freebsd-dev/contrib/ntp/ntpd/refclock_palisade.c

/*
 * This software was developed by the Software and Component Technologies
 * group of Trimble Navigation, Ltd.
 *
 * Copyright (c) 1997, 1998, 1999, 2000  Trimble Navigation Ltd.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 * 1. Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in the
 *    documentation and/or other materials provided with the distribution.
 * 3. All advertising materials mentioning features or use of this software
 *    must display the following acknowledgement:
 *    This product includes software developed by Trimble Navigation, Ltd.
 * 4. The name of Trimble Navigation Ltd. may not be used to endorse or
 *    promote products derived from this software without specific prior
 *    written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY TRIMBLE NAVIGATION LTD. ``AS IS'' AND
 * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED.  IN NO EVENT SHALL TRIMBLE NAVIGATION LTD. BE LIABLE
 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
 * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
 * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
 * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
 * SUCH DAMAGE.
 */

/*
 * refclock_palisade - clock driver for the Trimble Palisade GPS
 * timing receiver
 *
 * For detailed information on this program, please refer to the html 
 * Refclock 29 page accompanying the NTP distribution.
 *
 * for questions / bugs / comments, contact:
 * sven_dietrich@trimble.com
 *
 * Sven-Thorsten Dietrich
 * 645 North Mary Avenue
 * Post Office Box 3642
 * Sunnyvale, CA 94088-3642
 *
 * Version 2.45; July 14, 1999
 *
 */

#ifdef HAVE_CONFIG_H
#include "config.h"
#endif

#if defined(SYS_WINNT)
#undef close
#define close closesocket
#endif

#if defined(REFCLOCK) && (defined(PALISADE) || defined(CLOCK_PALISADE))

#include "refclock_palisade.h"
/* Table to get from month to day of the year */
const int days_of_year [12] = {
	0,  31,  59,  90, 120, 151, 181, 212, 243, 273, 304, 334
};

#ifdef DEBUG
const char * Tracking_Status[15][15] = { 
        	{ "Doing Fixes\0" }, { "Good 1SV\0" }, { "Approx. 1SV\0" },
        	{"Need Time\0" }, { "Need INIT\0" }, { "PDOP too High\0" },
        	{ "Bad 1SV\0" }, { "0SV Usable\0" }, { "1SV Usable\0" },
        	{ "2SV Usable\0" }, { "3SV Usable\0" }, { "No Integrity\0" },
        	{ "Diff Corr\0" }, { "Overdet Clock\0" }, { "Invalid\0" } };
#endif

/*
 * Transfer vector
 */
struct refclock refclock_palisade = {
	palisade_start,		/* start up driver */
	palisade_shutdown,	/* shut down driver */
	palisade_poll,		/* transmit poll message */
	noentry,		/* not used  */
	noentry,		/* initialize driver (not used) */
	noentry,		/* not used */
	NOFLAGS			/* not used */
};

int day_of_year P((char *dt));

/* Extract the clock type from the mode setting */
#define CLK_TYPE(x) ((int)(((x)->ttl) & 0x7F))

/* Supported clock types */
#define CLK_TRIMBLE	0	/* Trimble Palisade */
#define CLK_PRAECIS	1	/* Endrun Technologies Praecis */

int praecis_msg;
static void praecis_parse(struct recvbuf *rbufp, struct peer *peer);

/*
 * palisade_start - open the devices and initialize data for processing
 */
static int
palisade_start (
#ifdef PALISADE
	unit, peer
	)
	int unit;
	struct peer *peer;
#else /* ANSI */
	int unit,
	struct peer *peer
	)
#endif
{
	struct palisade_unit *up;
	struct refclockproc *pp;
	int fd;
	char gpsdev[20];

