1/* 2 * This software was developed by the Software and Component Technologies 3 * group of Trimble Navigation, Ltd. 4 * 5 * Copyright (c) 1997, 1998, 1999, 2000 Trimble Navigation Ltd. 6 * All rights reserved. 7 * 8 * Redistribution and use in source and binary forms, with or without 9 * modification, are permitted provided that the following conditions 10 * are met: 11 * 1. Redistributions of source code must retain the above copyright 12 * notice, this list of conditions and the following disclaimer. 13 * 2. Redistributions in binary form must reproduce the above copyright 14 * notice, this list of conditions and the following disclaimer in the 15 * documentation and/or other materials provided with the distribution. 16 * 3. All advertising materials mentioning features or use of this software 17 * must display the following acknowledgement: 18 * This product includes software developed by Trimble Navigation, Ltd. 19 * 4. The name of Trimble Navigation Ltd. may not be used to endorse or 20 * promote products derived from this software without specific prior 21 * written permission. 22 * 23 * THIS SOFTWARE IS PROVIDED BY TRIMBLE NAVIGATION LTD. ``AS IS'' AND 24 * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 25 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 26 * ARE DISCLAIMED. IN NO EVENT SHALL TRIMBLE NAVIGATION LTD. BE LIABLE 27 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL 28 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS 29 * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) 30 * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 31 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY 32 * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF 33 * SUCH DAMAGE. 34 */ 35 36/* 37 * refclock_palisade - clock driver for the Trimble Palisade GPS 38 * timing receiver 39 * 40 * For detailed information on this program, please refer to the html 41 * Refclock 29 page accompanying the NTP distribution. 42 * 43 * for questions / bugs / comments, contact: 44 * sven_dietrich@trimble.com 45 * 46 * Sven-Thorsten Dietrich 47 * 645 North Mary Avenue 48 * Post Office Box 3642 49 * Sunnyvale, CA 94088-3642 50 * 51 */ 52 53#ifndef _REFCLOCK_PALISADE_H 54#define _REFCLOCK_PALISADE_H 55 56#ifdef HAVE_CONFIG_H 57#include "config.h" 58#endif 59 60#if defined HAVE_SYS_MODEM_H 61#include <sys/modem.h> 62#ifndef __QNXNTO__ 63#define TIOCMSET MCSETA 64#define TIOCMGET MCGETA 65#define TIOCM_RTS MRTS 66#endif 67#endif 68 69#ifdef HAVE_TERMIOS_H 70# ifdef TERMIOS_NEEDS__SVID3 71# define _SVID3 72# endif 73# include <termios.h> 74# include <sys/stat.h> 75# ifdef TERMIOS_NEEDS__SVID3 76# undef _SVID3 77# endif 78#endif 79 80#ifdef HAVE_SYS_IOCTL_H 81#include <sys/ioctl.h> 82#endif 83 84#include "ntpd.h" 85#include "ntp_io.h" 86#include "ntp_control.h" 87#include "ntp_refclock.h" 88#include "ntp_unixtime.h" 89#include "ntp_stdlib.h" 90 91/* 92 * GPS Definitions 93 */ 94#define DESCRIPTION "Trimble Palisade GPS" /* Long name */ 95#define PRECISION (-20) /* precision assumed (about 1 us) */ 96#define REFID "GPS\0" /* reference ID */ 97#define TRMB_MINPOLL 4 /* 16 seconds */ 98#define TRMB_MAXPOLL 5 /* 32 seconds */ 99 100/* 101 * I/O Definitions 102 */ 103#define DEVICE "/dev/palisade%d" /* device name and unit */ 104#define SPEED232 B9600 /* uart speed (9600 baud) */ 105 106/* 107 * TSIP Report Definitions 108 */ 109#define LENCODE_8F0B 74 /* Length of TSIP 8F-0B Packet & header */ 110#define LENCODE_NTP 22 /* Length of Palisade NTP Packet */ 111 112#define LENCODE_8FAC 68 /* Length of Thunderbolt 8F-AC Position Packet*/ 113#define LENCODE_8FAB 17 /* Length of Thunderbolt Primary Timing 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 */ 159struct packettx 160{ 161 short size; 162 u_char *data; 163}; 164 165/* 166 * Palisade unit control structure. 167 */ 168struct 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}; 177 178/* 179 * Function prototypes 180 */ 181 182static int palisade_start (int, struct peer *); 183static void palisade_shutdown (int, struct peer *); 184static void palisade_receive (struct peer *); 185static void palisade_poll (int, struct peer *); 186static void palisade_io (struct recvbuf *); 187int palisade_configure (int, struct peer *); 188int TSIP_decode (struct peer *); 189long HW_poll (struct refclockproc *); 190float getfloat (u_char *); 191double getdbl (u_char *); 192short getint (u_char *); 193long getlong (u_char *); 194 195 196#ifdef PALISADE_SENDCMD_RESURRECTED 197static void sendcmd (struct packettx *buffer, int c); 198#endif 199static void sendsupercmd (struct packettx *buffer, int c1, int c2); 200static void sendbyte (struct packettx *buffer, int b); 201static void sendint (struct packettx *buffer, int a); 202static int sendetx (struct packettx *buffer, int fd); 203static void init_thunderbolt (int fd); 204static void init_acutime (int fd); 205#endif /* PALISADE_H */ 206