refclock_palisade.c revision 358659
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; 307 308 snprintf(gpsdev, sizeof(gpsdev), DEVICE, unit); 309 310 /* 311 * Open serial port. 312 */ 313 u_int speed; 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 TCivilDate cd; 945 TGpsDatum wd; 946 l_fp ugo; /* UTC-GPS offset, negative number */ 947 ugo.Ul_i.Xl_i = (int32_t)-GPS_UTC_Offset; 948 ugo.l_uf = 0; 949 wd = gpscal_from_gpsweek((wn % 1024), (int32_t)tow, ugo); 950 gpscal_to_calendar(&cd, &wd); 951 pp->year = cd.year; 952 pp->day = cd.yearday; 953 pp->hour = cd.hour; 954 pp->minute = cd.minute; 955 pp->second = cd.second; 956 pp->nsec = 0; 957 pp->leap = LEAP_NOWARNING; 958#ifdef DEBUG 959 if (debug > 1) { 960 printf("GPS TOW: %ld\n", tow); 961 printf("GPS WN: %d\n", wn); 962 printf("GPS UTC-GPS Offset: %d\n", GPS_UTC_Offset); 963 printf("TSIP_decode: unit %d: %02X #%d %02d:%02d:%02d.%09ld %02d/%02d/%04d ", 964 up->unit, mb(0) & 0xff, event, pp->hour, pp->minute, pp->second, 965 pp->nsec, cd.month, cd.monthday, pp->year); 966 } 967#endif 968 return 1; 969 } 970 971 /* Health Status for Acutime Receiver */ 972 else if ((up->rpt_buf[0] == PACKET_46) & (up->type == CLK_ACUTIME)) { 973#ifdef DEBUG 974 if (debug > 1) 975 /* Status Codes */ 976 switch (mb(0)) { 977 case 0x00: 978 printf ("Doing Position Fixes\n"); 979 break; 980 case 0x01: 981 printf ("Do not have GPS time yet\n"); 982 break; 983 case 0x03: 984 printf ("PDOP is too high\n"); 985 break; 986 case 0x08: 987 printf ("No usable satellites\n"); 988 break; 989 case 0x09: 990 printf ("Only 1 usable satellite\n"); 991 break; 992 case 0x0A: 993 printf ("Only 2 usable satellites\n"); 994 break; 995 case 0x0B: 996 printf ("Only 3 usable satellites\n"); 997 break; 998 case 0x0C: 999 printf("The Chosen satellite is unusable\n"); 1000 break; 1001 } 1002#endif 1003 /* Error Codes */ 1004 if (mb(1) != 0) { 1005 1006 refclock_report(peer, CEVNT_BADTIME); 1007 up->polled = -1; 1008#ifdef DEBUG 1009 if (debug > 1) { 1010 if (mb(1) & 0x01) 1011 printf ("Signal Processor Error, reset unit.\n"); 1012 if (mb(1) & 0x02) 1013 printf ("Alignment error, channel or chip 1, reset unit.\n"); 1014 if (mb(1) & 0x03) 1015 printf ("Alignment error, channel or chip 2, reset unit.\n"); 1016 if (mb(1) & 0x04) 1017 printf ("Antenna feed line fault (open or short)\n"); 1018 if (mb(1) & 0x05) 1019 printf ("Excessive reference frequency error, refer to packet 0x2D and packet 0x4D documentation for further information\n"); 1020 } 1021#endif 1022 1023 return 0; 1024 } 1025 } 1026 1027 /* Health Status for Copernicus II Receiver */ 1028 else if ((up->rpt_buf[0] == PACKET_46) && (up->type == CLK_COPERNICUS)) { 1029#ifdef DEBUG 1030 if (debug > 1) 1031 /* Status Codes */ 1032 switch (mb(0)) { 1033 case 0x00: 1034 printf ("Doing Position Fixes\n"); 1035 break; 1036 case 0x01: 1037 printf ("Do not have GPS time yet\n"); 1038 break; 