	struct termios tio;
#ifdef SYS_WINNT
	(void) sprintf(gpsdev, "COM%d:", unit);
#else	
	(void) sprintf(gpsdev, DEVICE, unit);
#endif
	/*
	 * Open serial port. 
	 */
#if defined PALISADE
	 fd = open(gpsdev, O_RDWR
#ifdef O_NONBLOCK
                  | O_NONBLOCK
#endif
                  );
#else /* NTP 4.x */
	fd = refclock_open(gpsdev, SPEED232, LDISC_RAW);
#endif
	if (fd <= 0) {
#ifdef DEBUG
		printf("Palisade(%d) start: open %s failed\n", unit, gpsdev);
#endif
		return 0;
	}

	msyslog(LOG_NOTICE, "Palisade(%d) fd: %d dev: %s", unit, fd,
		gpsdev);

#if defined PALISADE 
        tio.c_cflag = (CS8|CLOCAL|CREAD|PARENB|PARODD);
        tio.c_iflag = (IGNBRK);
        tio.c_oflag = (0);
        tio.c_lflag = (0);

        if (cfsetispeed(&tio, SPEED232) == -1) {
                msyslog(LOG_ERR,"Palisade(%d) cfsetispeed(fd, &tio): %m",unit);
#ifdef DEBUG
                printf("Palisade(%d) cfsetispeed(fd, &tio)\n",unit);
#endif
                return 0;
        }
        if (cfsetospeed(&tio, SPEED232) == -1) {
#ifdef DEBUG
                printf("Palisade(%d) cfsetospeed(fd, &tio)\n",unit);
#endif
                msyslog(LOG_ERR,"Palisade(%d) cfsetospeed(fd, &tio): %m",unit);
                return 0;
        }
#else /* NTP 4.x */
        if (tcgetattr(fd, &tio) < 0) {
                msyslog(LOG_ERR, 
			"Palisade(%d) tcgetattr(fd, &tio): %m",unit);
#ifdef DEBUG
                printf("Palisade(%d) tcgetattr(fd, &tio)\n",unit);
#endif
                return (0);
        }

        tio.c_cflag |= (PARENB|PARODD);
        tio.c_iflag &= ~ICRNL;
#endif /*  NTP 4.x */

	if (tcsetattr(fd, TCSANOW, &tio) == -1) {
                msyslog(LOG_ERR, "Palisade(%d) tcsetattr(fd, &tio): %m",unit);
#ifdef DEBUG
                printf("Palisade(%d) tcsetattr(fd, &tio)\n",unit);
#endif
                return 0;
        }

	/*
	 * Allocate and initialize unit structure
	 */
	up = (struct palisade_unit *) emalloc(sizeof(struct palisade_unit));
	      
	if (!(up)) {
                msyslog(LOG_ERR, "Palisade(%d) emalloc: %m",unit);
#ifdef DEBUG
                printf("Palisade(%d) emalloc\n",unit);
#endif
		(void) close(fd);
		return (0);
	}

	memset((char *)up, 0, sizeof(struct palisade_unit));

	up->type = CLK_TYPE(peer);
	switch (up->type) {
		case CLK_TRIMBLE:
			/* Normal mode, do nothing */
			break;
		case CLK_PRAECIS:
			msyslog(LOG_NOTICE, "Palisade(%d) Praecis mode enabled\n",unit);
			break;
		default:
			msyslog(LOG_NOTICE, "Palisade(%d) mode unknown\n",unit);
			break;
	}

	pp = peer->procptr;
	pp->io.clock_recv = palisade_io;
	pp->io.srcclock = (caddr_t)peer;
	pp->io.datalen = 0;
	pp->io.fd = fd;
	if (!io_addclock(&pp->io)) {
#ifdef DEBUG
                printf("Palisade(%d) io_addclock\n",unit);
#endif
		(void) close(fd);
		free(up);
		return (0);
	}

