1138 lines
29 KiB
C
1138 lines
29 KiB
C
/*
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* Copyright (c) 1997, 1998, 2003
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* The Regents of the University of California. 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 the University of
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* California, Lawrence Berkeley Laboratory.
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* 4. The name of the University may not be used to endorse or promote
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* 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 THE REGENTS AND CONTRIBUTORS ``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 THE REGENTS OR CONTRIBUTORS 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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#ifdef HAVE_CONFIG_H
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# include <config.h>
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#endif
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#if defined(REFCLOCK) && defined(CLOCK_JUPITER) && defined(HAVE_PPSAPI)
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#include "ntpd.h"
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#include "ntp_io.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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#include <stdio.h>
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#include <ctype.h>
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#include "jupiter.h"
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#ifdef HAVE_PPSAPI
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# include "ppsapi_timepps.h"
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#endif
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#ifdef XNTP_BIG_ENDIAN
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#define getshort(s) ((((s) & 0xff) << 8) | (((s) >> 8) & 0xff))
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#define putshort(s) ((((s) & 0xff) << 8) | (((s) >> 8) & 0xff))
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#else
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#define getshort(s) (s)
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#define putshort(s) (s)
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#endif
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/* XXX */
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#ifdef sun
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char *strerror(int);
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#endif
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/*
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* This driver supports the Rockwell Jupiter GPS Receiver board
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* adapted to precision timing applications. It requires the
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* ppsclock line discipline or streams module described in the
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* Line Disciplines and Streams Drivers page. It also requires a
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* gadget box and 1-PPS level converter, such as described in the
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* Pulse-per-second (PPS) Signal Interfacing page.
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*
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* It may work (with minor modifications) with other Rockwell GPS
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* receivers such as the CityTracker.
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*/
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/*
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* GPS Definitions
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*/
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#define DEVICE "/dev/gps%d" /* device name and unit */
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#define SPEED232 B9600 /* baud */
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/*
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* Radio interface parameters
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*/
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#define PRECISION (-18) /* precision assumed (about 4 us) */
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#define REFID "GPS\0" /* reference id */
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#define DESCRIPTION "Rockwell Jupiter GPS Receiver" /* who we are */
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#define DEFFUDGETIME 0 /* default fudge time (ms) */
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/* Unix timestamp for the GPS epoch: January 6, 1980 */
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#define GPS_EPOCH 315964800
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/* Double short to unsigned int */
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#define DS2UI(p) ((getshort((p)[1]) << 16) | getshort((p)[0]))
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/* Double short to signed int */
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#define DS2I(p) ((getshort((p)[1]) << 16) | getshort((p)[0]))
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/* One week's worth of seconds */
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#define WEEKSECS (7 * 24 * 60 * 60)
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/*
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* Jupiter unit control structure.
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*/
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struct instance {
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struct peer *peer; /* peer */
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u_int pollcnt; /* poll message counter */
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u_int polled; /* Hand in a time sample? */
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#ifdef HAVE_PPSAPI
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pps_params_t pps_params; /* pps parameters */
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pps_info_t pps_info; /* last pps data */
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pps_handle_t pps_handle; /* pps handle */
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u_int assert; /* pps edge to use */
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u_int hardpps; /* enable kernel mode */
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struct timespec ts; /* last timestamp */
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#endif
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l_fp limit;
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u_int gpos_gweek; /* Current GPOS GPS week number */
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u_int gpos_sweek; /* Current GPOS GPS seconds into week */
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u_int gweek; /* current GPS week number */
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u_int32 lastsweek; /* last seconds into GPS week */
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time_t timecode; /* current ntp timecode */
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u_int32 stime; /* used to detect firmware bug */
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int wantid; /* don't reconfig on channel id msg */
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u_int moving; /* mobile platform? */
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u_char sloppyclockflag; /* fudge flags */
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u_short sbuf[512]; /* local input buffer */
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int ssize; /* space used in sbuf */
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};
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/*
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* Function prototypes
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*/
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static void jupiter_canmsg P((struct instance *, u_int));
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static u_short jupiter_cksum P((u_short *, u_int));
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static int jupiter_config P((struct instance *));
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static void jupiter_debug P((struct peer *, char *, char *, ...))
