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 * Version 2.45; July 14, 1999 52 * 53 * 54 * 55 * 31/03/06: Added support for Thunderbolt GPS Disciplined Clock. 56 * Contact: Fernando Pablo Hauscarriaga 57 * E-mail: fernandoph@iar.unlp.edu.ar 58 * Home page: www.iar.unlp.edu.ar/~fernandoph 59 * Instituto Argentino de Radioastronomia 60 * www.iar.unlp.edu.ar 61 * 62 * 14/01/07: Conditinal compilation for Thunderbolt support no longer needed 63 * now we use mode 2 for decode thunderbolt packets. 64 * Fernando P. Hauscarriaga 65 * 66 * 30/08/09: Added support for Trimble Acutime Gold Receiver. 67 * Fernando P. Hauscarriaga (fernandoph@iar.unlp.edu.ar) 68 * 69 * 21/04/18: Added support for Resolution devices. 70 * 71 * 03/09/19: Added support for ACE III & Copernicus II. 72 */ 73 74#ifdef HAVE_CONFIG_H 75# include "config.h" 76#endif 77 78#if defined(REFCLOCK) && defined(CLOCK_PALISADE) 79 80#ifdef SYS_WINNT 81extern int async_write(int, const void *, unsigned int); 82#undef write 83#define write(fd, data, octets) async_write(fd, data, octets) 84#endif 85 86#include "refclock_palisade.h" 87 88#ifdef DEBUG 89const char * Tracking_Status[15][15] = { 90 { "Doing Fixes\0" }, { "Good 1SV\0" }, { "Approx. 1SV\0" }, 91 {"Need Time\0" }, { "Need INIT\0" }, { "PDOP too High\0" }, 92 { "Bad 1SV\0" }, { "0SV Usable\0" }, { "1SV Usable\0" }, 93 { "2SV Usable\0" }, { "3SV Usable\0" }, { "No Integrity\0" }, 94 { "Diff Corr\0" }, { "Overdet Clock\0" }, { "Invalid\0" } }; 95#endif 96 97/* 98 * Transfer vector 99 */ 100struct refclock refclock_palisade = { 101 palisade_start, /* start up driver */ 102 palisade_shutdown, /* shut down driver */ 103 palisade_poll, /* transmit poll message */ 104 noentry, /* not used */ 105 noentry, /* initialize driver (not used) */ 106 noentry, /* not used */ 107 NOFLAGS /* not used */ 108}; 109 110static int decode_date(struct refclockproc *pp, const char *cp); 111 112/* Extract the clock type from the mode setting */ 113#define CLK_TYPE(x) ((int)(((x)->ttl) & 0x7F)) 114 115/* Supported clock types */ 116#define CLK_TRIMBLE 0 /* Trimble Palisade */ 117#define CLK_PRAECIS 1 /* Endrun Technologies Praecis */ 118#define CLK_THUNDERBOLT 2 /* Trimble Thunderbolt GPS Receiver */ 119#define CLK_ACUTIME 3 /* Trimble Acutime Gold */ 120#define CLK_ACUTIMEB 4 /* Trimble Actutime Gold Port B */ 121#define CLK_RESOLUTION 5 /* Trimble Resolution Receivers */ 122#define CLK_ACE 6 /* Trimble ACE III */ 123#define CLK_COPERNICUS 7 /* Trimble Copernicus II */ 124 125int praecis_msg; 126static void praecis_parse(struct recvbuf *rbufp, struct peer *peer); 127 128/* These routines are for sending packets to the Thunderbolt receiver 129 * They are taken from Markus Prosch 130 */ 131 132/* 133 * sendcmd - Build data packet for sending 134 */ 135static void 136sendcmd ( 137 struct packettx *buffer, 138 int c 139 ) 140{ 141 *buffer->data = DLE; 142 *(buffer->data + 1) = (unsigned char)c; 143 buffer->size = 2; 144} 145 146/* 147 * sendsupercmd - Build super data packet for sending 148 */ 149static void 150sendsupercmd ( 151 struct packettx *buffer, 152 int c1, 153 int c2 154 ) 155{ 156 *buffer->data = DLE; 157 *(buffer->data + 1) = (unsigned char)c1; 158 *(buffer->data + 2) = (unsigned char)c2; 159 buffer->size = 3; 160} 161 162/* 163 * sendbyte - 164 */ 165static void 166sendbyte ( 167 struct packettx *buffer, 168 int b 169 ) 170{ 171 if (b == DLE) 172 *(buffer->data+buffer->size++) = DLE; 173 *(buffer->data+buffer->size++) = (unsigned char)b; 174} 175 176/* 177 * sendint - 178 */ 179static void 180sendint ( 181 struct packettx *buffer, 182 int a 183 ) 184{ 185 sendbyte(buffer, (unsigned char)((a>>8) & 0xff)); 186 sendbyte(buffer, (unsigned char)(a & 0xff)); 187} 188 189/* 190 * sendetx - Send packet or super packet to the device 191 */ 192static int 193sendetx ( 194 struct packettx *buffer, 195 int fd 196 ) 197{ 198 int result; 199 200 *(buffer->data+buffer->size++) = DLE; 201 *(buffer->data+buffer->size++) = ETX; 202 result = write(fd, buffer->data, (unsigned long)buffer->size); 203 204 if (result != -1) 205 return (result); 206 else 207 return (-1); 208} 209 210/* 211 * init_thunderbolt - Prepares Thunderbolt receiver to be used with 212 * NTP (also taken from Markus Prosch). 