	/*
	 * Initialize miscellaneous variables
	 */
	pp->unitptr = (caddr_t)up;
	pp->clockdesc = DESCRIPTION;

	peer->precision = PRECISION;
	peer->sstclktype = CTL_SST_TS_UHF;
	peer->minpoll = TRMB_MINPOLL;
	peer->maxpoll = TRMB_MAXPOLL;
	memcpy((char *)&pp->refid, REFID, 4);
	
	up->leap_status = 0;
	up->unit = (short) unit;
	up->rpt_status = TSIP_PARSED_EMPTY;
    	up->rpt_cnt = 0;

	return 1;
}


/*
 * palisade_shutdown - shut down the clock
 */
static void
palisade_shutdown (
#ifdef PALISADE
	unit, peer
	)
	int unit;
	struct peer *peer;
#else /* ANSI */
	int unit,
	struct peer *peer
	)
#endif
{
	struct palisade_unit *up;
	struct refclockproc *pp;
	pp = peer->procptr;
	up = (struct palisade_unit *)pp->unitptr;
	io_closeclock(&pp->io);
	free(up);
}



/* 
 * unpack_date - get day and year from date
 */
int
day_of_year (
#ifdef PALISADE
	dt
	)
	char * dt;
#else
	char * dt
	)
#endif
{
	int day, mon, year;

	mon = dt[1];
       /* Check month is inside array bounds */
       if ((mon < 1) || (mon > 12)) 
		return -1;

	day = dt[0] + days_of_year[mon - 1];
	year = getint((u_char *) (dt + 2)); 

	if ( !(year % 4) && ((year % 100) || 
		(!(year % 100) && !(year%400)))
			&&(mon > 2))
			day ++; /* leap year and March or later */

	return day;
}


/* 
 * TSIP_decode - decode the TSIP data packets 
 */
int
TSIP_decode (
#ifdef PALISADE
	peer
	)
	struct peer *peer;
#else
	struct peer *peer
	)
#endif
{
	int st;
	long   secint;
	double secs;
	double secfrac;
	unsigned short event = 0;

	struct palisade_unit *up;
	struct refclockproc *pp;

	pp = peer->procptr;
	up = (struct palisade_unit *)pp->unitptr;

	/*
	 * Check the time packet, decode its contents. 
	 * If the timecode has invalid length or is not in
	 * proper format, declare bad format and exit.
	 */

	if ((up->rpt_buf[0] == (char) 0x41) ||
		(up->rpt_buf[0] == (char) 0x46) ||
		(up->rpt_buf[0] == (char) 0x54) ||
		(up->rpt_buf[0] == (char) 0x4B) ||
		(up->rpt_buf[0] == (char) 0x6D)) {

	/* standard time packet - GPS time and GPS week number */
#ifdef DEBUG
			printf("Palisade Port B packets detected. Connect to Port A\n");
#endif

		return 0;	
	}

	/*
	 * We cast both to u_char to as 0x8f uses the sign bit on a char
	 */
	if ((u_char) up->rpt_buf[0] == (u_char) 0x8f) {
	/* 
	 * Superpackets
	 */
	   event = (unsigned short) (getint((u_char *) &mb(1)) & 0xffff);
	   if (!((pp->sloppyclockflag & CLK_FLAG2) || event)) 
		/* Ignore Packet */
			return 0;	   
	
	   switch (mb(0) & 0xff) {
	     int GPS_UTC_Offset;
	     case PACKET_8F0B: 

		if (up->polled <= 0)
			return 0;

		if (up->rpt_cnt != LENCODE_8F0B)  /* check length */
			break;
		
#ifdef DEBUG
if (debug > 1) {
		int ts;
		double lat, lon, alt;
		lat = getdbl((u_char *) &mb(42)) * R2D;
		lon = getdbl((u_char *) &mb(50)) * R2D;
		alt = getdbl((u_char *) &mb(58));

  		printf("TSIP_decode: unit %d: Latitude: %03.4f Longitude: %03.4f Alt: %05.2f m\n",
				up->unit, lat,lon,alt);
  		printf("TSIP_decode: unit %d: Sats:", up->unit);
		for (st = 66, ts = 0; st <= 73; st++) if (mb(st)) {
			if (mb(st) > 0) ts++;
			printf(" %02d", mb(st));
		}
		printf(" : Tracking %d\n", ts); 
	}
#endif