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__attribute__ ((format (printf, 3, 4)));
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static char * jupiter_parse_t P((struct instance *, u_short *));
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static char * jupiter_parse_gpos P((struct instance *, u_short *));
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static void jupiter_platform P((struct instance *, u_int));
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static void jupiter_poll P((int, struct peer *));
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static void jupiter_control P((int, struct refclockstat *, struct
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refclockstat *, struct peer *));
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#ifdef HAVE_PPSAPI
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static int jupiter_ppsapi P((struct instance *));
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static int jupiter_pps P((struct instance *));
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#endif /* HAVE_PPSAPI */
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static int jupiter_recv P((struct instance *));
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static void jupiter_receive P((struct recvbuf *rbufp));
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static void jupiter_reqmsg P((struct instance *, u_int, u_int));
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static void jupiter_reqonemsg P((struct instance *, u_int));
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static char * jupiter_send P((struct instance *, struct jheader *));
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static void jupiter_shutdown P((int, struct peer *));
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static int jupiter_start P((int, struct peer *));
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/*
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* Transfer vector
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*/
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struct refclock refclock_jupiter = {
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jupiter_start, /* start up driver */
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jupiter_shutdown, /* shut down driver */
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jupiter_poll, /* transmit poll message */
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jupiter_control, /* (clock control) */
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noentry, /* (clock init) */
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noentry, /* (clock buginfo) */
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NOFLAGS /* not used */
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};
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/*
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* jupiter_start - open the devices and initialize data for processing
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*/
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static int
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jupiter_start(
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int unit,
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struct peer *peer
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)
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{
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struct refclockproc *pp;
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struct instance *instance;
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int fd = -1;
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char gpsdev[20];
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/*
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* Open serial port
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*/
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(void)sprintf(gpsdev, DEVICE, unit);
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fd = refclock_open(gpsdev, SPEED232, LDISC_RAW);
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if (fd == 0) {
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jupiter_debug(peer, "jupiter_start", "open %s: %s",
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gpsdev, strerror(errno));
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return (0);
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}
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/* Allocate unit structure */
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if ((instance = (struct instance *)
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emalloc(sizeof(struct instance))) == NULL) {
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(void) close(fd);
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return (0);
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}
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memset((char *)instance, 0, sizeof(struct instance));
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instance->peer = peer;
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pp = peer->procptr;
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pp->io.clock_recv = jupiter_receive;
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pp->io.srcclock = (caddr_t)peer;
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pp->io.datalen = 0;
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pp->io.fd = fd;
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if (!io_addclock(&pp->io)) {
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(void) close(fd);
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free(instance);
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return (0);
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}
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pp->unitptr = (caddr_t)instance;
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/*
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* Initialize miscellaneous variables
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*/
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peer->precision = PRECISION;
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pp->clockdesc = DESCRIPTION;
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memcpy((char *)&pp->refid, REFID, 4);
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#ifdef HAVE_PPSAPI
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instance->assert = 1;
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instance->hardpps = 0;
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/*
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* Start the PPSAPI interface if it is there. Default to use
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* the assert edge and do not enable the kernel hardpps.
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*/
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if (time_pps_create(fd, &instance->pps_handle) < 0) {
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instance->pps_handle = 0;
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msyslog(LOG_ERR,
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"refclock_jupiter: time_pps_create failed: %m");
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}
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else if (!jupiter_ppsapi(instance))
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goto clean_up;
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#endif /* HAVE_PPSAPI */
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/* Ensure the receiver is properly configured */
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if (!jupiter_config(instance))
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goto clean_up;
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return (1);
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clean_up:
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jupiter_shutdown(unit, peer);
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pp->unitptr = 0;
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return (0);
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}
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/*
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* jupiter_shutdown - shut down the clock
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*/
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static void
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jupiter_shutdown(int unit, struct peer *peer)
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{
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struct instance *instance;
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struct refclockproc *pp;
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pp = peer->procptr;
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instance = (struct instance *)pp->unitptr;
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if (!instance)
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return;
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#ifdef HAVE_PPSAPI
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if (instance->pps_handle) {
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time_pps_destroy(instance->pps_handle);
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instance->pps_handle = 0;
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}
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#endif /* HAVE_PPSAPI */
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io_closeclock(&pp->io);
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free(instance);
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}
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/*
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* jupiter_config - Configure the receiver
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*/
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static int
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jupiter_config(struct instance *instance)
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{
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jupiter_debug(instance->peer, "jupiter_config", "init receiver");
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/*
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* Initialize the unit variables
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*/
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instance->sloppyclockflag = instance->peer->procptr->sloppyclockflag;
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instance->moving = !!(instance->sloppyclockflag & CLK_FLAG2);
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if (instance->moving)
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jupiter_debug(instance->peer, "jupiter_config",
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"mobile platform");
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instance->pollcnt = 2;
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instance->polled = 0;