213 */ 214static void 215init_thunderbolt ( 216 int fd 217 ) 218{ 219 struct packettx tx; 220 221 tx.size = 0; 222 tx.data = (u_char *) emalloc(100); 223 224 /* set UTC time */ 225 sendsupercmd (&tx, 0x8E, 0xA2); 226 sendbyte (&tx, 0x3); 227 sendetx (&tx, fd); 228 229 /* activate packets 0x8F-AB and 0x8F-AC */ 230 sendsupercmd (&tx, 0x8E, 0xA5); 231 sendint (&tx, 0x5); 232 sendetx (&tx, fd); 233 234 free(tx.data); 235} 236 237/* 238 * init_acutime - Prepares Acutime Receiver to be used with NTP 239 */ 240static void 241init_acutime ( 242 int fd 243 ) 244{ 245 /* Disable all outputs, Enable Event-Polling on PortA so 246 we can ask for time packets */ 247 struct packettx tx; 248 249 tx.size = 0; 250 tx.data = (u_char *) emalloc(100); 251 252 sendsupercmd(&tx, 0x8E, 0xA5); 253 sendbyte(&tx, 0x02); 254 sendbyte(&tx, 0x00); 255 sendbyte(&tx, 0x00); 256 sendbyte(&tx, 0x00); 257 sendetx(&tx, fd); 258 259 free(tx.data); 260} 261 262/* 263 * init_resolution - Prepares Resolution receiver to be used with NTP 264 */ 265static void 266init_resolution ( 267 int fd 268 ) 269{ 270 struct packettx tx; 271 272 tx.size = 0; 273 tx.data = (u_char *) emalloc(100); 274 275 /* set UTC time */ 276 sendsupercmd (&tx, 0x8E, 0xA2); 277 sendbyte (&tx, 0x3); 278 sendetx (&tx, fd); 279 280 /* squelch PPS output unless locked to at least one satellite */ 281 sendsupercmd (&tx, 0x8E, 0x4E); 282 sendbyte (&tx, 0x3); 283 sendetx (&tx, fd); 284 285 /* activate packets 0x8F-AB and 0x8F-AC */ 286 sendsupercmd (&tx, 0x8E, 0xA5); 287 sendint (&tx, 0x5); 288 sendetx (&tx, fd); 289 290 free(tx.data); 291} 292 293/* 294 * palisade_start - open the devices and initialize data for processing 295 */ 296static int 297palisade_start ( 298 int unit, 299 struct peer *peer 300 ) 301{ 302 struct palisade_unit *up; 303 struct refclockproc *pp; 304 int fd; 305 char gpsdev[20]; 306 struct termios tio; 307 u_int speed; 308 309 snprintf(gpsdev, sizeof(gpsdev), DEVICE, unit); 310 311 /* 312 * Open serial port. 313 */ 314 speed = (CLK_TYPE(peer) == CLK_COPERNICUS) ? SPEED232COP : SPEED232; 315 fd = refclock_open(gpsdev, speed, LDISC_RAW); 316 if (fd <= 0) { 317#ifdef DEBUG 318 printf("Palisade(%d) start: open %s failed\n", unit, gpsdev); 319#endif 320 return 0; 321 } 322 323 msyslog(LOG_NOTICE, "Palisade(%d) fd: %d dev: %s", unit, fd, 324 gpsdev); 325 326 if (tcgetattr(fd, &tio) < 0) { 327 msyslog(LOG_ERR, 328 "Palisade(%d) tcgetattr(fd, &tio): %m",unit); 329#ifdef DEBUG 330 printf("Palisade(%d) tcgetattr(fd, &tio)\n",unit); 331#endif 332 close(fd); 333 return (0); 334 } 335 336 tio.c_cflag |= (PARENB|PARODD); 337 tio.c_iflag &= ~ICRNL; 338 339 /* 340 * Allocate and initialize unit structure 341 */ 342 up = emalloc_zero(sizeof(*up)); 343 344 up->type = CLK_TYPE(peer); 345 switch (up->type) { 346 case CLK_TRIMBLE: 347 /* Normal mode, do nothing */ 348 break; 349 case CLK_PRAECIS: 350 msyslog(LOG_NOTICE, "Palisade(%d) Praecis mode enabled" 351 ,unit); 352 break; 353 case CLK_THUNDERBOLT: 354 msyslog(LOG_NOTICE, "Palisade(%d) Thunderbolt mode enabled" 355 ,unit); 356 tio.c_cflag = (CS8|CLOCAL|CREAD); 357 break; 358 case CLK_ACUTIME: 359 msyslog(LOG_NOTICE, "Palisade(%d) Acutime Gold mode enabled" 360 ,unit); 361 break; 362 case CLK_RESOLUTION: 363 msyslog(LOG_NOTICE, "Palisade(%d) Resolution mode enabled" 364 ,unit); 365 tio.c_cflag = (CS8|CLOCAL|CREAD|PARENB|PARODD); 366 break; 367 case CLK_ACE: 368 msyslog(LOG_NOTICE, "Palisade(%d) ACE III mode enabled" 369 ,unit); 370 tio.c_cflag = (CS8|CLOCAL|CREAD|PARENB|PARODD); 371 break; 372 case CLK_COPERNICUS: 373 msyslog(LOG_NOTICE, "Palisade(%d) Copernicus II mode enabled" 374 ,unit); 375 /* Must use ORing/ANDing to set/clear c_cflag bits otherwise 376 CBAUD gets set back to 0. This ought to be an issue for 377 the other modes above but it seems that the baud rate 378 defaults to 9600 if CBAUD gets set to 0. */ 379 tio.c_cflag &= ~(PARENB|PARODD); 380 break; 381 default: 382 msyslog(LOG_NOTICE, "Palisade(%d) mode unknown",unit); 383 break; 384 } 385 if (tcsetattr(fd, TCSANOW, &tio) == -1) { 386 msyslog(LOG_ERR, "Palisade(%d) tcsetattr(fd, &tio): %m",unit); 387#ifdef DEBUG 388 printf("Palisade(%d) tcsetattr(fd, &tio)\n",unit); 389#endif 390 close(fd); 391 free(up); 392 return 0; 393 } 394 395 pp = peer->procptr; 396 pp->io.clock_recv = palisade_io; 397 pp->io.srcclock = peer; 398 pp->io.datalen = 0; 399 pp->io.fd = fd; 400 if (!io_addclock(&pp->io)) { 401#ifdef DEBUG 402 printf("Palisade(%d) io_addclock\n",unit); 403#endif 404 close(fd); 405 pp->io.fd = -1; 406 free(up); 407 return (0); 408 } 409 410 /* 411 * Initialize miscellaneous variables 412 */ 413 pp->unitptr = up; 414 pp->clockdesc = DESCRIPTION; 415 416 peer->precision = PRECISION; 417 peer->sstclktype = CTL_SST_TS_UHF; 418 peer->minpoll = TRMB_MINPOLL; 419 peer->maxpoll = TRMB_MAXPOLL; 420 memcpy((char *)&pp->refid, REFID, 4); 421 422 up->leap_status = 0; 423 up->unit = (short) unit; 424 up->rpt_status = TSIP_PARSED_EMPTY; 425 up->rpt_cnt = 0; 426 427 if (up->type == CLK_THUNDERBOLT) 428 init_thunderbolt(fd); 429 if (up->type == CLK_ACUTIME) 430 init_acutime(fd); 431 if (up->type == CLK_RESOLUTION) 432 init_resolution(fd); 433 434 return 1; 435} 436 437 438/* 439 * palisade_shutdown - shut down the clock 440 */ 441static void 442palisade_shutdown ( 443 int unit, 444 struct peer *peer 445 ) 446{ 447 struct palisade_unit *up; 448 struct refclockproc *pp; 449 pp = peer->procptr; 450 up = pp->unitptr; 451 if (-1 != pp->io.fd) 452 io_closeclock(&pp->io); 453 if (NULL != up) 454 free(up); 455} 456 457 458/* 459 * unpack helpers 460 */ 461 462static inline uint8_t 463get_u8( 464 const char *cp) 465{ 466 return ((const u_char*)cp)[0]; 467} 468 469static inline uint16_t 470get_u16( 471 const char *cp) 472{ 473 return ((uint16_t)get_u8(cp) << 8) | get_u8(cp + 1); 474} 475 476/* 477 * unpack & fix date (the receiver provides a valid time for 1024 weeks 478 * after 1997-12-14 and therefore folds back in 2017, 2037,...) 479 * 480 * Returns -1 on error, day-of-month + (month * 32) othertwise. 481 */ 482int 483decode_date( 484 struct refclockproc *pp, 485 const char *cp) 486{ 487 static int32_t s_baseday = 0; 488 489 struct calendar jd; 490 int32_t rd; 491 492 if (0 == s_baseday) { 493 if (!ntpcal_get_build_date(&jd)) { 494 jd.year = 2015; 495 jd.month = 1; 496 jd.monthday = 1; 497 } 498 s_baseday = ntpcal_date_to_rd(&jd); 499 } 500 501 /* get date fields and convert to RDN */ 502 jd.monthday = get_u8 ( cp ); 503 jd.month = get_u8 (cp + 1); 504 jd.year = get_u16(cp + 2); 505 rd = ntpcal_date_to_rd(&jd); 506 507 /* for the paranoid: do reverse calculation and cross-check */ 508 ntpcal_rd_to_date(&jd, rd); 509 if ((jd.monthday != get_u8 ( cp )) || 510 (jd.month != get_u8 (cp + 1)) || 511 (jd.year != get_u16(cp + 2)) ) 512 return - 1; 513 514 /* calculate cycle shift to base day and calculate re-folded 515 * date 516 * 517 * One could do a proper modulo calculation here, but a counting 518 * loop is probably faster for the next few rollovers... 519 */ 520 while (rd < s_baseday) 521 rd += 7*1024; 522 ntpcal_rd_to_date(&jd, rd); 523 524 /* fill refclock structure & indicate success */ 525 pp->day = jd.yearday; 526 pp->year = jd.year; 527 return ((int)jd.month << 5) | jd.monthday; 528} 529 530 531/* 532 * TSIP_decode - decode the TSIP data packets 533 */ 534int 535TSIP_decode ( 536 struct peer *peer 537 ) 538{ 539 int st; 540 long secint; 541 double secs; 542 double secfrac; 543 unsigned short event = 0; 544 int mmday; 545 long tow; 546 uint16_t wn; 547 int GPS_UTC_Offset; 548 549 struct palisade_unit *up; 550 struct refclockproc *pp; 551 552 pp = peer->procptr; 553 up = pp->unitptr; 554 555 /* 556 * Check the time packet, decode its contents. 557 * If the timecode has invalid length or is not in 558 * proper format, declare bad format and exit. 559 */ 560 561 if ((up->type != CLK_THUNDERBOLT) && 562 (up->type != CLK_ACUTIME ) && 563 (up->type != CLK_RESOLUTION ) && 564 (up->type != CLK_ACE ) && 565 (up->type != CLK_COPERNICUS ) ) 566 { 567 if ((up->rpt_buf[0] == (char) 0x41) || 568 (up->rpt_buf[0] == (char) 0x46) || 569 (up->rpt_buf[0] == (char) 0x54) || 570 (up->rpt_buf[0] == (char) 0x4B) || 571 (up->rpt_buf[0] == (char) 0x6D)) { 572 573 /* standard time packet - GPS time and GPS week number */ 574#ifdef DEBUG 575 printf("Palisade Port B packets detected. Connect to Port A\n"); 576#endif 577 578 return 0; 579 } 580 } 581 582 /* 583 * We cast both to u_char as 0x8f uses the sign bit on a char 584 */ 585 if ((u_char) up->rpt_buf[0] == (u_char) 0x8f) { 586 /* 587 * Superpackets 588 */ 589 event = (unsigned short) (getint((u_char *) &mb(1)) & 0xffff); 590 if (!((pp->sloppyclockflag & CLK_FLAG2) || event)) 591 /* Ignore Packet */ 592 return 0; 593 594 switch (mb(0) & 0xff) { 595 596 case PACKET_8F0B: 597 598 if (up->polled <= 0) 599 return 0; 600 601 if (up->rpt_cnt != LENCODE_8F0B) /* check length */ 602 break; 603 604#ifdef DEBUG 605 if (debug > 1) { 606 int ts; 607 double lat, lon, alt; 608 lat = getdbl((u_char *) &mb(42)) * R2D; 609 lon = getdbl((u_char *) &mb(50)) * R2D; 610 alt = getdbl((u_char *) &mb(58)); 611 612 printf("TSIP_decode: unit %d: Latitude: %03.4f Longitude: %03.4f Alt: %05.2f m\n", 613 up->unit, lat,lon,alt); 614 printf("TSIP_decode: unit %d: Sats:", 615 up->unit); 616 for (st = 66, ts = 0; st <= 73; st++) 617 if (mb(st)) { 618 if (mb(st) > 0) ts++; 619 printf(" %02d", mb(st)); 620 } 621 printf(" : Tracking %d\n", ts); 622 } 623#endif 624 625 GPS_UTC_Offset = getint((u_char *) &mb(16)); 626 if (GPS_UTC_Offset == 0) { /* Check UTC offset */ 627#ifdef DEBUG 628 printf("TSIP_decode: UTC Offset Unknown\n"); 629#endif 630 break; 631 } 632 633 secs = getdbl((u_char *) &mb(3)); 634 secint = (long) secs; 635 secfrac = secs - secint; /* 0.0 <= secfrac < 1.0 */ 636 637 pp->nsec = (long) (secfrac * 1000000000); 638 639 secint %= 86400; /* Only care about today */ 640 pp->hour = secint / 3600; 641 secint %= 3600; 642 pp->minute = secint / 60; 643 secint %= 60; 644 pp->second = secint % 60; 645 646 mmday = decode_date(pp, &mb(11)); 647 if (mmday < 0) 648 break; 649 650#ifdef DEBUG 651 if (debug > 1) 652 printf("TSIP_decode: unit %d: %02X #%d %02d:%02d:%02d.%09ld %02d/%02d/%04d UTC %02d\n", 653 up->unit, mb(0) & 0xff, event, pp->hour, pp->minute, 654 pp->second, pp->nsec, (mmday >> 5), (mmday & 31), pp->year, GPS_UTC_Offset); 655#endif 656 /* Only use this packet when no 657 * 8F-AD's are being received 658 */ 659 660 if (up->leap_status) { 661 up->leap_status = 0; 662 return 0; 663 } 664 665 return 2; 666 break; 667 668 case PACKET_NTP: 669 /* Palisade-NTP Packet */ 670 671 if (up->rpt_cnt != LENCODE_NTP) /* check length */ 672 break; 673 674 up->leap_status = mb(19); 675 676 if (up->polled <= 0) 677 return 0; 678 679 /* Check Tracking Status */ 680 st = mb(18); 681 if (st < 0 || st > 14) 682 st = 14; 683 if ((st >= 2 && st <= 7) || st == 11 || st == 12) { 684#ifdef DEBUG 685 printf("TSIP_decode: Not Tracking Sats : %s\n", 686 *Tracking_Status[st]); 687#endif 688 refclock_report(peer, CEVNT_BADTIME); 689 up->polled = -1; 690 return 0; 691 break; 692 } 693 694 mmday = decode_date(pp, &mb(14)); 695 if (mmday < 0) 696 break; 697 up->month = (mmday >> 5); /* Save for LEAP check */ 698 699 if ( (up->leap_status & PALISADE_LEAP_PENDING) && 700 /* Avoid early announce: https://bugs.ntp.org/2773 */ 701 (6 == up->month || 12 == up->month) ) { 702 if (up->leap_status & PALISADE_UTC_TIME) 703 pp->leap = LEAP_ADDSECOND; 704 else 705 pp->leap = LEAP_DELSECOND; 706 } 707 else if (up->leap_status) 708 pp->leap = LEAP_NOWARNING; 709 710 else { /* UTC flag is not set: 711 * Receiver may have been reset, and lost 712 * its UTC almanac data */ 713 pp->leap = LEAP_NOTINSYNC; 714#ifdef DEBUG 715 printf("TSIP_decode: UTC Almanac unavailable: %d\n", 716 mb(19)); 717#endif 718 refclock_report(peer, CEVNT_BADTIME); 719 up->polled = -1; 720 return 0; 721 } 722 723 pp->nsec = (long) (getdbl((u_char *) &mb(3)) 724 * 1000000000); 725 726 pp->hour = mb(11); 727 pp->minute = mb(12); 728 pp->second = mb(13); 729 730#ifdef DEBUG 731 if (debug > 1) 732 printf("TSIP_decode: unit %d: %02X #%d %02d:%02d:%02d.%09ld %02d/%02d/%04d UTC %02x %s\n", 733 up->unit, mb(0) & 0xff, event, pp->hour, pp->minute, 734 pp->second, pp->nsec, (mmday >> 5), (mmday & 31), pp->year, 735 mb(19), *Tracking_Status[st]); 736#endif 737 return 1; 738 break; 739 740 case PACKET_8FAC: 741 if (up->polled <= 0) 742 return 0; 743 744 if (up->rpt_cnt != LENCODE_8FAC)/* check length */ 745 break; 746 747#ifdef DEBUG 748 if (debug > 1) { 749 double lat, lon, alt; 750 lat = getdbl((u_char *) &mb(36)) * R2D; 751 lon = getdbl((u_char *) &mb(44)) * R2D; 752 alt = getdbl((u_char *) &mb(52)); 753 754 printf("TSIP_decode: unit %d: Latitude: %03.4f Longitude: %03.4f Alt: %05.2f m\n", 755 up->unit, lat,lon,alt); 756 printf("TSIP_decode: unit %d\n", up->unit); 757 } 758#endif 759 if ( (getint((u_char *) &mb(10)) & 0x80) && 760 /* Avoid early announce: https://bugs.ntp.org/2773 */ 761 (6 == up->month || 12 == up->month) ) 762 pp->leap = LEAP_ADDSECOND; /* we ASSUME addsecond */ 763 else 764 pp->leap = LEAP_NOWARNING; 765 766#ifdef DEBUG 767 if (debug > 1) 768 printf("TSIP_decode: unit %d: 0x%02x leap %d\n", 769 up->unit, mb(0) & 0xff, pp->leap); 770 if (debug > 1) { 771 printf("Receiver MODE: 0x%02X\n", (u_char)mb(1)); 772 if (mb(1) == 0x00) 773 printf(" AUTOMATIC\n"); 774 if (mb(1) == 0x01) 775 printf(" SINGLE SATELLITE\n"); 776 if (mb(1) == 0x03) 777 printf(" HORIZONTAL(2D)\n"); 778 if (mb(1) == 0x04) 779 printf(" FULL POSITION(3D)\n"); 780 if (mb(1) == 0x05) 781 printf(" DGPR REFERENCE\n"); 782 if (mb(1) == 0x06) 783 printf(" CLOCK HOLD(2D)\n"); 784 if (mb(1) == 0x07) 785 printf(" OVERDETERMINED CLOCK\n"); 786 787 printf("\n** Disciplining MODE 0x%02X:\n", (u_char)mb(2)); 788 if (mb(2) == 0x00) 789 printf(" NORMAL\n"); 790 if (mb(2) == 0x01) 791 printf(" POWER-UP\n"); 792 if (mb(2) == 0x02) 793 printf(" AUTO HOLDOVER\n"); 794 if (mb(2) == 0x03) 795 printf(" MANUAL HOLDOVER\n"); 796 if (mb(2) == 0x04) 797 printf(" RECOVERY\n"); 798 if (mb(2) == 0x06) 799 printf(" DISCIPLINING DISABLED\n"); 800 } 801#endif 802 return 0; 803 break; 804 805 case PACKET_8FAB: 806 /* Thunderbolt Primary Timing Packet */ 807 808 if (up->rpt_cnt != LENCODE_8FAB) /* check length */ 809 break; 810 811 if (up->polled <= 0) 812 return 0; 813 814 GPS_UTC_Offset = getint((u_char *) &mb(7)); 815 816 if (GPS_UTC_Offset == 0){ /* Check UTC Offset */ 817#ifdef DEBUG 818 printf("TSIP_decode: UTC Offset Unknown\n"); 819#endif 820 break; 821 } 822 823 824 if ((mb(9) & 0x1d) == 0x0) { 825 /* if we know the GPS time and the UTC offset, 826 we expect UTC timing information !!! */ 827 828 pp->leap = LEAP_NOTINSYNC; 829 refclock_report(peer, CEVNT_BADTIME); 830 up->polled = -1; 831 return 0; 832 } 833 834 pp->nsec = 0; 835#ifdef DEBUG 836 printf("\nTiming Flags are:\n"); 837 printf("Timing flag value is: 0x%X\n", mb(9)); 838 if ((mb(9) & 0x01) != 0) 839 printf (" Getting UTC time\n"); 840 else 841 printf (" Getting GPS time\n"); 842 if ((mb(9) & 0x02) != 0) 843 printf (" PPS is from UTC\n"); 844 else 845 printf (" PPS is from GPS\n"); 846 if ((mb(9) & 0x04) != 0) 847 printf (" Time is not Set\n"); 848 else 849 printf (" Time is Set\n"); 850 if ((mb(9) & 0x08) != 0) 851 printf(" I dont have UTC info\n"); 852 else 853 printf (" I have UTC info\n"); 854 if ((mb(9) & 0x10) != 0) 855 printf (" Time is from USER\n\n"); 856 else 857 printf (" Time is from GPS\n\n"); 858#endif 859 860 mmday = decode_date(pp, &mb(13)); 861 if (mmday < 0) 862 break; 863 tow = getlong((u_char *) &mb(1)); 864#ifdef DEBUG 865 if (debug > 1) { 866 printf("pp->day: %d\n", pp->day); 867 printf("TOW: %ld\n", tow); 868 printf("DAY: %d\n", (mmday & 31)); 869 } 870#endif 871 pp->hour = mb(12); 872 pp->minute = mb(11); 873 pp->second = mb(10); 874 875 876#ifdef DEBUG 877 if (debug > 1) 878 printf("TSIP_decode: unit %d: %02X #%d %02d:%02d:%02d.%09ld %02d/%02d/%04d ", 879 up->unit, mb(0) & 0xff, event, pp->hour, pp->minute, pp->second, 880 pp->nsec, (mmday >> 5), (mmday & 31), pp->year); 881#endif 882 return 1; 883 break; 884 885 default: 886 /* Ignore Packet */ 887 return 0; 888 } /* switch */ 889 } /* if 8F packets */ 890 891 else if (up->rpt_buf[0] == (u_char)0x42) { 892 printf("0x42\n"); 893 return 0; 894 } 895 else if (up->rpt_buf[0] == (u_char)0x43) { 896 printf("0x43\n"); 897 return 0; 898 } 899 else if ((up->rpt_buf[0] == PACKET_41) & (up->type == CLK_THUNDERBOLT)){ 900 printf("Undocumented 0x41 packet on Thunderbolt\n"); 901 return 0; 902 } 903 else if ((up->rpt_buf[0] == PACKET_41A) & (up->type == CLK_ACUTIME)) { 904#ifdef DEBUG 905 printf("GPS TOW: %ld\n", (long)getlong((u_char *) &mb(0))); 906 printf("GPS WN: %d\n", getint((u_char *) &mb(4))); 907 printf("GPS UTC-GPS Offset: %ld\n", (long)getlong((u_char *) &mb(6))); 908#endif 909 return 0; 910 } 911 912 /* GPS time packet for ACE III or Copernicus II receiver */ 913 else if ((up->rpt_buf[0] == PACKET_41) && 914 ((up->type == CLK_ACE) || (up->type == CLK_COPERNICUS))) { 915#ifdef DEBUG 916 if ((debug > 1) && (up->type == CLK_ACE)) 917 printf("TSIP_decode: Packet 0x41 seen in ACE III mode\n"); 918 if ((debug > 1) && (up->type == CLK_COPERNICUS)) 919 printf("TSIP_decode: Packet 0x41 seen in Copernicus II mode\n"); 920#endif 921 if (up->rpt_cnt != LENCODE_41) { /* check length */ 922 refclock_report(peer, CEVNT_BADREPLY); 923 up->polled = -1; 924#ifdef DEBUG 925 printf("TSIP_decode: unit %d: bad packet %02x len %d\n", 926 up->unit, up->rpt_buf[0] & 0xff, up->rpt_cnt); 927#endif 928 return 0; 929 } 930 if (up->polled <= 0) 931 return 0; 932 tow = (long)getsingle((u_char *) &mb(0)); 933 wn = (uint16_t)getint((u_char *) &mb(4)); 934 GPS_UTC_Offset = (int)getsingle((u_char *) &mb(6)); 935 if (GPS_UTC_Offset == 0){ /* Check UTC Offset */ 936#ifdef DEBUG 937 printf("TSIP_decode: UTC Offset Unknown\n"); 938#endif 939 refclock_report(peer, CEVNT_BADREPLY); 940 up->polled = -1; 941 return 0; 942 } 943 /* Get date & time from WN & ToW minus offset */ 944 { 945 TCivilDate cd; 946 TGpsDatum wd; 947 l_fp ugo; /* UTC-GPS offset, negative number */ 948 ugo.Ul_i.Xl_i = (int32_t)-GPS_UTC_Offset; 949 ugo.l_uf = 0; 950 wd = gpscal_from_gpsweek((wn % 1024), (int32_t)tow, ugo); 951 gpscal_to_calendar(&cd, &wd); 952 pp->year = cd.year; 953 pp->day = cd.yearday; 954 pp->hour = cd.hour; 955 pp->minute = cd.minute; 956 pp->second = cd.second; 957 pp->nsec = 0; 958 pp->leap = LEAP_NOWARNING; 959#ifdef DEBUG 960 if (debug > 1) { 961 printf("GPS TOW: %ld\n", tow); 962 printf("GPS WN: %d\n", wn); 963 printf("GPS UTC-GPS Offset: %d\n", GPS_UTC_Offset); 964 printf("TSIP_decode: unit %d: %02X #%d %02d:%02d:%02d.