB_POWERUP|PARSEB_NOSYNC); 299 break; 300 301 case STATUS_UNSAFE: 302 clock_time->flags |= PARSEB_NOSYNC; 303 break; 304 305 case STATUS_BAD: 306 clock_time->flags |= PARSEB_NOSYNC|PARSEB_POWERUP; 307 break; 308 } 309 310 if (t->t_mode == 0) 311 clock_time->flags |= PARSEB_POSITION; 312 313 clock_time->flags |= PARSEB_S_LEAP|PARSEB_S_POSITION; 314 315 return CVT_OK; 316 317 } /* case 0x41 */ 318 319 case CMD_RRECVHEALTH: 320 { 321 /* TRIMBLE health */ 322 u_char status = mb(0); 323 324 switch (status) 325 { 326 case 0x00: /* position fixes */ 327 t->t_operable = STATUS_SYNC; 328 break; 329 330 case 0x09: /* 1 satellite */ 331 case 0x0A: /* 2 satellites */ 332 case 0x0B: /* 3 satellites */ 333 t->t_operable = STATUS_UNSAFE; 334 break; 335 336 default: 337 t->t_operable = STATUS_BAD; 338 break; 339 } 340 t->t_mode = status; 341 } 342 break; 343 344 case CMD_RUTCPARAM: 345 { 346 l_fp t0t; 347 unsigned char *lbp; 348 349 /* UTC correction data - derive a leap warning */ 350 int tls = t->t_gpsutc = getshort((unsigned char *)&mb(12)); /* current leap correction (GPS-UTC) */ 351 int tlsf = t->t_gpsutcleap = getshort((unsigned char *)&mb(24)); /* new leap correction */ 352 353 t->t_weekleap = getshort((unsigned char *)&mb(20)); /* week no of leap correction */ 354 if (t->t_weekleap < 990) 355 t->t_weekleap += 1024; 356 357 t->t_dayleap = getshort((unsigned char *)&mb(22)); /* day in week of leap correction */ 358 t->t_week = getshort((unsigned char *)&mb(18)); /* current week no */ 359 if (t->t_week < 990) 360 t->t_week += 1024; 361 362 lbp = (unsigned char *)&mb(14); /* last update time */ 363 if (fetch_ieee754(&lbp, IEEE_SINGLE, &t0t, trim_offsets) != IEEE_OK) 364 return CVT_FAIL|CVT_BADFMT; 365 366 t->t_utcknown = t0t.l_ui != 0; 367 368 if ((t->t_utcknown) && /* got UTC information */ 369 (tlsf != tls) && /* something will change */ 370 ((t->t_weekleap - t->t_week) < 5)) /* and close in the future */ 371 { 372 /* generate a leap warning */ 373 if (tlsf > tls) 374 t->t_leap = ADDSECOND; 375 else 376 t->t_leap = DELSECOND; 377 } 378 else 379 { 380 t->t_leap = 0; 381 } 382 } 383 break; 384 385 default: 386 /* it's validly formed, but we don't care about it! */ 387 break; 388 } 389 } 390 return CVT_SKIP; 391} 392 393#else /* not (REFCLOCK && CLOCK_PARSE && CLOCK_TRIMTSIP && !PARSESTREAM) */ 394int clk_trimtsip_bs; 395#endif /* not (REFCLOCK && CLOCK_PARSE && CLOCK_TRIMTSIP && !PARSESTREAM) */ 396 397/* 398 * History: 399 * 400 * clk_trimtsip.c,v 401 * Revision 4.17 2005/04/16 17:32:10 kardel 402 * update copyright 403 * 404 * Revision 4.16 2004/11/14 15:29:41 kardel 405 * support PPSAPI, upgrade Copyright to Berkeley style 406 * 407 * Revision 4.13 1999/11/28 09:13:51 kardel 408 * RECON_4_0_98F 409 * 410 * Revision 4.12 1999/02/28 13:00:08 kardel 411 * *** empty log message *** 412 * 413 * Revision 4.11 1999/02/28 11:47:54 kardel 414 * (struct trimble): new member t_utcknown 415 * (cvt_trimtsip): fixed status monitoring, bad receiver states are 416 * now recognized 417 * 418 * Revision 4.10 1999/02/27 15:57:15 kardel 419 * use mmemcpy instead of bcopy 420 * 421 * Revision 4.9 1999/02/21 12:17:42 kardel 422 * 4.91f reconcilation 423 * 424 * Revision 4.8 1998/11/15 20:27:58 kardel 425 * Release 4.0.73e13 reconcilation 426 * 427 * Revision 4.7 1998/08/16 18:49:20 kardel 428 * (cvt_trimtsip): initial kernel capable version (no more floats) 429 * (clock_trimtsip =): new format name 430 * 431 * Revision 4.6 1998/08/09 22:26:05 kardel 432 * Trimble TSIP support 433 * 434 * Revision 4.5 1998/08/02 10:37:05 kardel 435 * working TSIP parser 436 * 437 * Revision 4.4 1998/06/28 16:50:40 kardel 438 * (getflt): fixed ENDIAN issue 439 * (getdbl): fixed ENDIAN issue 440 * (getint): use get_msb_short() 441 * (cvt_trimtsip): use gpstolfp() for conversion 442 * 443 * Revision 4.3 1998/06/13 12:07:31 kardel 444 * fix SYSV clock name clash 445 * 446 * Revision 4.2 1998/06/12 15:22:30 kardel 447 * fix prototypes 448 * 449 * Revision 4.1 1998/05/24 09:39:54 kardel 450 * implementation of the new IO handling model 451 * 452 * Revision 4.0 1998/04/10 19:45:32 kardel 453 * Start 4.0 release version numbering 454 * 455 * from V3 1.8 loginfo deleted 1998/04/11 kardel 456 */ 457