1039 case 0x03: 1040 printf ("PDOP is too high\n"); 1041 break; 1042 case 0x04: 1043 printf("The Chosen satellite is unusable\n"); 1044 break; 1045 case 0x08: 1046 printf ("No usable satellites\n"); 1047 break; 1048 case 0x09: 1049 printf ("Only 1 usable satellite\n"); 1050 break; 1051 case 0x0A: 1052 printf ("Only 2 usable satellites\n"); 1053 break; 1054 case 0x0B: 1055 printf ("Only 3 usable satellites\n"); 1056 break; 1057 } 1058#endif 1059 /* Error Codes */ 1060 if ((mb(1) & 0x3E) != 0) { /* Don't regard bits 0 and 6 as errors */ 1061 refclock_report(peer, CEVNT_BADTIME); 1062 up->polled = -1; 1063#ifdef DEBUG 1064 if (debug > 1) { 1065 if ((mb(1) & 0x18) == 0x08) 1066 printf ("Antenna feed line fault (open)\n"); 1067 if ((mb(1) & 0x18) == 0x18) 1068 printf ("Antenna feed line fault (short)\n"); 1069 } 1070#endif 1071 } 1072 return 0; 1073 } 1074 1075 /* Other packets output by ACE III & Copernicus II Receivers, dropped silently */ 1076 else if (((up->rpt_buf[0] == (char) 0x4A) || 1077 (up->rpt_buf[0] == (char) 0x4B) || 1078 (up->rpt_buf[0] == (char) 0x56) || 1079 (up->rpt_buf[0] == (char) 0x5F) || 1080 (up->rpt_buf[0] == (char) 0x6D) || 1081 (up->rpt_buf[0] == (char) 0x82) || 1082 (up->rpt_buf[0] == (char) 0x84)) && 1083 ((up->type == CLK_ACE) || (up->type == CLK_COPERNICUS))) { 1084#ifdef DEBUG 1085 if ((debug > 1) && (up->type == CLK_ACE)) 1086 printf("TSIP_decode: Packet 0x%2x seen in ACE III mode\n", (up->rpt_buf[0] & 0XFF)); 1087 if ((debug > 1) && (up->type == CLK_COPERNICUS)) 1088 printf("TSIP_decode: Packet 0x%2x seen in Copernicus II mode\n", (up->rpt_buf[0] & 0XFF)); 1089#endif 1090 return 0; 1091 } 1092 1093 else if (up->rpt_buf[0] == 0x54) 1094 return 0; 1095 1096 else if (up->rpt_buf[0] == PACKET_6D) { 1097#ifdef DEBUG 1098 int sats; 1099 1100 if ((mb(0) & 0x01) && (mb(0) & 0x02)) 1101 printf("2d Fix Dimension\n"); 1102 if (mb(0) & 0x04) 1103 printf("3d Fix Dimension\n"); 1104 1105 if (mb(0) & 0x08) 1106 printf("Fix Mode is MANUAL\n"); 1107 else 1108 printf("Fix Mode is AUTO\n"); 1109 1110 sats = mb(0) & 0xF0; 1111 sats = sats >> 4; 1112 printf("Tracking %d Satellites\n", sats); 1113#endif 1114 return 0; 1115 } /* else if not super packet */ 1116 refclock_report(peer, CEVNT_BADREPLY); 1117 up->polled = -1; 1118#ifdef DEBUG 1119 printf("TSIP_decode: unit %d: bad packet %02x-%02x event %d len %d\n", 1120 up->unit, up->rpt_buf[0] & 0xff, mb(0) & 0xff, 1121 event, up->rpt_cnt); 1122#endif 1123 return 0; 1124} 1125 1126/* 1127 * palisade__receive - receive data from the serial interface 1128 */ 1129 1130static void 1131palisade_receive ( 1132 struct peer * peer 1133 ) 1134{ 1135 struct palisade_unit *up; 1136 struct refclockproc *pp; 1137 1138 /* 1139 * Initialize pointers and read the timecode and timestamp. 