%09ld %02d/%02d/%04d ", 965 up->unit, mb(0) & 0xff, event, pp->hour, pp->minute, pp->second, 966 pp->nsec, cd.month, cd.monthday, pp->year); 967 } 968#endif 969 } 970 return 1; 971 } 972 973 /* Health Status for Acutime Receiver */ 974 else if ((up->rpt_buf[0] == PACKET_46) & (up->type == CLK_ACUTIME)) { 975#ifdef DEBUG 976 if (debug > 1) 977 /* Status Codes */ 978 switch (mb(0)) { 979 case 0x00: 980 printf ("Doing Position Fixes\n"); 981 break; 982 case 0x01: 983 printf ("Do not have GPS time yet\n"); 984 break; 985 case 0x03: 986 printf ("PDOP is too high\n"); 987 break; 988 case 0x08: 989 printf ("No usable satellites\n"); 990 break; 991 case 0x09: 992 printf ("Only 1 usable satellite\n"); 993 break; 994 case 0x0A: 995 printf ("Only 2 usable satellites\n"); 996 break; 997 case 0x0B: 998 printf ("Only 3 usable satellites\n"); 999 break; 1000 case 0x0C: 1001 printf("The Chosen satellite is unusable\n"); 1002 break; 1003 } 1004#endif 1005 /* Error Codes */ 1006 if (mb(1) != 0) { 1007 1008 refclock_report(peer, CEVNT_BADTIME); 1009 up->polled = -1; 1010#ifdef DEBUG 1011 if (debug > 1) { 1012 if (mb(1) & 0x01) 1013 printf ("Signal Processor Error, reset unit.\n"); 1014 if (mb(1) & 0x02) 1015 printf ("Alignment error, channel or chip 1, reset unit.\n"); 1016 if (mb(1) & 0x03) 1017 printf ("Alignment error, channel or chip 2, reset unit.\n"); 1018 if (mb(1) & 0x04) 1019 printf ("Antenna feed line fault (open or short)\n"); 1020 if (mb(1) & 0x05) 1021 printf ("Excessive reference frequency error, refer to packet 0x2D and packet 0x4D documentation for further information\n"); 1022 } 1023#endif 1024 1025 return 0; 1026 } 1027 } 1028 1029 /* Health Status for Copernicus II Receiver */ 1030 else if ((up->rpt_buf[0] == PACKET_46) && (up->type == CLK_COPERNICUS)) { 1031#ifdef DEBUG 1032 if (debug > 1) 1033 /* Status Codes */ 1034 switch (mb(0)) { 1035 case 0x00: 1036 printf ("Doing Position Fixes\n"); 1037 break; 1038 case 0x01: 1039 printf ("Do not have GPS time yet\n"); 1040 break; 1041 case 0x03: 1042 printf ("PDOP is too high\n"); 1043 break; 1044 case 0x04: 1045 printf("The Chosen satellite is unusable\n"); 1046 break; 1047 case 0x08: 1048 printf ("No usable satellites\n"); 1049 break; 1050 case 0x09: 1051 printf ("Only 1 usable satellite\n"); 1052 break; 1053 case 0x0A: 1054 printf ("Only 2 usable satellites\n"); 1055 break; 1056 case 0x0B: 1057 printf ("Only 3 usable satellites\n"); 1058 break; 1059 } 1060#endif 1061 /* Error Codes */ 1062 if ((mb(1) & 0x3E) != 0) { /* Don't regard bits 0 and 6 as errors */ 1063 refclock_report(peer, CEVNT_BADTIME); 1064 up->polled = -1; 1065#ifdef DEBUG 1066 if (debug > 1) { 1067 if ((mb(1) & 0x18) == 0x08) 1068 printf ("Antenna feed line fault (open)\n"); 1069 if ((mb(1) & 0x18) == 0x18) 1070 printf ("Antenna feed line fault (short)\n"); 1071 } 1072#endif 1073 } 1074 return 0; 1075 } 1076 1077 /* Other packets output by ACE III & Copernicus II Receivers, dropped silently */ 1078 else if (((up->rpt_buf[0] == (char) 0x4A) || 1079 (up->rpt_buf[0] == (char) 0x4B) || 1080 (up->rpt_buf[0] == (char) 0x56) || 1081 (up->rpt_buf[0] == (char) 0x5F) || 1082 (up->rpt_buf[0] == (char) 0x6D) || 1083 (up->rpt_buf[0] == (char) 0x82) || 1084 (up->rpt_buf[0] == (char) 0x84)) && 1085 ((up->type == CLK_ACE) || (up->type == CLK_COPERNICUS))) { 1086#ifdef DEBUG 1087 if ((debug > 1) && (up->type == CLK_ACE)) 1088 printf("TSIP_decode: Packet 0x%2x seen in ACE III mode\n", (up->rpt_buf[0] & 0XFF)); 1089 if ((debug > 1) && (up->type == CLK_COPERNICUS)) 1090 printf("TSIP_decode: Packet 0x%2x seen in Copernicus II mode\n", (up->rpt_buf[0] & 0XFF)); 1091#endif 1092 return 0; 1093 } 1094 1095 else if (up->rpt_buf[0] == 0x54) 1096 return 0; 1097 1098 else if (up->rpt_buf[0] == PACKET_6D) { 1099#ifdef DEBUG 1100 int sats; 1101 1102 if ((mb(0) & 0x01) && (mb(0) & 0x02)) 1103 printf("2d Fix Dimension\n"); 1104 if (mb(0) & 0x04) 1105 printf("3d Fix Dimension\n"); 1106 1107 if (mb(0) & 0x08) 1108 printf("Fix Mode is MANUAL\n"); 1109 else 1110 printf("Fix Mode is AUTO\n"); 1111 1112 sats = mb(0) & 0xF0; 1113 sats = sats >> 4; 1114 printf("Tracking %d Satellites\n", sats); 1115#endif 1116 return 0; 1117 } /* else if not super packet */ 1118 refclock_report(peer, CEVNT_BADREPLY); 1119 up->polled = -1; 1120#ifdef DEBUG 1121 printf("TSIP_decode: unit %d: bad packet %02x-%02x event %d len %d\n", 1122 up->unit, up->rpt_buf[0] & 0xff, mb(0) & 0xff, 1123 event, up->rpt_cnt); 1124#endif 1125 return 0; 1126} 1127 1128/* 1129 * palisade__receive - receive data from the serial interface 1130 */ 1131 1132static void 1133palisade_receive ( 1134 struct peer * peer 1135 ) 1136{ 1137 struct palisade_unit *up; 1138 struct refclockproc *pp; 1139 1140 /* 1141 * Initialize pointers and read the timecode and timestamp. 