refclock_palisade.h revision 290001
1/* 2 * This software was developed by the Software and Component Technologies 3 * group of Trimble Navigation, Ltd. 4 * 5 * Copyright (c) 1997, 1998, 1999, 2000 Trimble Navigation Ltd. 6 * All rights reserved. 7 * 8 * Redistribution and use in source and binary forms, with or without 9 * modification, are permitted provided that the following conditions 10 * are met: 11 * 1. Redistributions of source code must retain the above copyright 12 * notice, this list of conditions and the following disclaimer. 13 * 2. Redistributions in binary form must reproduce the above copyright 14 * notice, this list of conditions and the following disclaimer in the 15 * documentation and/or other materials provided with the distribution. 16 * 3. All advertising materials mentioning features or use of this software 17 * must display the following acknowledgement: 18 * This product includes software developed by Trimble Navigation, Ltd. 19 * 4. The name of Trimble Navigation Ltd. may not be used to endorse or 20 * promote products derived from this software without specific prior 21 * written permission. 22 * 23 * THIS SOFTWARE IS PROVIDED BY TRIMBLE NAVIGATION LTD. ``AS IS'' AND 24 * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 25 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 26 * ARE DISCLAIMED. IN NO EVENT SHALL TRIMBLE NAVIGATION LTD. BE LIABLE 27 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL 28 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS 29 * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) 30 * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 31 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY 32 * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF 33 * SUCH DAMAGE. 34 */ 35 36/* 37 * refclock_palisade - clock driver for the Trimble Palisade GPS 38 * timing receiver 39 * 40 * For detailed information on this program, please refer to the html 41 * Refclock 29 page accompanying the NTP distribution. 42 * 43 * for questions / bugs / comments, contact: 44 * sven_dietrich@trimble.com 45 * 46 * Sven-Thorsten Dietrich 47 * 645 North Mary Avenue 48 * Post Office Box 3642 49 * Sunnyvale, CA 94088-3642 50 * 51 */ 52 53#ifndef REFCLOCK_PALISADE_H 54#define REFCLOCK_PALISADE_H 55 56#if defined HAVE_SYS_MODEM_H 57#include <sys/modem.h> 58#ifndef __QNXNTO__ 59#define TIOCMSET MCSETA 60#define TIOCMGET MCGETA 61#define TIOCM_RTS MRTS 62#endif 63#endif 64 65#ifdef HAVE_TERMIOS_H 66# ifdef TERMIOS_NEEDS__SVID3 67# define _SVID3 68# endif 69# include <termios.h> 70# include <sys/stat.h> 71# ifdef TERMIOS_NEEDS__SVID3 72# undef _SVID3 73# endif 74#endif 75 76#ifdef HAVE_SYS_IOCTL_H 77#include <sys/ioctl.h> 78#endif 79 80#include "ntpd.h" 81#include "ntp_io.h" 82#include "ntp_control.h" 83#include "ntp_refclock.h" 84#include "ntp_unixtime.h" 85#include "ntp_stdlib.h" 86 87/* 88 * GPS Definitions 89 */ 90#define DESCRIPTION "Trimble Palisade GPS" /* Long name */ 91#define PRECISION (-20) /* precision assumed (about 1 us) */ 92#define REFID "GPS\0" /* reference ID */ 93#define TRMB_MINPOLL 4 /* 16 seconds */ 94#define TRMB_MAXPOLL 5 /* 32 seconds */ 95 96/* 97 * I/O Definitions 98 */ 99#define DEVICE "/dev/palisade%d" /* device name and unit */ 100#define SPEED232 B9600 /* uart speed (9600 baud) */ 101 102/* 103 * TSIP Report