		GPS_UTC_Offset = getint((u_char *) &mb(16));  
		if (GPS_UTC_Offset == 0) { /* Check UTC offset */ 
#ifdef DEBUG
			 printf("TSIP_decode: UTC Offset Unknown\n");
#endif
			break;
		}

		secs = getdbl((u_char *) &mb(3));
		secint = (long) secs;
		secfrac = secs - secint; /* 0.0 <= secfrac < 1.0 */

		pp->nsec = (long) (secfrac * 1000000000); 

		secint %= 86400;    /* Only care about today */
		pp->hour = secint / 3600;
		secint %= 3600;
		pp->minute = secint / 60;
		secint %= 60;
		pp->second = secint % 60;
		
		if ((pp->day = day_of_year(&mb(11))) < 0) break;

		pp->year = getint((u_char *) &mb(13)); 

#ifdef DEBUG
	if (debug > 1)
		printf("TSIP_decode: unit %d: %02X #%d %02d:%02d:%02d.%06ld %02d/%02d/%04d UTC %02d\n",
 			up->unit, mb(0) & 0xff, event, pp->hour, pp->minute, 
			pp->second, pp->nsec, mb(12), mb(11), pp->year, GPS_UTC_Offset);
#endif
		/* Only use this packet when no
		 * 8F-AD's are being received
		 */

		if (up->leap_status) {
			up->leap_status = 0;
			return 0;
		}

		return 2;
		break;

	  case PACKET_NTP:
		/* Palisade-NTP Packet */

		if (up->rpt_cnt != LENCODE_NTP) /* check length */
			break;
	
		up->leap_status = mb(19);

		if (up->polled  <= 0) 
			return 0;
				
		/* Check Tracking Status */
		st = mb(18);
		if (st < 0 || st > 14) st = 14;
		if ((st >= 2 && st <= 7) || st == 11 || st == 12) {
#ifdef DEBUG
		 printf("TSIP_decode: Not Tracking Sats : %s\n",
				*Tracking_Status[st]);
#endif
			refclock_report(peer, CEVNT_BADTIME);
			up->polled = -1;
			return 0;
			break;
		}

		if (up->leap_status & PALISADE_LEAP_PENDING) {
			if (up->leap_status & PALISADE_UTC_TIME)  
				pp->leap = LEAP_ADDSECOND;
			else
				pp->leap = LEAP_DELSECOND;
		}
		else if (up->leap_status)
			pp->leap = LEAP_NOWARNING;
		
		else {  /* UTC flag is not set:
			 * Receiver may have been reset, and lost
			 * its UTC almanac data */
			pp->leap = LEAP_NOTINSYNC;
#ifdef DEBUG
			 printf("TSIP_decode: UTC Almanac unavailable: %d\n",
				mb(19));	
#endif
			refclock_report(peer, CEVNT_BADTIME);
			up->polled = -1;
			return 0;
		}

		pp->nsec = (long) (getdbl((u_char *) &mb(3)) * 1000000000);

		if ((pp->day = day_of_year(&mb(14))) < 0) 
			break;
		pp->year = getint((u_char *) &mb(16)); 
		pp->hour = mb(11);
		pp->minute = mb(12);
		pp->second = mb(13);

#ifdef DEBUG
	if (debug > 1)
printf("TSIP_decode: unit %d: %02X #%d %02d:%02d:%02d.%06ld %02d/%02d/%04d UTC %02x %s\n",
 			up->unit, mb(0) & 0xff, event, pp->hour, pp->minute, 
			pp->second, pp->nsec, mb(15), mb(14), pp->year,
			mb(19), *Tracking_Status[st]);
#endif
		return 1;
		break;

	  default: 	
		/* Ignore Packet */
		return 0;
	  } /* switch */
	}/* if 8F packets */	

	refclock_report(peer, CEVNT_BADREPLY);
	up->polled = -1;
#ifdef DEBUG
	printf("TSIP_decode: unit %d: bad packet %02x-%02x event %d len %d\n", 
		   up->unit, up->rpt_buf[0] & 0xff, mb(0) & 0xff, 
			event, up->rpt_cnt);
#endif
	return 0;
}