1140 */ 1141 pp = peer->procptr; 1142 up = pp->unitptr; 1143 1144 if (! TSIP_decode(peer)) return; 1145 1146 if (up->polled <= 0) 1147 return; /* no poll pending, already received or timeout */ 1148 1149 up->polled = 0; /* Poll reply received */ 1150 pp->lencode = 0; /* clear time code */ 1151#ifdef DEBUG 1152 if (debug) 1153 printf( 1154 "palisade_receive: unit %d: %4d %03d %02d:%02d:%02d.%09ld\n", 1155 up->unit, pp->year, pp->day, pp->hour, pp->minute, 1156 pp->second, pp->nsec); 1157#endif 1158 1159 /* 1160 * Process the sample 1161 * Generate timecode: YYYY DoY HH:MM:SS.microsec 1162 * report and process 1163 */ 1164 1165 snprintf(pp->a_lastcode, sizeof(pp->a_lastcode), 1166 "%4d %03d %02d:%02d:%02d.%09ld", 1167 pp->year, pp->day, 1168 pp->hour,pp->minute, pp->second, pp->nsec); 1169 pp->lencode = 24; 1170 1171 if (!refclock_process(pp)) { 1172 refclock_report(peer, CEVNT_BADTIME); 1173 1174#ifdef DEBUG 1175 printf("palisade_receive: unit %d: refclock_process failed!\n", 1176 up->unit); 1177#endif 1178 return; 1179 } 1180 1181 record_clock_stats(&peer->srcadr, pp->a_lastcode); 1182 1183#ifdef DEBUG 1184 if (debug) 1185 printf("palisade_receive: unit %d: %s\n", 1186 up->unit, prettydate(&pp->lastrec)); 1187#endif 1188 pp->lastref = pp->lastrec; 1189 refclock_receive(peer); 1190} 1191 1192 1193/* 1194 * palisade_poll - called by the transmit procedure 1195 * 1196 */ 1197static void 1198palisade_poll ( 1199 int unit, 1200 struct peer *peer 1201 ) 1202{ 1203 struct palisade_unit *up; 1204 struct refclockproc *pp; 1205 1206 pp = peer->procptr; 1207 up = pp->unitptr; 1208 1209 pp->polls++; 1210 if (up->polled > 0) /* last reply never arrived or error */ 1211 refclock_report(peer, CEVNT_TIMEOUT); 1212 1213 up->polled = 2; /* synchronous packet + 1 event */ 1214 1215#ifdef DEBUG 1216 if (debug) 1217 printf("palisade_poll: unit %d: polling %s\n", unit, 1218 (pp->sloppyclockflag & CLK_FLAG2) ? 1219 "synchronous packet" : "event"); 1220#endif 1221 1222 if (pp->sloppyclockflag & CLK_FLAG2) 1223 return; /* using synchronous packet input */ 1224 1225 if(up->type == CLK_PRAECIS) { 1226 if(write(peer->procptr->io.fd,"SPSTAT\r\n",8) < 0) 1227 msyslog(LOG_ERR, "Palisade(%d) write: %m:",unit); 1228 else { 1229 praecis_msg = 1; 1230 return; 1231 } 1232 } 1233 1234 if (HW_poll(pp) < 0) 1235 refclock_report(peer, CEVNT_FAULT); 1236} 1237 1238static void 1239praecis_parse ( 1240 struct recvbuf *rbufp, 1241 struct peer *peer 1242 ) 1243{ 1244 static char buf[100]; 1245 static int p = 0; 1246 struct refclockproc *pp; 1247 1248 pp = peer->procptr; 1249 1250 memcpy(buf+p,rbufp->recv_space.X_recv_buffer, rbufp->recv_length); 1251 p += rbufp->recv_length; 1252 1253 if(buf[p-2] == '\r' && buf[p-1] == '\n') { 1254 buf[p-2] = '\0'; 1255 record_clock_stats(&peer->srcadr, buf); 1256 1257 p = 0; 1258 praecis_msg = 0; 1259 1260 if (HW_poll(pp) < 0) 1261 refclock_report(peer, CEVNT_FAULT); 1262 1263 } 1264} 1265 1266static void 1267palisade_io ( 1268 struct recvbuf *rbufp 1269 ) 1270{ 1271 /* 1272 * Initialize pointers and read the timecode and timestamp. 