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instance->gpos_gweek = 0;
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instance->gpos_sweek = 0;
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instance->gweek = 0;
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instance->lastsweek = 2 * WEEKSECS;
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instance->timecode = 0;
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instance->stime = 0;
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instance->ssize = 0;
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/* Stop outputting all messages */
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jupiter_canmsg(instance, JUPITER_ALL);
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/* Request the receiver id so we can syslog the firmware version */
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jupiter_reqonemsg(instance, JUPITER_O_ID);
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/* Flag that this the id was requested (so we don't get called again) */
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instance->wantid = 1;
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/* Request perodic time mark pulse messages */
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jupiter_reqmsg(instance, JUPITER_O_PULSE, 1);
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/* Request perodic geodetic position status */
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jupiter_reqmsg(instance, JUPITER_O_GPOS, 1);
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/* Set application platform type */
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if (instance->moving)
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jupiter_platform(instance, JUPITER_I_PLAT_MED);
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else
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jupiter_platform(instance, JUPITER_I_PLAT_LOW);
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return (1);
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}
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#ifdef HAVE_PPSAPI
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/*
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* Initialize PPSAPI
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*/
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int
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jupiter_ppsapi(
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struct instance *instance /* unit structure pointer */
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)
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{
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int capability;
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if (time_pps_getcap(instance->pps_handle, &capability) < 0) {
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msyslog(LOG_ERR,
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"refclock_jupiter: time_pps_getcap failed: %m");
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return (0);
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}
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memset(&instance->pps_params, 0, sizeof(pps_params_t));
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if (!instance->assert)
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instance->pps_params.mode = capability & PPS_CAPTURECLEAR;
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else
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instance->pps_params.mode = capability & PPS_CAPTUREASSERT;
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if (!(instance->pps_params.mode & (PPS_CAPTUREASSERT | PPS_CAPTURECLEAR))) {
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msyslog(LOG_ERR,
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"refclock_jupiter: invalid capture edge %d",
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instance->assert);
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return (0);
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}
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instance->pps_params.mode |= PPS_TSFMT_TSPEC;
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if (time_pps_setparams(instance->pps_handle, &instance->pps_params) < 0) {
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msyslog(LOG_ERR,
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"refclock_jupiter: time_pps_setparams failed: %m");
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return (0);
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}
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if (instance->hardpps) {
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if (time_pps_kcbind(instance->pps_handle, PPS_KC_HARDPPS,
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instance->pps_params.mode & ~PPS_TSFMT_TSPEC,
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PPS_TSFMT_TSPEC) < 0) {
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msyslog(LOG_ERR,
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"refclock_jupiter: time_pps_kcbind failed: %m");
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return (0);
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}
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pps_enable = 1;
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}
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/* instance->peer->precision = PPS_PRECISION; */
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#if DEBUG
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if (debug) {
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time_pps_getparams(instance->pps_handle, &instance->pps_params);
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jupiter_debug(instance->peer, "refclock_jupiter",
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"pps capability 0x%x version %d mode 0x%x kern %d",
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capability, instance->pps_params.api_version,
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instance->pps_params.mode, instance->hardpps);
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}
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#endif
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return (1);
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}
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/*
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* Get PPSAPI timestamps.
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*
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* Return 0 on failure and 1 on success.
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*/
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static int
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jupiter_pps(struct instance *instance)
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{
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pps_info_t pps_info;
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struct timespec timeout, ts;
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double dtemp;
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l_fp tstmp;
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/*
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* Convert the timespec nanoseconds field to ntp l_fp units.
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*/
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if (instance->pps_handle == 0)
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return 1;
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timeout.tv_sec = 0;
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timeout.tv_nsec = 0;
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memcpy(&pps_info, &instance->pps_info, sizeof(pps_info_t));
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if (time_pps_fetch(instance->pps_handle, PPS_TSFMT_TSPEC, &instance->pps_info,
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&timeout) < 0)
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return 1;
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if (instance->pps_params.mode & PPS_CAPTUREASSERT) {
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if (pps_info.assert_sequence ==
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instance->pps_info.assert_sequence)
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return 1;
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ts = instance->pps_info.assert_timestamp;
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} else if (instance->pps_params.mode & PPS_CAPTURECLEAR) {
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if (pps_info.clear_sequence ==
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instance->pps_info.clear_sequence)
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return 1;
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ts = instance->pps_info.clear_timestamp;
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} else {
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return 1;
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}
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if ((instance->ts.tv_sec == ts.tv_sec) && (instance->ts.tv_nsec == ts.tv_nsec))
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return 1;
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instance->ts = ts;
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tstmp.l_ui = ts.tv_sec + JAN_1970;
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dtemp = ts.tv_nsec * FRAC / 1e9;
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tstmp.l_uf = (u_int32)dtemp;
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instance->peer->procptr->lastrec = tstmp;
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return 0;
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}
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#endif /* HAVE_PPSAPI */
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|
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/*
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* jupiter_poll - jupiter watchdog routine
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*/
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static void
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jupiter_poll(int unit, struct peer *peer)
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{
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struct instance *instance;
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struct refclockproc *pp;
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pp = peer->procptr;
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instance = (struct instance *)pp->unitptr;
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|
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/*
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* You don't need to poll this clock. It puts out timecodes
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* once per second. If asked for a timestamp, take note.