1142 */ 1143 pp = peer->procptr; 1144 up = pp->unitptr; 1145 1146 if (! TSIP_decode(peer)) return; 1147 1148 if (up->polled <= 0) 1149 return; /* no poll pending, already received or timeout */ 1150 1151 up->polled = 0; /* Poll reply received */ 1152 pp->lencode = 0; /* clear time code */ 1153#ifdef DEBUG 1154 if (debug) 1155 printf( 1156 "palisade_receive: unit %d: %4d %03d %02d:%02d:%02d.%09ld\n", 1157 up->unit, pp->year, pp->day, pp->hour, pp->minute, 1158 pp->second, pp->nsec); 1159#endif 1160 1161 /* 1162 * Process the sample 1163 * Generate timecode: YYYY DoY HH:MM:SS.microsec 1164 * report and process 1165 */ 1166 1167 snprintf(pp->a_lastcode, sizeof(pp->a_lastcode), 1168 "%4d %03d %02d:%02d:%02d.%09ld", 1169 pp->year, pp->day, 1170 pp->hour,pp->minute, pp->second, pp->nsec); 1171 pp->lencode = 24; 1172 1173 if (!refclock_process(pp)) { 1174 refclock_report(peer, CEVNT_BADTIME); 1175 1176#ifdef DEBUG 1177 printf("palisade_receive: unit %d: refclock_process failed!\n", 1178 up->unit); 1179#endif 1180 return; 1181 } 1182 1183 record_clock_stats(&peer->srcadr, pp->a_lastcode); 1184 1185#ifdef DEBUG 1186 if (debug) 1187 printf("palisade_receive: unit %d: %s\n", 1188 up->unit, prettydate(&pp->lastrec)); 1189#endif 1190 pp->lastref = pp->lastrec; 1191 refclock_receive(peer); 1192} 1193 1194 1195/* 1196 * palisade_poll - called by the transmit procedure 1197 * 1198 */ 1199static void 1200palisade_poll ( 1201 int unit, 1202 struct peer *peer 1203 ) 1204{ 1205 struct palisade_unit *up; 1206 struct refclockproc *pp; 1207 1208 pp = peer->procptr; 1209 up = pp->unitptr; 1210 1211 pp->polls++; 1212 if (up->polled > 0) /* last reply never arrived or error */ 1213 refclock_report(peer, CEVNT_TIMEOUT); 1214 1215 up->polled = 2; /* synchronous packet + 1 event */ 1216 1217#ifdef DEBUG 1218 if (debug) 1219 printf("palisade_poll: unit %d: polling %s\n", unit, 1220 (pp->sloppyclockflag & CLK_FLAG2) ? 1221 "synchronous packet" : "event"); 1222#endif 1223 1224 if (pp->sloppyclockflag & CLK_FLAG2) 1225 return; /* using synchronous packet input */ 1226 1227 if(up->type == CLK_PRAECIS) { 1228 if(write(peer->procptr->io.fd,"SPSTAT\r\n",8) < 0) 1229 msyslog(LOG_ERR, "Palisade(%d) write: %m:",unit); 1230 else { 1231 praecis_msg = 1; 1232 return; 1233 } 1234 } 1235 1236 if (HW_poll(pp) < 0) 1237 refclock_report(peer, CEVNT_FAULT); 1238} 1239 1240static void 1241praecis_parse ( 1242 struct recvbuf *rbufp, 1243 struct peer *peer 1244 ) 1245{ 1246 static char buf[100]; 1247 static int p = 0; 1248 struct refclockproc *pp; 1249 1250 pp = peer->procptr; 1251 1252 memcpy(buf+p,rbufp->recv_space.X_recv_buffer, rbufp->recv_length); 1253 p += rbufp->recv_length; 1254 1255 if(buf[p-2] == '\r' && buf[p-1] == '\n') { 1256 buf[p-2] = '\0'; 1257 record_clock_stats(&peer->srcadr, buf); 1258 1259 p = 0; 1260 praecis_msg = 0; 1261 1262 if (HW_poll(pp) < 0) 1263 refclock_report(peer, CEVNT_FAULT); 1264 1265 } 1266} 1267 1268static void 1269palisade_io ( 1270 struct recvbuf *rbufp 1271 ) 1272{ 1273 /* 1274 * Initialize pointers and read the timecode and timestamp. 1275 */ 1276 struct palisade_unit *up; 1277 struct refclockproc *pp; 1278 struct peer *peer; 1279 1280 char * c, * d; 1281 1282 peer = rbufp->recv_peer; 1283 pp = peer->procptr; 1284 up = pp->unitptr; 1285 1286 if(up->type == CLK_PRAECIS) { 1287 if(praecis_msg) { 1288 praecis_parse(rbufp,peer); 1289 return; 1290 } 1291 } 1292 1293 c = (char *) &rbufp->recv_space; 1294 d = c + rbufp->recv_length; 1295 1296 while (c != d) { 1297 1298 /* Build time packet */ 1299 switch (up->rpt_status) { 1300 1301 case TSIP_PARSED_DLE_1: 1302 switch (*c) 1303 { 1304 case 0: 1305 case DLE: 1306 case ETX: 1307 up->rpt_status = TSIP_PARSED_EMPTY; 1308 break; 1309 1310 default: 1311 up->rpt_status = TSIP_PARSED_DATA; 1312 /* save packet ID */ 1313 up->rpt_buf[0] = *c; 1314 break; 1315 } 1316 break; 1317 1318 case TSIP_PARSED_DATA: 1319 if (*c == DLE) 1320 up->rpt_status = TSIP_PARSED_DLE_2; 1321 else 1322 mb(up->rpt_cnt++) = *c; 1323 break; 1324 1325 case TSIP_PARSED_DLE_2: 1326 if (*c == DLE) { 1327 up->rpt_status = TSIP_PARSED_DATA; 1328 mb(up->rpt_cnt++) = 1329 *c; 1330 } 1331 else if (*c == ETX) 1332 up->rpt_status = TSIP_PARSED_FULL; 1333 else { 1334 /* error: start new report