1273 */ 1274 struct palisade_unit *up; 1275 struct refclockproc *pp; 1276 struct peer *peer; 1277 1278 char * c, * d; 1279 1280 peer = rbufp->recv_peer; 1281 pp = peer->procptr; 1282 up = pp->unitptr; 1283 1284 if(up->type == CLK_PRAECIS) { 1285 if(praecis_msg) { 1286 praecis_parse(rbufp,peer); 1287 return; 1288 } 1289 } 1290 1291 c = (char *) &rbufp->recv_space; 1292 d = c + rbufp->recv_length; 1293 1294 while (c != d) { 1295 1296 /* Build time packet */ 1297 switch (up->rpt_status) { 1298 1299 case TSIP_PARSED_DLE_1: 1300 switch (*c) 1301 { 1302 case 0: 1303 case DLE: 1304 case ETX: 1305 up->rpt_status = TSIP_PARSED_EMPTY; 1306 break; 1307 1308 default: 1309 up->rpt_status = TSIP_PARSED_DATA; 1310 /* save packet ID */ 1311 up->rpt_buf[0] = *c; 1312 break; 1313 } 1314 break; 1315 1316 case TSIP_PARSED_DATA: 1317 if (*c == DLE) 1318 up->rpt_status = TSIP_PARSED_DLE_2; 1319 else 1320 mb(up->rpt_cnt++) = *c; 1321 break; 1322 1323 case TSIP_PARSED_DLE_2: 1324 if (*c == DLE) { 1325 up->rpt_status = TSIP_PARSED_DATA; 1326 mb(up->rpt_cnt++) = 1327 *c; 1328 } 1329 else if (*c == ETX) 1330 up->rpt_status = TSIP_PARSED_FULL; 1331 else { 1332 /* error: start new report packet */ 1333 up->rpt_status = TSIP_PARSED_DLE_1; 1334 up->rpt_buf[0] = *c; 1335 } 1336 break; 1337 1338 case TSIP_PARSED_FULL: 1339 case TSIP_PARSED_EMPTY: 1340 default: 1341 if ( *c != DLE) 1342 up->rpt_status = TSIP_PARSED_EMPTY; 1343 else 1344 up->rpt_status = TSIP_PARSED_DLE_1; 1345 break; 1346 } 1347 1348 c++; 1349 1350 if (up->rpt_status == TSIP_PARSED_DLE_1) { 1351 up->rpt_cnt = 0; 1352 if (pp->sloppyclockflag & CLK_FLAG2) 1353 /* stamp it */ 1354 get_systime(&pp->lastrec); 1355 } 1356 else if (up->rpt_status == TSIP_PARSED_EMPTY) 1357 up->rpt_cnt = 0; 1358 1359 else if (up->rpt_cnt > BMAX) 1360 up->rpt_status =TSIP_PARSED_EMPTY; 1361 1362 if (up->rpt_status == TSIP_PARSED_FULL) 1363 palisade_receive(peer); 1364 1365 } /* while chars in buffer */ 1366} 1367 1368 1369/* 1370 * Trigger the Palisade's event input, which is driven off the RTS 1371 * 1372 * Take a system time stamp to match the GPS time stamp. 1373 * 1374 */ 1375long 1376HW_poll ( 1377 struct refclockproc * pp /* pointer to unit structure */ 1378 ) 1379{ 1380 int x; /* state before & after RTS set */ 1381 struct palisade_unit *up; 1382 struct packettx tx; 1383 1384 up = pp->unitptr; 1385 1386 if (up->type == CLK_ACE) { 1387 /* Poll by sending a 0x21 command */ 1388 tx.size = 0; 1389 tx.data = (u_char *) emalloc(100); 1390 sendcmd (&tx, 0x21); 1391 sendetx (&tx, pp->io.fd); 1392 free(tx.data); 1393 } else { 1394 1395 /* read the current status, so we put things back right */ 1396 if (ioctl(pp->io.fd, TIOCMGET, &x) < 0) { 1397 DPRINTF(1, ("Palisade HW_poll: unit %d: GET %m\n", 1398 up->unit)); 1399 msyslog(LOG_ERR, "Palisade(%d) HW_poll: ioctl(fd,GET): %m", 1400 up->unit); 