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* The next time a timecode comes in, it will be fed back.
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*/
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/*
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* If we haven't had a response in a while, reset the receiver.
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*/
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if (instance->pollcnt > 0) {
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instance->pollcnt--;
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} else {
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refclock_report(peer, CEVNT_TIMEOUT);
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|
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/* Request the receiver id to trigger a reconfig */
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jupiter_reqonemsg(instance, JUPITER_O_ID);
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instance->wantid = 0;
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}
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|
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/*
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* polled every 64 seconds. Ask jupiter_receive to hand in
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* a timestamp.
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*/
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instance->polled = 1;
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pp->polls++;
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}
|
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|
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/*
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* jupiter_control - fudge control
|
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*/
|
|
static void
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jupiter_control(
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int unit, /* unit (not used) */
|
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struct refclockstat *in, /* input parameters (not used) */
|
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struct refclockstat *out, /* output parameters (not used) */
|
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struct peer *peer /* peer structure pointer */
|
|
)
|
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{
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struct refclockproc *pp;
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struct instance *instance;
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u_char sloppyclockflag;
|
|
|
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pp = peer->procptr;
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instance = (struct instance *)pp->unitptr;
|
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|
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DTOLFP(pp->fudgetime2, &instance->limit);
|
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/* Force positive value. */
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if (L_ISNEG(&instance->limit))
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L_NEG(&instance->limit);
|
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|
|
#ifdef HAVE_PPSAPI
|
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instance->assert = !(pp->sloppyclockflag & CLK_FLAG3);
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jupiter_ppsapi(instance);
|
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#endif /* HAVE_PPSAPI */
|
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|
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sloppyclockflag = instance->sloppyclockflag;
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instance->sloppyclockflag = pp->sloppyclockflag;
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if ((instance->sloppyclockflag & CLK_FLAG2) !=
|
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(sloppyclockflag & CLK_FLAG2)) {
|
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jupiter_debug(peer,
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"jupiter_control",
|
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"mode switch: reset receiver");
|
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jupiter_config(instance);
|
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return;
|
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}
|
|
}
|
|
|
|
/*
|
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* jupiter_receive - receive gps data
|
|
* Gag me!
|
|
*/
|
|
static void
|
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jupiter_receive(struct recvbuf *rbufp)
|
|
{
|
|
int bpcnt, cc, size, ppsret;
|
|
time_t last_timecode;
|
|
u_int32 laststime;
|
|
char *cp;
|
|
u_char *bp;
|
|
u_short *sp;
|
|
struct jid *ip;
|
|
struct jheader *hp;
|
|
struct peer *peer;
|
|
struct refclockproc *pp;
|
|
struct instance *instance;
|
|
l_fp tstamp;
|
|
|
|
/* Initialize pointers and read the timecode and timestamp */
|
|
peer = (struct peer *)rbufp->recv_srcclock;
|
|
pp = peer->procptr;
|
|
instance = (struct instance *)pp->unitptr;
|
|
|
|
bp = (u_char *)rbufp->recv_buffer;
|
|
bpcnt = rbufp->recv_length;
|
|
|
|
/* This shouldn't happen */
|
|
if (bpcnt > sizeof(instance->sbuf) - instance->ssize)
|
|
bpcnt = sizeof(instance->sbuf) - instance->ssize;
|
|
|
|
/* Append to input buffer */
|
|
memcpy((u_char *)instance->sbuf + instance->ssize, bp, bpcnt);
|
|
instance->ssize += bpcnt;
|
|
|
|
/* While there's at least a header and we parse an intact message */
|
|
while (instance->ssize > sizeof(*hp) && (cc = jupiter_recv(instance)) > 0) {
|
|
instance->pollcnt = 2;
|
|
|
|
tstamp = rbufp->recv_time;
|
|
hp = (struct jheader *)instance->sbuf;
|
|
sp = (u_short *)(hp + 1);
|
|
size = cc - sizeof(*hp);
|
|
switch (getshort(hp->id)) {
|
|
|
|
case JUPITER_O_PULSE:
|
|
if (size != sizeof(struct jpulse)) {
|
|
jupiter_debug(peer,
|
|
"jupiter_receive", "pulse: len %d != %u",
|
|
size, (int)sizeof(struct jpulse));
|
|
refclock_report(peer, CEVNT_BADREPLY);
|
|
break;
|
|
}
|
|
|
|
/*
|
|
* There appears to be a firmware bug related
|
|
* to the pulse message; in addition to the one
|
|
* per second messages, we get an extra pulse
|
|
* message once an hour (on the anniversary of
|
|
* the cold start). It seems to come 200 ms
|
|
* after the one requested. So if we've seen a
|
|
* pulse message in the last 210 ms, we skip
|
|
* this one.