packet */ 1335 up->rpt_status = TSIP_PARSED_DLE_1; 1336 up->rpt_buf[0] = *c; 1337 } 1338 break; 1339 1340 case TSIP_PARSED_FULL: 1341 case TSIP_PARSED_EMPTY: 1342 default: 1343 if ( *c != DLE) 1344 up->rpt_status = TSIP_PARSED_EMPTY; 1345 else 1346 up->rpt_status = TSIP_PARSED_DLE_1; 1347 break; 1348 } 1349 1350 c++; 1351 1352 if (up->rpt_status == TSIP_PARSED_DLE_1) { 1353 up->rpt_cnt = 0; 1354 if (pp->sloppyclockflag & CLK_FLAG2) 1355 /* stamp it */ 1356 get_systime(&pp->lastrec); 1357 } 1358 else if (up->rpt_status == TSIP_PARSED_EMPTY) 1359 up->rpt_cnt = 0; 1360 1361 else if (up->rpt_cnt > BMAX) 1362 up->rpt_status =TSIP_PARSED_EMPTY; 1363 1364 if (up->rpt_status == TSIP_PARSED_FULL) 1365 palisade_receive(peer); 1366 1367 } /* while chars in buffer */ 1368} 1369 1370 1371/* 1372 * Trigger the Palisade's event input, which is driven off the RTS 1373 * 1374 * Take a system time stamp to match the GPS time stamp. 1375 * 1376 */ 1377long 1378HW_poll ( 1379 struct refclockproc * pp /* pointer to unit structure */ 1380 ) 1381{ 1382 int x; /* state before & after RTS set */ 1383 struct palisade_unit *up; 1384 struct packettx tx; 1385 1386 up = pp->unitptr; 1387 1388 if (up->type == CLK_ACE) { 1389 /* Poll by sending a 0x21 command */ 1390 tx.size = 0; 1391 tx.data = (u_char *) emalloc(100); 1392 sendcmd (&tx, 0x21); 1393 sendetx (&tx, pp->io.fd); 1394 free(tx.data); 1395 } else { 1396 1397 /* read the current status, so we put things back right */ 1398 if (ioctl(pp->io.fd, TIOCMGET, &x) < 0) { 1399 DPRINTF(1, ("Palisade HW_poll: unit %d: GET %m\n", 1400 up->unit)); 1401 msyslog(LOG_ERR, "Palisade(%d) HW_poll: ioctl(fd,GET): %m", 1402 up->unit); 1403 return -1; 1404 } 1405 1406 x |= TIOCM_RTS; /* turn on RTS */ 1407 1408 /* Edge trigger */ 1409 if (up->type == CLK_ACUTIME) 1410 write (pp->io.fd, "", 1); 1411 1412 if (ioctl(pp->io.fd, TIOCMSET, &x) < 0) { 1413#ifdef DEBUG 1414 if (debug) 1415 printf("Palisade HW_poll: unit %d: SET \n", up->unit); 1416#endif 1417 msyslog(LOG_ERR, 1418 "Palisade(%d) HW_poll: ioctl(fd, SET, RTS_on): %m", 1419 up->unit); 1420 return -1; 1421 } 1422 1423 x &= ~TIOCM_RTS; /* turn off RTS */ 1424 1425 } /* (up->type != CLK_ACE) */ 1426 1427 /* poll timestamp */ 1428 get_systime(&pp->lastrec); 1429 1430 if (up->type != CLK_ACE) { 1431 if (ioctl(pp->io.fd, TIOCMSET, &x) == -1) { 1432#ifdef DEBUG 1433 if (debug) 1434 printf("Palisade HW_poll: unit %d: UNSET \n", up->unit); 1435#endif 1436 msyslog(LOG_ERR, 1437 "Palisade(%d) HW_poll: ioctl(fd, UNSET, RTS_off): %m", 1438 up->unit); 1439 return -1; 1440 } 1441 } 1442 1443 return 0; 1444} 1445 1446/* 1447 * copy/swap a big-endian palisade double into a host double 1448 */ 1449static double 1450getdbl ( 1451 u_char *bp 1452 ) 1453{ 1454#ifdef WORDS_BIGENDIAN 1455 double out; 1456 1457 memcpy(&out, bp, sizeof(out)); 1458 return out; 1459#else 1460 union { 1461 u_char ch[8]; 1462 u_int32 u32[2]; 1463 } ui; 1464 1465 union { 1466 double out; 1467 u_int32 u32[2]; 1468 } uo; 1469 1470 memcpy(ui.ch, bp, sizeof(ui.ch)); 1471 /* least-significant 32 bits of double from swapped bp[4] to bp[7] */ 1472 uo.u32[0] = ntohl(ui.u32[1]); 1473 /* most-significant 32 bits from swapped bp[0] to bp[3] */ 1474 uo.u32[1] = ntohl(ui.u32[0]); 1475 1476 return uo.out; 1477#endif 1478} 1479 1480/* 1481 * copy/swap a big-endian palisade short into a host short 1482 */ 1483static short 1484getint ( 1485 u_char *bp 1486 ) 1487{ 1488 u_short us; 1489 1490 memcpy(&us, bp, sizeof(us)); 1491 return (short)ntohs(us); 1492} 1493 1494/* 1495 * copy/swap a big-endian palisade 32-bit int into a host 32-bit int 1496 */ 1497static int32 1498getlong( 1499 u_char *bp 1500 ) 1501{ 1502 u_int32 u32; 1503 1504 memcpy(&u32, bp, sizeof(u32)); 1505 return (int32)(u_int32)ntohl(u32); 1506} 1507 1508/* 1509 * copy/swap a big-endian 32-bit single-precision floating point into a host 32-bit int 1510 */ 1511static int32 1512getsingle( 1513 u_char *bp 1514 ) 1515{ 1516 u_int32 mantissa; 1517 int8_t exponent; 1518 uint8_t sign, exp_field; 1519 int32 res; 1520 1521 memcpy(&mantissa, bp, sizeof(mantissa)); 1522 mantissa = ((u_int32)ntohl(mantissa) & 0x7FFFFF) | 0x800000; 1523 exp_field = ((uint8_t)bp[0] << 1) + ((uint8_t)bp[1] >> 7); 1524 exponent = (int8_t)exp_field - 127; 1525 sign = ((uint8_t)bp[0] >> 7); 1526 if (exponent > 23) 1527 res = (int32)(mantissa << (exponent - 23)); 1528 else 1529 res = (int32)(mantissa >> (23 - exponent)); 1530 return sign ? -res : res; 1531} 1532 1533#else /* REFCLOCK && CLOCK_PALISADE*/ 1534int refclock_palisade_c_notempty; 1535#endif 1536