/*
 * palisade__receive - receive data from the serial interface
 */

static void
palisade_receive (
#ifdef PALISADE
	peer
	)
	struct peer * peer;
#else /* ANSI */
	struct peer * peer
	)
#endif
{
	struct palisade_unit *up;
	struct refclockproc *pp;

	/*
	 * Initialize pointers and read the timecode and timestamp.
	 */
	pp = peer->procptr;
	up = (struct palisade_unit *)pp->unitptr;
		
	if (! TSIP_decode(peer)) return;
	
	if (up->polled <= 0) 
	    return;   /* no poll pending, already received or timeout */

	up->polled = 0;  /* Poll reply received */
	pp->lencode = 0; /* clear time code */
#ifdef DEBUG
	if (debug) 
		printf(
	"palisade_receive: unit %d: %4d %03d %02d:%02d:%02d.%06ld\n",
			up->unit, pp->year, pp->day, pp->hour, pp->minute, 
			pp->second, pp->nsec);
#endif

	/*
	 * Process the sample
	 * Generate timecode: YYYY DoY HH:MM:SS.microsec 
	 * report and process 
	 */

	(void) sprintf(pp->a_lastcode,"%4d %03d %02d:%02d:%02d.%06ld",
		   pp->year,pp->day,pp->hour,pp->minute, pp->second,pp->nsec); 
	pp->lencode = 24;

#ifdef PALISADE
    	pp->lasttime = current_time;
#endif
	if (!refclock_process(pp
#ifdef PALISADE
		, PALISADE_SAMPLES, PALISADE_SAMPLES * 3 / 5
#endif
		)) {
		refclock_report(peer, CEVNT_BADTIME);

#ifdef DEBUG
		printf("palisade_receive: unit %d: refclock_process failed!\n",
			up->unit);
#endif
		return;
	}

	record_clock_stats(&peer->srcadr, pp->a_lastcode); 

#ifdef DEBUG
	if (debug)
	    printf("palisade_receive: unit %d: %s\n",
		   up->unit, prettydate(&pp->lastrec));
#endif
	pp->lastref = pp->lastrec;
	refclock_receive(peer
#ifdef PALISADE
		, &pp->offset, 0, pp->dispersion,
              &pp->lastrec, &pp->lastrec, pp->leap		
#endif		
		);
}


/*
 * palisade_poll - called by the transmit procedure
 *
 */
static void
palisade_poll (
#ifdef PALISADE
	unit, peer
	)
	int unit;
	struct peer *peer;
#else
	int unit,
	struct peer *peer
	)
#endif
{
	struct palisade_unit *up;
	struct refclockproc *pp;
	
	pp = peer->procptr;
	up = (struct palisade_unit *)pp->unitptr;

	pp->polls++;
	if (up->polled > 0) /* last reply never arrived or error */ 
	    refclock_report(peer, CEVNT_TIMEOUT);

	up->polled = 2; /* synchronous packet + 1 event */
	
#ifdef DEBUG
	if (debug)
	    printf("palisade_poll: unit %d: polling %s\n", unit,
		   (pp->sloppyclockflag & CLK_FLAG2) ? 
			"synchronous packet" : "event");
#endif 

	if (pp->sloppyclockflag & CLK_FLAG2) 
	    return;  /* using synchronous packet input */

	if(up->type == CLK_PRAECIS) {
		if(write(peer->procptr->io.fd,"SPSTAT\r\n",8) < 0)
			msyslog(LOG_ERR, "Palisade(%d) write: %m:",unit);
		else {
			praecis_msg = 1;
			return;
		}
	}