|
|
*/
|
|
laststime = instance->stime;
|
|
instance->stime = DS2UI(((struct jpulse *)sp)->stime);
|
|
if (laststime != 0 && instance->stime - laststime <= 21) {
|
|
jupiter_debug(peer, "jupiter_receive",
|
|
"avoided firmware bug (stime %.2f, laststime %.2f)",
|
|
(double)instance->stime * 0.01, (double)laststime * 0.01);
|
|
break;
|
|
}
|
|
|
|
/* Retrieve pps timestamp */
|
|
ppsret = jupiter_pps(instance);
|
|
|
|
/*
|
|
* Add one second if msg received early
|
|
* (i.e. before limit, a.k.a. fudgetime2) in
|
|
* the second.
|
|
*/
|
|
L_SUB(&tstamp, &pp->lastrec);
|
|
if (!L_ISGEQ(&tstamp, &instance->limit))
|
|
++pp->lastrec.l_ui;
|
|
|
|
/* Parse timecode (even when there's no pps) */
|
|
last_timecode = instance->timecode;
|
|
if ((cp = jupiter_parse_t(instance, sp)) != NULL) {
|
|
jupiter_debug(peer,
|
|
"jupiter_receive", "pulse: %s", cp);
|
|
break;
|
|
}
|
|
|
|
/* Bail if we didn't get a pps timestamp */
|
|
if (ppsret)
|
|
break;
|
|
|
|
/* Bail if we don't have the last timecode yet */
|
|
if (last_timecode == 0)
|
|
break;
|
|
|
|
/* Add the new sample to a median filter */
|
|
tstamp.l_ui = JAN_1970 + last_timecode;
|
|
tstamp.l_uf = 0;
|
|
|
|
refclock_process_offset(pp, tstamp, pp->lastrec, pp->fudgetime1);
|
|
|
|
/*
|
|
* The clock will blurt a timecode every second
|
|
* but we only want one when polled. If we
|
|
* havn't been polled, bail out.
|
|
*/
|
|
if (!instance->polled)
|
|
break;
|
|
instance->polled = 0;
|
|
|
|
/*
|
|
* It's a live one! Remember this time.
|
|
*/
|
|
|
|
pp->lastref = pp->lastrec;
|
|
refclock_receive(peer);
|
|
|
|
/*
|
|
* If we get here - what we got from the clock is
|
|
* OK, so say so
|
|
*/
|
|
refclock_report(peer, CEVNT_NOMINAL);
|
|
|
|
/*
|
|
* We have succeeded in answering the poll.
|
|
* Turn off the flag and return
|
|
*/
|
|
instance->polled = 0;
|
|
break;
|
|
|
|
case JUPITER_O_GPOS:
|
|
if (size != sizeof(struct jgpos)) {
|
|
jupiter_debug(peer,
|
|
"jupiter_receive", "gpos: len %d != %u",
|
|
size, (int)sizeof(struct jgpos));
|
|
refclock_report(peer, CEVNT_BADREPLY);
|
|
break;
|
|
}
|
|
|
|
if ((cp = jupiter_parse_gpos(instance, sp)) != NULL) {
|
|
jupiter_debug(peer,
|
|
"jupiter_receive", "gpos: %s", cp);
|
|
break;
|
|
}
|
|
break;
|
|
|
|
case JUPITER_O_ID:
|
|
if (size != sizeof(struct jid)) {
|
|
jupiter_debug(peer,
|
|
"jupiter_receive", "id: len %d != %u",
|
|
size, (int)sizeof(struct jid));
|
|
refclock_report(peer, CEVNT_BADREPLY);
|
|
break;
|
|
}
|
|
/*
|
|
* If we got this message because the Jupiter
|
|
* just powered instance, it needs to be reconfigured.
