#if defined(REFCLOCK) && (defined(PARSE) || defined(PARSEPPS)) && defined(CLOCK_TRIMTSIP) /* * $Header: /home/ncvs/src/usr.sbin/xntpd/parse/clk_trimtsip.c,v 1.2 1995/05/30 03:54:13 rgrimes Exp $ * * Trimble TSIP support - CURRENTLY VERY MUCH UNDER CONSTRUCTION */ #include "sys/types.h" #include "sys/time.h" #include "sys/errno.h" #include "ntp_syslog.h" #include "ntp_types.h" #include "ntp_fp.h" #include "ntp_unixtime.h" #include "ntp_calendar.h" #include "parse.h" /* * Trimble TSIP parser * * The receiver uses a serial message protocol called Trimble Standard * Interface Protocol (it can support others but this driver only supports * TSIP). Messages in this protocol have the following form: * * ... ... * * Any bytes within the portion of value 10 hex () are doubled * on transmission and compressed back to one on reception. Otherwise * the values of data bytes can be anything. The serial interface is RS-422 * asynchronous using 9600 baud, 8 data bits with odd party (**note** 9 bits * in total!), and 1 stop bit. The protocol supports byte, integer, single, * and double datatypes. Integers are two bytes, sent most significant first. * Singles are IEEE754 single precision floating point numbers (4 byte) sent * sign & exponent first. Doubles are IEEE754 double precision floating point * numbers (8 byte) sent sign & exponent first. * The receiver supports a large set of messages, only a small subset of * which are used here. From driver to receiver the following are used: * * ID Description * * 21 Request current time * 22 Mode Select * 2C Set/Request operating parameters * 2F Request UTC info * 35 Set/Request I/O options * * From receiver to driver the following are recognised: * * ID Description * * 41 GPS Time * 44 Satellite selection, PDOP, mode * 46 Receiver health * 4B Machine code/status * 4C Report operating parameters (debug only) * 4F UTC correction data (used to get leap second warnings) * 55 I/O options (debug only) * * All others are accepted but ignored. * */ extern int debug; struct trimble { u_char t_in_pkt; /* first DLE received */ u_char t_dle; /* subsequent DLE received */ u_char t_status; /* last status */ u_char t_error; /* last error */ u_short t_week; /* GPS week */ u_short t_weekleap; /* GPS week of next/last week */ u_short t_dayleap; /* day in week */ u_short t_gpsutc; /* GPS - UTC offset */ u_short t_gpsutcleap; /* offset at next/last leap */ u_char t_operable; /* receiver feels OK */ u_char t_leap; /* possible leap warning */ }; static unsigned LONG inp_tsip(); static unsigned LONG cvt_trimtsip(); struct clockformat clock_trimtsip = { inp_tsip, /* Trimble TSIP input handler */ cvt_trimtsip, /* Trimble TSIP conversion */ syn_simple, /* easy time stamps for RS232 (fallback) */ pps_simple, /* easy PPS monitoring */ (unsigned LONG (*)())0, /* no time code synthesizer monitoring */ (void *)0, /* no configuration data */ "Trimble SV6/TSIP", 128, /* input buffer */ CVT_FIXEDONLY, /* we do our own input handling */ sizeof(struct trimble), /* no private data */ { 0, 0}, '\0', '\0', '\0' }; #define ADDSECOND 0x01 #define DELSECOND 0x02 #define DLE 0x10 #define ETX 0x03 static unsigned LONG inp_tsip(parseio, ch, ctime) register parse_t *parseio; register unsigned char ch; register timestamp_t *ctime; { register struct trimble *t = (struct trimble *)parseio->parse_pdata; if (!t) return 0; /* local data not allocated - sigh! */ if (!t->t_in_pkt && ch != DLE) { /* wait for start of packet */ #ifdef DEBUG if (debug > 2) printf("sv6+ discarding %2.2x\n", ch); #endif return 0; } switch (ch) { case DLE: if (!t->t_in_pkt) { t->t_dle = 0; t->t_in_pkt = 1; parseio->parse_index = 0; parseio->parse_data[parseio->parse_index++] = ch; parseio->parse_dtime.parse_stime = *ctime; /* pick up time stamp at packet start */ } else if (t->t_dle) { /* Double DLE -> insert a DLE */ t->t_dle = 0; parseio->parse_data[parseio->parse_index++] = DLE; } else t->t_dle = 1; break; case ETX: if (t->t_dle) { /* DLE,ETX -> end of packet */ parseio->parse_data[parseio->parse_index++] = DLE; parseio->parse_data[parseio->parse_index++] = ch; parseio->parse_data[parseio->parse_index] = '\0'; parseio->parse_ldsize = parseio->parse_index+1; bcopy(parseio->parse_data, parseio->parse_ldata, parseio->parse_ldsize); t->t_in_pkt = t->t_dle = 0; return 1; } /* fall into ... */ default: t->t_dle = 0; parseio->parse_data[parseio->parse_index++] = ch; } return (parseio->parse_index == parseio->parse_dsize-1); /* buffer full - attempt to parse (likely to fail) */ } #define GPSORIGIN 2524953600 /* NTP origin - GPS origin in seconds */ #define SECSPERWEEK 604800 /* seconds per week - GPS tells us about weeks */ #define L_UF_SCALE 4294967296.0 /* scale a float fraction to l_uf units */ /* * mapping union for ints, floats, doubles for both input & output to the * receiver * * CAVEAT: must disappear - non portable */ union { u_char bd[8]; int iv; float fv; double dv; } uval; static float getflt P((u_char *)); static double getdbl P((u_char *)); static int getint P((u_char *)); /* * cvt_trimtsip * * convert TSIP type format */ static unsigned LONG cvt_trimtsip(buffer, size, format, clock, t) register char *buffer; register int size; register struct format *format; register clocktime_t *clock; register struct trimble *t; { #define mb(_X_) (buffer[2+(_X_)]) /* shortcut for buffer access */ register u_char cmd; if (!t) { #ifdef DEBUG if (debug) printf("sv6+ BAD call (t=0)\n"); #endif return CVT_NONE; /* local data not allocated - sigh! */ } if ((size < 4) || (buffer[0] != DLE) || (buffer[size-1] != ETX) || (buffer[size-2] != DLE)) { #ifdef DEBUG if (debug > 2) { int i; printf("sv6+ BAD packet, size %d:\n ", size); for (i = 0; i < size; i++) { printf ("%2.2x, ", buffer[i]&0xff); if (i%16 == 15) printf("\n\t"); } printf("\n"); } #endif return CVT_NONE; } else { cmd = buffer[1]; #ifdef DEBUG if (debug > 1) switch(cmd) { case 0x41: printf("sv6+ gps time: %f, %d, %f\n", getflt(&mb(0)), getint(&mb(4)), getflt(&mb(6))); break; case 0x44: printf("sv6+ sats: %2x, %2d %2d %2d %2d, %.2f\n", mb(0), mb(1), mb(2), mb(3), mb(4), getflt(&mb(5))); break; case 0x45: printf("sv6+ software: %d.%d (%d/%d/%d)\n", mb(0)&0xff, mb(1)&0xff, (mb(4)&0xff)+1900, mb(2)&0xff, mb(3)&0xff); break; case 0x46: printf("sv6+ health: %2x %2x\n", mb(0), mb(1)); break; case 0x48: printf("sv6+ gps message: '%.22s'\n", &mb(0)); break; case 0x4b: printf("sv6+ status: %2d %2x\n", mb(0), mb(1)); break; case 0x4c: printf("sv6+ op params: %2x %.1f %.1f %.1f %.1f\n", mb(0), getflt(&mb(1)), getflt(&mb(5)), getflt(&mb(9)), getflt(&mb(13))); break; case 0x4f: printf("sv6+ utc data: %.3e %.3e %d %d %d %d %d\n", getdbl(&mb(0)), getflt(&mb(8)), getint(&mb(18)), getint(&mb(12)), getint(&mb(20)), getint(&mb(22)), getint(&mb(24))); break; case 0x54: /*printf("sv6+ bias and rate: %.1fm %.2fm/s at %.1fs\n", getflt(&mb(0)), getflt(&mb(4)), getflt(&mb(8))); ignore it*/ break; case 0x55: printf("sv6+ io opts: %2x %2x %2x %2x\n", mb(0), mb(1), mb(2), mb(3)); break; case 0x8f: { #define RTOD (180.0 / 3.1415926535898) double lat = getdbl(&mb(2)); double lng = getdbl(&mb(10)); printf("sv6+ last fix: %2.2x %d lat %f %c, long %f %c, alt %.2fm\n", mb(1)&0xff, mb(40)&0xff, ((lat < 0) ? (-lat) : (lat))*RTOD, (lat < 0 ? 