	if (HW_poll(pp) < 0) 
	    refclock_report(peer, CEVNT_FAULT); 
}

static void
praecis_parse(struct recvbuf *rbufp, struct peer *peer)
{
	static char buf[100];
	static int p = 0;
	struct refclockproc *pp;

	pp = peer->procptr;

	memcpy(buf+p,rbufp->recv_space.X_recv_buffer, rbufp->recv_length);
	p += rbufp->recv_length;

	if(buf[p-2] == '\r' && buf[p-1] == '\n') {
		buf[p-2] = '\0';
		record_clock_stats(&peer->srcadr, buf);

		p = 0;
		praecis_msg = 0;

		if (HW_poll(pp) < 0)
			refclock_report(peer, CEVNT_FAULT);

	}
}

static void
palisade_io (
#ifdef PALISADE
	rbufp
	)
	struct recvbuf *rbufp;
#else /* ANSI */
	struct recvbuf *rbufp
	)
#endif
{
	/*
	 * Initialize pointers and read the timecode and timestamp.
	 */
	struct palisade_unit *up;
	struct refclockproc *pp;
	struct peer *peer;

	char * c, * d;

	peer = (struct peer *)rbufp->recv_srcclock;
	pp = peer->procptr;
	up = (struct palisade_unit *)pp->unitptr;

	if(up->type == CLK_PRAECIS) {
		if(praecis_msg) {
			praecis_parse(rbufp,peer);
			return;
		}
	}

	c = (char *) &rbufp->recv_space;
	d = c + rbufp->recv_length;
		
	while (c != d) {

		/* Build time packet */
		switch (up->rpt_status) {

		    case TSIP_PARSED_DLE_1:
			switch (*c)
			{
			    case 0:
			    case DLE:
			    case ETX:
				up->rpt_status = TSIP_PARSED_EMPTY;
				break;

			    default:
				up->rpt_status = TSIP_PARSED_DATA;
				/* save packet ID */
				up->rpt_buf[0] = *c;
				break;
			}
			break;

		    case TSIP_PARSED_DATA:
			if (*c == DLE)
			    up->rpt_status = TSIP_PARSED_DLE_2;
			else 
			    mb(up->rpt_cnt++) = *c;
			break;

		    case TSIP_PARSED_DLE_2:
			if (*c == DLE) {
				up->rpt_status = TSIP_PARSED_DATA;
				mb(up->rpt_cnt++) = 
						*c;
			}       
			else if (*c == ETX) 
				    up->rpt_status = TSIP_PARSED_FULL;
			else 	{
                        	/* error: start new report packet */
				up->rpt_status = TSIP_PARSED_DLE_1;
				up->rpt_buf[0] = *c;
			}
			break;

		    case TSIP_PARSED_FULL:
		    case TSIP_PARSED_EMPTY:
		    default:
		        if ( *c != DLE)
                          up->rpt_status = TSIP_PARSED_EMPTY;
                else 
                          up->rpt_status = TSIP_PARSED_DLE_1;
                        break;
		}
		
		c++;

		if (up->rpt_status == TSIP_PARSED_DLE_1) {
		    up->rpt_cnt = 0;
			if (pp->sloppyclockflag & CLK_FLAG2) 
                		/* stamp it */
                       	get_systime(&pp->lastrec);
		}
		else if (up->rpt_status == TSIP_PARSED_EMPTY)
		    	up->rpt_cnt = 0;

		else if (up->rpt_cnt > BMAX) 
			up->rpt_status =TSIP_PARSED_EMPTY;

		if (up->rpt_status == TSIP_PARSED_FULL) 
			palisade_receive(peer);

	} /* while chars in buffer */
}


/*
 * Trigger the Palisade's event input, which is driven off the RTS
 *
 * Take a system time stamp to match the GPS time stamp.
 *
 */
long
HW_poll (
#ifdef PALISADE
	pp 	/* pointer to unit structure */
	)
	struct refclockproc * pp;	/* pointer to unit structure */
#else
	struct refclockproc * pp 	/* pointer to unit structure */
	)
#endif
{	
	int x;	/* state before & after RTS set */
	struct palisade_unit *up;

	up = (struct palisade_unit *) pp->unitptr;