|
|
*/
|
|
ip = (struct jid *)sp;
|
|
jupiter_debug(peer,
|
|
"jupiter_receive", "%s chan ver %s, %s (%s)",
|
|
ip->chans, ip->vers, ip->date, ip->opts);
|
|
msyslog(LOG_DEBUG,
|
|
"jupiter_receive: %s chan ver %s, %s (%s)",
|
|
ip->chans, ip->vers, ip->date, ip->opts);
|
|
if (instance->wantid)
|
|
instance->wantid = 0;
|
|
else {
|
|
jupiter_debug(peer,
|
|
"jupiter_receive", "reset receiver");
|
|
jupiter_config(instance);
|
|
/*
|
|
* Restore since jupiter_config() just
|
|
* zeroed it
|
|
*/
|
|
instance->ssize = cc;
|
|
}
|
|
break;
|
|
|
|
default:
|
|
jupiter_debug(peer,
|
|
"jupiter_receive", "unknown message id %d",
|
|
getshort(hp->id));
|
|
break;
|
|
}
|
|
instance->ssize -= cc;
|
|
if (instance->ssize < 0) {
|
|
fprintf(stderr, "jupiter_recv: negative ssize!\n");
|
|
abort();
|
|
} else if (instance->ssize > 0)
|
|
memcpy(instance->sbuf, (u_char *)instance->sbuf + cc, instance->ssize);
|
|
}
|
|
}
|
|
|
|
static char *
|
|
jupiter_parse_t(struct instance *instance, u_short *sp)
|
|
{
|
|
struct tm *tm;
|
|
char *cp;
|
|
struct jpulse *jp;
|
|
u_int32 sweek;
|
|
time_t last_timecode;
|
|
u_short flags;
|
|
|
|
jp = (struct jpulse *)sp;
|
|
|
|
/* The timecode is presented as seconds into the current GPS week */
|
|
sweek = DS2UI(jp->sweek) % WEEKSECS;
|
|
|
|
/*
|
|
* If we don't know the current GPS week, calculate it from the
|
|
* current time. (It's too bad they didn't include this
|
|
* important value in the pulse message). We'd like to pick it
|
|
* up from one of the other messages like gpos or chan but they
|
|
* don't appear to be synchronous with time keeping and changes
|
|
* too soon (something like 10 seconds before the new GPS
|
|
* week).
|
|
*
|
|
* If we already know the current GPS week, increment it when
|
|
* we wrap into a new week.
|
|
*/
|
|
if (instance->gweek == 0) {
|
|
if (!instance->gpos_gweek) {
|
|
return ("jupiter_parse_t: Unknown gweek");
|
|
}
|
|
|
|
instance->gweek = instance->gpos_gweek;
|
|
|
|
/*
|
|
* Fix warps. GPOS has GPS time and PULSE has UTC.
|
|
* Plus, GPOS need not be completely in synch with
|
|
* the PPS signal.
|
|
*/
|
|
if (instance->gpos_sweek >= sweek) {
|
|
if ((instance->gpos_sweek - sweek) > WEEKSECS / 2)
|
|
++instance->gweek;
|
|
}
|
|
else {
|
|
if ((sweek - instance->gpos_sweek) > WEEKSECS / 2)
|
|
--instance->gweek;
|
|
}
|
|
}
|
|
else if (sweek == 0 && instance->lastsweek == WEEKSECS - 1) {
|
|
++instance->gweek;
|
|
jupiter_debug(instance->peer,
|
|
"jupiter_parse_t", "NEW gps week %u", instance->gweek);
|
|
}
|
|
|
|
/*
|
|
* See if the sweek stayed the same (this happens when there is
|
|
* no pps pulse).
|
|
*
|
|
* Otherwise, look for time warps:
|
|
*
|
|
* - we have stored at least one lastsweek and
|
|
* - the sweek didn't increase by one and
|
|
* - we didn't wrap to a new GPS week
|
|
*
|
|
* Then we warped.