'S' : 'N'), ((lng < 0) ? (-lng) : (lng))*RTOD, (lng < 0 ? 'W' : 'E'), getdbl(&mb(18))); } break; case 0x40: case 0x5b: case 0x6d: /* Ignore */ break; default: printf("sv6+ cmd ignored: %2x, length: %d\n", cmd, size); break; } #endif /* DEBUG */ switch(cmd) { case 0x41: { /* GPS time */ float secs = getflt(&mb(0)); int week = getint(&mb(4)); int secint; float secfrac; l_fp gpstime, off; if (secs <= 0) { #ifdef DEBUG if (debug) printf("sv6+ seconds <= 0 (%e), setting POWERUP\n"); #endif clock->flags = PARSEB_POWERUP; return CVT_OK; } /* time OK */ secint = secs; /* integer part, hopefully */ secfrac = secs - secint; /* 0.0 <= secfrac < 1.0 */ secint -= getflt(&mb(6)); /* UTC offset */ gpstime.l_ui = week*SECSPERWEEK + secint + GPSORIGIN; /* convert to NTP time */ gpstime.l_uf = secfrac*L_UF_SCALE; clock->utctime = gpstime.l_ui - JAN_1970; TSFTOTVU(gpstime.l_uf, clock->usecond); if (t->t_leap == ADDSECOND) clock->flags |= PARSEB_LEAPADD; if (t->t_leap == DELSECOND) clock->flags |= PARSEB_LEAPDEL; if (t->t_operable) clock->flags &= ~(PARSEB_NOSYNC|PARSEB_POWERUP); else clock->flags |= PARSEB_NOSYNC; return CVT_OK; } /* case 0x41 */ break; case 0x46: { /* sv6+ health */ u_char status = t->t_status = mb(0); u_char error = t->t_error = mb(1); if (status == 0 || status == 9 || status == 10 || status == 11) { if (!t->t_operable) syslog(LOG_ERR, "Trimble clock synced"); t->t_operable = 1; } else { if (t->t_operable) syslog(LOG_ERR, "Trimble clock unsynced"); t->t_operable = 0; } } break; case 0x4f: { /* UTC correction data - derive a leap warning */ int tls = t->t_gpsutc = getint(&mb(12)); /* current leap correction (GPS-UTC) */ int wnlsf = t->t_weekleap = getint(&mb(20)); /* week no of leap correction */ int dn = t->t_dayleap = getint(&mb(22)); /* day in week of leap correction */ int tlsf = t->t_gpsutcleap = getint(&mb(24)); /* new leap correction */ U_LONG now, leaptime; t->t_week = getint(&mb(18)); /* current week no */ /* this stuff hasn't been tested yet... */ now = clock->utctime + JAN_1970; /* now in GPS seconds */ leaptime = (wnlsf*7 + dn)*86400; /* time of leap in GPS seconds */ if ((leaptime > now) && ((leaptime-now) < 86400*28)) { /* generate a leap warning */ if (tlsf > tls) t->t_leap = ADDSECOND; else t->t_leap = DELSECOND; } else { t->t_leap = 0; } } break; default: /* it's validly formed, but we don't care about it! */ break; } } return CVT_SKIP; } /* * getflt, getdbl, getint convert fields in the incoming data into the * appropriate type of item * * CAVEAT: these routines are currently definitely byte order dependent * and assume Representation(float) == IEEE754 * These functions MUST be converted to portable versions (especially * converting the float representation into ntp_fp formats in order * to avoid floating point operations at all! */ static float getflt(bp) u_char *bp; { uval.bd[0] = *bp++; uval.bd[1] = *bp++; uval.bd[2] = *bp++; uval.bd[3] = *bp; return uval.fv; } static double getdbl(bp) u_char *bp; { uval.bd[0] = *bp++; uval.bd[1] = *bp++; uval.bd[2] = *bp++; uval.bd[3] = *bp++; uval.bd[4] = *bp++; uval.bd[5] = *bp++; uval.bd[6] = *bp++; uval.bd[7] = *bp; return uval.dv; } static int getint(bp) u_char *bp; { uval.bd[2] = *bp++; uval.bd[3] = *bp; if (uval.bd[2] & 0x80) /* sign-extend */ uval.bd[0] = uval.bd[1] = 0xff; else uval.bd[0] = uval.bd[1] = 0; return uval.iv; } #endif /* defined(PARSE) && defined(CLOCK_TRIMTSIP) */ /* * History: * * $Log: clk_trimtsip.c,v $ * Revision 1.2 1995/05/30 03:54:13 rgrimes * Remove trailing whitespace. * * Revision 1.1.1.1 1994/09/29 23:01:31 wollman * xntp 3.4e from Dave Mills @ UDel * */