	/* read the current status, so we put things back right */
	if (ioctl(pp->io.fd, TIOCMGET, &x) < 0) {
#ifdef DEBUG
	if (debug)
	    printf("Palisade HW_poll: unit %d: GET %s\n", up->unit, strerror(errno));
#endif
		msyslog(LOG_ERR, "Palisade(%d) HW_poll: ioctl(fd,GET): %m", 
			up->unit);
		return -1;
	}
  
	x |= TIOCM_RTS;        /* turn on RTS  */

	/* Edge trigger */
	if (ioctl(pp->io.fd, TIOCMSET, &x) < 0) { 
#ifdef DEBUG
	if (debug)
	    printf("Palisade HW_poll: unit %d: SET \n", up->unit);
#endif
		msyslog(LOG_ERR,
			"Palisade(%d) HW_poll: ioctl(fd, SET, RTS_on): %m", 
			up->unit);
		return -1;
	}

	x &= ~TIOCM_RTS;        /* turn off RTS  */
	
	/* poll timestamp */
	get_systime(&pp->lastrec);

	if (ioctl(pp->io.fd, TIOCMSET, &x) == -1) {
#ifdef DEBUG
	if (debug)
	    printf("Palisade HW_poll: unit %d: UNSET \n", up->unit);
#endif
		msyslog(LOG_ERR,
			"Palisade(%d) HW_poll: ioctl(fd, UNSET, RTS_off): %m", 
			up->unit);
		return -1;
	}

	return 0;
}

#if 0 /* unused */
/*
 * this 'casts' a character array into a float
 */
float
getfloat (
#ifdef PALISADE
	bp
	)
	u_char *bp;
#else
	u_char *bp
	)
#endif
{
	float sval;
#ifdef WORDS_BIGENDIAN 
	((char *) &sval)[0] = *bp++;
	((char *) &sval)[1] = *bp++;
	((char *) &sval)[2] = *bp++;
	((char *) &sval)[3] = *bp++;
#else
	((char *) &sval)[3] = *bp++;
	((char *) &sval)[2] = *bp++;
	((char *) &sval)[1] = *bp++;
	((char *) &sval)[0] = *bp;
#endif  /* ! XNTP_BIG_ENDIAN */ 
	return sval;
}
#endif

/*
 * this 'casts' a character array into a double
 */
double
getdbl (
#ifdef PALISADE
	bp
	)
	u_char *bp;
#else
	u_char *bp
	)
#endif
{
	double dval;
#ifdef WORDS_BIGENDIAN 
	((char *) &dval)[0] = *bp++;
	((char *) &dval)[1] = *bp++;
	((char *) &dval)[2] = *bp++;
	((char *) &dval)[3] = *bp++;
	((char *) &dval)[4] = *bp++;
	((char *) &dval)[5] = *bp++;
	((char *) &dval)[6] = *bp++;
	((char *) &dval)[7] = *bp;
#else
	((char *) &dval)[7] = *bp++;
	((char *) &dval)[6] = *bp++;
	((char *) &dval)[5] = *bp++;
	((char *) &dval)[4] = *bp++;
	((char *) &dval)[3] = *bp++;
	((char *) &dval)[2] = *bp++;
	((char *) &dval)[1] = *bp++;
	((char *) &dval)[0] = *bp;
#endif  /* ! XNTP_BIG_ENDIAN */ 
	return dval;
}

/*
 * cast a 16 bit character array into a short (16 bit) int
 */
short
getint (
#ifdef PALISADE
	bp
	)
	u_char *bp;
#else
	u_char *bp
	)
#endif
{
return (short) (bp[1] + (bp[0] << 8));
}

#else
int refclock_palisade_bs;
#endif /* REFCLOCK */