|
|
*/
|
|
if (instance->lastsweek == sweek)
|
|
jupiter_debug(instance->peer,
|
|
"jupiter_parse_t", "gps sweek not incrementing (%d)",
|
|
sweek);
|
|
else if (instance->lastsweek != 2 * WEEKSECS &&
|
|
instance->lastsweek + 1 != sweek &&
|
|
!(sweek == 0 && instance->lastsweek == WEEKSECS - 1))
|
|
jupiter_debug(instance->peer,
|
|
"jupiter_parse_t", "gps sweek jumped (was %d, now %d)",
|
|
instance->lastsweek, sweek);
|
|
instance->lastsweek = sweek;
|
|
|
|
/* This timecode describes next pulse */
|
|
last_timecode = instance->timecode;
|
|
instance->timecode =
|
|
GPS_EPOCH + (instance->gweek * WEEKSECS) + sweek;
|
|
|
|
if (last_timecode == 0)
|
|
/* XXX debugging */
|
|
jupiter_debug(instance->peer,
|
|
"jupiter_parse_t", "UTC <none> (gweek/sweek %u/%u)",
|
|
instance->gweek, sweek);
|
|
else {
|
|
/* XXX debugging */
|
|
tm = gmtime(&last_timecode);
|
|
cp = asctime(tm);
|
|
|
|
jupiter_debug(instance->peer,
|
|
"jupiter_parse_t", "UTC %.24s (gweek/sweek %u/%u)",
|
|
cp, instance->gweek, sweek);
|
|
|
|
/* Billboard last_timecode (which is now the current time) */
|
|
instance->peer->procptr->year = tm->tm_year + 1900;
|
|
instance->peer->procptr->day = tm->tm_yday + 1;
|
|
instance->peer->procptr->hour = tm->tm_hour;
|
|
instance->peer->procptr->minute = tm->tm_min;
|
|
instance->peer->procptr->second = tm->tm_sec;
|
|
}
|
|
|
|
flags = getshort(jp->flags);
|
|
|
|
/* Toss if not designated "valid" by the gps */
|
|
if ((flags & JUPITER_O_PULSE_VALID) == 0) {
|
|
refclock_report(instance->peer, CEVNT_BADTIME);
|
|
return ("time mark not valid");
|
|
}
|
|
|
|
/* We better be sync'ed to UTC... */
|
|
if ((flags & JUPITER_O_PULSE_UTC) == 0) {
|
|
refclock_report(instance->peer, CEVNT_BADTIME);
|
|
return ("time mark not sync'ed to UTC");
|
|
}
|
|
|
|
return (NULL);
|
|
}
|
|
|
|
static char *
|
|
jupiter_parse_gpos(struct instance *instance, u_short *sp)
|
|
{
|
|
struct jgpos *jg;
|
|
time_t t;
|
|
struct tm *tm;
|
|
char *cp;
|
|
|
|
jg = (struct jgpos *)sp;
|
|
|
|
if (jg->navval != 0) {
|
|
/*
|
|
* Solution not valid. Use caution and refuse
|
|
* to determine GPS week from this message.
|
|
*/
|
|
instance->gpos_gweek = 0;
|
|
instance->gpos_sweek = 0;
|
|
return ("Navigation solution not valid");
|
|
}
|
|
|
|
instance->gpos_gweek = jg->gweek;
|
|
instance->gpos_sweek = DS2UI(jg->sweek);
|
|
while(instance->gpos_sweek >= WEEKSECS) {
|
|
instance->gpos_sweek -= WEEKSECS;
|
|
++instance->gpos_gweek;
|
|
}
|
|
instance->gweek = 0;
|
|
|
|
t = GPS_EPOCH + (instance->gpos_gweek * WEEKSECS) + instance->gpos_sweek;
|
|
tm = gmtime(&t);
|
|
cp = asctime(tm);
|
|
|
|
jupiter_debug(instance->peer,
|
|
"jupiter_parse_g", "GPS %.24s (gweek/sweek %u/%u)",
|
|
cp, instance->gpos_gweek, instance->gpos_sweek);
|
|
return (NULL);
|
|
}
|
|
|
|
/*
|
|
* jupiter_debug - print debug messages
|
|
*/
|
|
#if defined(__STDC__) || defined(SYS_WINNT)
|
|
static void
|
|
jupiter_debug(struct peer *peer, char *function, char *fmt, ...)
|
|
#else
|
|
static void
|
|
jupiter_debug(peer, function, fmt, va_alist)
|
|
struct peer *peer;
|
|
char *function;
|
|
char *fmt;
|
|
#endif /* __STDC__ */
|
|
{
|
|
char buffer[200];
|
|
va_list ap;
|
|
|
|
#if defined(__STDC__) || defined(SYS_WINNT)
|
|
va_start(ap, fmt);
|
|
#else
|
|
va_start(ap);
|
|
#endif /* __STDC__ */
|
|
/*
|
|
* Print debug message to stdout
|
|
* In the future, we may want to get get more creative...