Definitions 104 */ 105#define LENCODE_8F0B 74 /* Length of TSIP 8F-0B Packet & header */ 106#define LENCODE_NTP 22 /* Length of Palisade NTP Packet */ 107 108#define LENCODE_8FAC 68 /* Length of Thunderbolt 8F-AC Position Packet*/ 109#define LENCODE_8FAB 17 /* Length of Thunderbolt Primary Timing Packet*/ 110 111/* Allowed Sub-Packet ID's */ 112#define PACKET_8F0B 0x0B 113#define PACKET_NTP 0xAD 114 115/* Thunderbolt Packets */ 116#define PACKET_8FAC 0xAC /* Supplementary Thunderbolt Time Packet */ 117#define PACKET_8FAB 0xAB /* Primary Thunderbolt Time Packet */ 118#define PACKET_6D 0x6D /* Supplementary Thunderbolt Tracking Stats */ 119#define PACKET_41 0x41 /* Thunderbolt I dont know what this packet is, it's not documented on my manual*/ 120 121/* Acutime Packets */ 122#define PACKET_41A 0x41 /* GPS time */ 123#define PACKET_46 0x46 /* Receiver Health */ 124 125#define DLE 0x10 126#define ETX 0x03 127 128/* parse states */ 129#define TSIP_PARSED_EMPTY 0 130#define TSIP_PARSED_FULL 1 131#define TSIP_PARSED_DLE_1 2 132#define TSIP_PARSED_DATA 3 133#define TSIP_PARSED_DLE_2 4 134 135/* 136 * Leap-Insert and Leap-Delete are encoded as follows: 137 * PALISADE_UTC_TIME set and PALISADE_LEAP_PENDING set: INSERT leap 138 */ 139 140#define PALISADE_LEAP_INPROGRESS 0x08 /* This is the leap flag */ 141#define PALISADE_LEAP_WARNING 0x04 /* GPS Leap Warning (see ICD-200) */ 142#define PALISADE_LEAP_PENDING 0x02 /* Leap Pending (24 hours) */ 143#define PALISADE_UTC_TIME 0x01 /* UTC time available */ 144 145#define mb(_X_) (up->rpt_buf[(_X_ + 1)]) /* shortcut for buffer access */ 146 147/* Conversion Definitions */ 148#define GPS_PI (3.1415926535898) 149#define R2D (180.0/GPS_PI) 150 151/* 152 * Structure for build data packets for send (thunderbolt uses it only) 153 * taken from Markus Prosch 154 */ 155struct packettx 156{ 157 short size; 158 u_char *data; 159}; 160 161/* 162 * Palisade unit control structure. 163 */ 164struct palisade_unit { 165 short unit; /* NTP refclock unit number */ 166 int polled; /* flag to detect noreplies */ 167 char leap_status; /* leap second flag */ 168 char rpt_status; /* TSIP Parser State */ 169 short rpt_cnt; /* TSIP packet length so far */ 170 char rpt_buf[BMAX]; /* packet assembly buffer */ 171 int type; /* Clock mode type */ 172 int month; /* for LEAP filter */ 173}; 174 175/* 176 * Function prototypes 177 */ 178 179static int palisade_start (int, struct peer *); 180static void palisade_shutdown (int, struct peer *); 181static void palisade_receive (struct peer *); 182static void palisade_poll (int, struct peer *); 183static void palisade_io (struct recvbuf *); 184int palisade_configure (int, struct peer *); 185int TSIP_decode (struct peer *); 186long HW_poll (struct refclockproc *); 187static double getdbl (u_char *); 188static short getint (u_char *); 189static int32 getlong (u_char *); 190 191 192#ifdef PALISADE_SENDCMD_RESURRECTED 193static void sendcmd (struct packettx *buffer, int c); 194#endif 195static void sendsupercmd (struct packettx *buffer, int c1, int c2); 196static void sendbyte (struct packettx *buffer, int b); 197static void sendint (struct packettx *buffer, int a); 198static int sendetx (struct packettx *buffer, int fd); 199static void init_thunderbolt (int fd); 200static void init_acutime (int fd); 201 202#endif /* REFCLOCK_PALISADE_H */ 203