171 lines
5.2 KiB
C
171 lines
5.2 KiB
C
/*
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* This software was developed by the Software and Component Technologies
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* group of Trimble Navigation, Ltd.
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*
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* Copyright (c) 1997, 1998, 1999, 2000 Trimble Navigation Ltd.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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* 3. All advertising materials mentioning features or use of this software
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* must display the following acknowledgement:
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* This product includes software developed by Trimble Navigation, Ltd.
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* 4. The name of Trimble Navigation Ltd. may not be used to endorse or
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* promote products derived from this software without specific prior
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* written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY TRIMBLE NAVIGATION LTD. ``AS IS'' AND
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* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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* ARE DISCLAIMED. IN NO EVENT SHALL TRIMBLE NAVIGATION LTD. BE LIABLE
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* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
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* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
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* OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
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* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
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* OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
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* SUCH DAMAGE.
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*/
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/*
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* refclock_palisade - clock driver for the Trimble Palisade GPS
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* timing receiver
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*
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* For detailed information on this program, please refer to the html
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* Refclock 29 page accompanying the NTP distribution.
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*
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* for questions / bugs / comments, contact:
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* sven_dietrich@trimble.com
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*
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* Sven-Thorsten Dietrich
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* 645 North Mary Avenue
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* Post Office Box 3642
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* Sunnyvale, CA 94088-3642
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*
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*/
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#ifndef _REFCLOCK_PALISADE_H
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#define _REFCLOCK_PALISADE_H
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#ifdef HAVE_CONFIG_H
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#include "config.h"
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#endif
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#if defined HAVE_SYS_MODEM_H
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#include <sys/modem.h>
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#ifndef __QNXNTO__
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#define TIOCMSET MCSETA
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#define TIOCMGET MCGETA
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#define TIOCM_RTS MRTS
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#endif
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#endif
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#ifdef HAVE_TERMIOS_H
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# ifdef TERMIOS_NEEDS__SVID3
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# define _SVID3
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# endif
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# include <termios.h>
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# ifdef TERMIOS_NEEDS__SVID3
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# undef _SVID3
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# endif
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#endif
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#ifdef HAVE_SYS_IOCTL_H
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#include <sys/ioctl.h>
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#endif
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#include "ntpd.h"
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#include "ntp_io.h"
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#include "ntp_control.h"
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#include "ntp_refclock.h"
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#include "ntp_unixtime.h"
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#include "ntp_stdlib.h"
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/*
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* GPS Definitions
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*/
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#define DESCRIPTION "Trimble Palisade GPS" /* Long name */
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#define PRECISION (-20) /* precision assumed (about 1 us) */
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#define REFID "GPS\0" /* reference ID */
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#define TRMB_MINPOLL 4 /* 16 seconds */
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#define TRMB_MAXPOLL 5 /* 32 seconds */
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/*
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* I/O Definitions
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*/
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#define DEVICE "/dev/palisade%d" /* device name and unit */
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#define SPEED232 B9600 /* uart speed (9600 baud) */
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/*
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* TSIP Report Definitions
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*/
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#define LENCODE_8F0B 74 /* Length of TSIP 8F-0B Packet & header */
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#define LENCODE_NTP 22 /* Length of Palisade NTP Packet */
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/* Allowed Sub-Packet ID's */
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#define PACKET_8F0B 0x0B
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#define PACKET_NTP 0xAD
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#define DLE 0x10
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#define ETX 0x03
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/* parse states */
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#define TSIP_PARSED_EMPTY 0
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#define TSIP_PARSED_FULL 1
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#define TSIP_PARSED_DLE_1 2
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#define TSIP_PARSED_DATA 3
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#define TSIP_PARSED_DLE_2 4
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/*
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* Leap-Insert and Leap-Delete are encoded as follows:
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* PALISADE_UTC_TIME set and PALISADE_LEAP_PENDING set: INSERT leap
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*/
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#define PALISADE_LEAP_INPROGRESS 0x08 /* This is the leap flag */
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#define PALISADE_LEAP_WARNING 0x04 /* GPS Leap Warning (see ICD-200) */
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#define PALISADE_LEAP_PENDING 0x02 /* Leap Pending (24 hours) */
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#define PALISADE_UTC_TIME 0x01 /* UTC time available */
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#define mb(_X_) (up->rpt_buf[(_X_ + 1)]) /* shortcut for buffer access */
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/* Conversion Definitions */
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#define GPS_PI (3.1415926535898)
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#define R2D (180.0/GPS_PI)
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/*
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* Palisade unit control structure.
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*/
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struct palisade_unit {
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short unit; /* NTP refclock unit number */
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int polled; /* flag to detect noreplies */
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char leap_status; /* leap second flag */
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char rpt_status; /* TSIP Parser State */
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short rpt_cnt; /* TSIP packet length so far */
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char rpt_buf[BMAX]; /* packet assembly buffer */
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int type; /* Clock mode type */
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};
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/*
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* Function prototypes
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*/
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static int palisade_start P((int, struct peer *));
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static void palisade_shutdown P((int, struct peer *));
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static void palisade_receive P((struct peer *));
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static void palisade_poll P((int, struct peer *));
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static void palisade_io P((struct recvbuf *));
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int palisade_configure P((int, struct peer *));
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int TSIP_decode P((struct peer *));
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long HW_poll P((struct refclockproc *));
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float getfloat P((u_char *));
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double getdbl P((u_char *));
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short getint P((u_char *));
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#endif /* PALISADE_H */
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