1401 return -1; 1402 } 1403 1404 x |= TIOCM_RTS; /* turn on RTS */ 1405 1406 /* Edge trigger */ 1407 if (up->type == CLK_ACUTIME) 1408 write (pp->io.fd, "", 1); 1409 1410 if (ioctl(pp->io.fd, TIOCMSET, &x) < 0) { 1411#ifdef DEBUG 1412 if (debug) 1413 printf("Palisade HW_poll: unit %d: SET \n", up->unit); 1414#endif 1415 msyslog(LOG_ERR, 1416 "Palisade(%d) HW_poll: ioctl(fd, SET, RTS_on): %m", 1417 up->unit); 1418 return -1; 1419 } 1420 1421 x &= ~TIOCM_RTS; /* turn off RTS */ 1422 1423 } /* (up->type != CLK_ACE) */ 1424 1425 /* poll timestamp */ 1426 get_systime(&pp->lastrec); 1427 1428 if (up->type != CLK_ACE) { 1429 if (ioctl(pp->io.fd, TIOCMSET, &x) == -1) { 1430#ifdef DEBUG 1431 if (debug) 1432 printf("Palisade HW_poll: unit %d: UNSET \n", up->unit); 1433#endif 1434 msyslog(LOG_ERR, 1435 "Palisade(%d) HW_poll: ioctl(fd, UNSET, RTS_off): %m", 1436 up->unit); 1437 return -1; 1438 } 1439 } 1440 1441 return 0; 1442} 1443 1444/* 1445 * copy/swap a big-endian palisade double into a host double 1446 */ 1447static double 1448getdbl ( 1449 u_char *bp 1450 ) 1451{ 1452#ifdef WORDS_BIGENDIAN 1453 double out; 1454 1455 memcpy(&out, bp, sizeof(out)); 1456 return out; 1457#else 1458 union { 1459 u_char ch[8]; 1460 u_int32 u32[2]; 1461 } ui; 1462 1463 union { 1464 double out; 1465 u_int32 u32[2]; 1466 } uo; 1467 1468 memcpy(ui.ch, bp, sizeof(ui.ch)); 1469 /* least-significant 32 bits of double from swapped bp[4] to bp[7] */ 1470 uo.u32[0] = ntohl(ui.u32[1]); 1471 /* most-significant 32 bits from swapped bp[0] to bp[3] */ 1472 uo.u32[1] = ntohl(ui.u32[0]); 1473 1474 return uo.out; 1475#endif 1476} 1477 1478/* 1479 * copy/swap a big-endian palisade short into a host short 1480 */ 1481static short 1482getint ( 1483 u_char *bp 1484 ) 1485{ 1486 u_short us; 1487 1488 memcpy(&us, bp, sizeof(us)); 1489 return (short)ntohs(us); 1490} 1491 1492/* 1493 * copy/swap a big-endian palisade 32-bit int into a host 32-bit int 1494 */ 1495static int32 1496getlong( 1497 u_char *bp 1498 ) 1499{ 1500 u_int32 u32; 1501 1502 memcpy(&u32, bp, sizeof(u32)); 1503 return (int32)(u_int32)ntohl(u32); 1504} 1505 1506/* 1507 * copy/swap a big-endian 32-bit single-precision floating point into a host 32-bit int 1508 */ 1509static int32 1510getsingle( 1511 u_char *bp 1512 ) 1513{ 1514 u_int32 mantissa; 1515 int8_t exponent; 1516 uint8_t sign, exp_field; 1517 int32 res; 1518 1519 memcpy(&mantissa, bp, sizeof(mantissa)); 1520 mantissa = ((u_int32)ntohl(mantissa) & 0x7FFFFF) | 0x800000; 1521 exp_field = ((uint8_t)bp[0] << 1) + ((uint8_t)bp[1] >> 7); 1522 exponent = (int8_t)exp_field - 127; 1523 sign = ((uint8_t)bp[0] >> 7); 1524 if (exponent > 23) 1525 res = (int32)(mantissa << (exponent - 23)); 1526 else 1527 res = (int32)(mantissa >> (23 - exponent)); 1528 return sign ? -res : res; 1529} 1530 1531#else /* REFCLOCK && CLOCK_PALISADE*/ 1532int refclock_palisade_c_notempty; 1533#endif 1534