|
|
*/
|
|
vsnprintf(buffer, sizeof(buffer), fmt, ap);
|
|
record_clock_stats(&(peer->srcadr), buffer);
|
|
#ifdef DEBUG
|
|
if (debug) {
|
|
fprintf(stdout, "%s: ", function);
|
|
fprintf(stdout, buffer);
|
|
fprintf(stdout, "\n");
|
|
fflush(stdout);
|
|
}
|
|
#endif
|
|
|
|
va_end(ap);
|
|
}
|
|
|
|
/* Checksum and transmit a message to the Jupiter */
|
|
static char *
|
|
jupiter_send(struct instance *instance, struct jheader *hp)
|
|
{
|
|
u_int len, size;
|
|
int cc;
|
|
u_short *sp;
|
|
static char errstr[132];
|
|
|
|
size = sizeof(*hp);
|
|
hp->hsum = putshort(jupiter_cksum((u_short *)hp,
|
|
(size / sizeof(u_short)) - 1));
|
|
len = getshort(hp->len);
|
|
if (len > 0) {
|
|
sp = (u_short *)(hp + 1);
|
|
sp[len] = putshort(jupiter_cksum(sp, len));
|
|
size += (len + 1) * sizeof(u_short);
|
|
}
|
|
|
|
if ((cc = write(instance->peer->procptr->io.fd, (char *)hp, size)) < 0) {
|
|
(void)sprintf(errstr, "write: %s", strerror(errno));
|
|
return (errstr);
|
|
} else if (cc != size) {
|
|
(void)sprintf(errstr, "short write (%d != %d)", cc, size);
|
|
return (errstr);
|
|
}
|
|
return (NULL);
|
|
}
|
|
|
|
/* Request periodic message output */
|
|
static struct {
|
|
struct jheader jheader;
|
|
struct jrequest jrequest;
|
|
} reqmsg = {
|
|
{ putshort(JUPITER_SYNC), 0,
|
|
putshort((sizeof(struct jrequest) / sizeof(u_short)) - 1),
|
|
0, JUPITER_FLAG_REQUEST | JUPITER_FLAG_NAK |
|
|
JUPITER_FLAG_CONN | JUPITER_FLAG_LOG, 0 },
|
|
{ 0, 0, 0, 0 }
|
|
};
|
|
|
|
/* An interval of zero means to output on trigger */
|
|
static void
|
|
jupiter_reqmsg(struct instance *instance, u_int id,
|
|
u_int interval)
|
|
{
|
|
struct jheader *hp;
|
|
struct jrequest *rp;
|
|
char *cp;
|
|
|
|
hp = &reqmsg.jheader;
|
|
hp->id = putshort(id);
|
|
rp = &reqmsg.jrequest;
|
|
rp->trigger = putshort(interval == 0);
|
|
rp->interval = putshort(interval);
|
|
if ((cp = jupiter_send(instance, hp)) != NULL)
|
|
jupiter_debug(instance->peer, "jupiter_reqmsg", "%u: %s", id, cp);
|
|
}
|
|
|
|
/* Cancel periodic message output */
|
|
static struct jheader canmsg = {
|
|
putshort(JUPITER_SYNC), 0, 0, 0,
|
|
JUPITER_FLAG_REQUEST | JUPITER_FLAG_NAK | JUPITER_FLAG_DISC,
|
|
0
|
|
};
|
|
|
|
static void
|
|
jupiter_canmsg(struct instance *instance, u_int id)
|
|
{
|
|
struct jheader *hp;
|
|
char *cp;
|
|
|
|
hp = &canmsg;
|
|
hp->id = putshort(id);
|
|
if ((cp = jupiter_send(instance, hp)) != NULL)
|
|
jupiter_debug(instance->peer, "jupiter_canmsg", "%u: %s", id, cp);
|
|
}
|
|
|
|
/* Request a single message output */
|
|
static struct jheader reqonemsg = {
|
|
putshort(JUPITER_SYNC), 0, 0, 0,
|
|
JUPITER_FLAG_REQUEST | JUPITER_FLAG_NAK | JUPITER_FLAG_QUERY,
|
|
0
|
|
};
|
|
|
|
static void
|
|
jupiter_reqonemsg(struct instance *instance, u_int id)
|
|
{
|
|
struct jheader *hp;
|
|
char *cp;
|
|
|
|
hp = &reqonemsg;
|
|
hp->id = putshort(id);
|
|
if ((cp = jupiter_send(instance, hp)) != NULL)
|
|
jupiter_debug(instance->peer, "jupiter_reqonemsg", "%u: %s", id, cp);
|
|
}
|
|
|
|
/* Set the platform dynamics */
|
|
static struct {
|
|
struct jheader jheader;
|
|
struct jplat jplat;
|
|
} platmsg = {
|
|
{ putshort(JUPITER_SYNC), putshort(JUPITER_I_PLAT),
|
|
putshort((sizeof(struct jplat) / sizeof(u_short)) - 1), 0,
|
|
JUPITER_FLAG_REQUEST | JUPITER_FLAG_NAK, 0 },
|
|
{ 0, 0, 0 }
|
|
};
|
|
|
|
static void
|
|
jupiter_platform(struct instance *instance, u_int platform)
|
|
{
|
|
struct jheader *hp;
|
|
struct jplat *pp;
|
|
char *cp;
|
|
|
|
hp = &platmsg.jheader;
|
|
pp = &platmsg.jplat;
|
|
pp->platform = putshort(platform);
|
|
if ((cp = jupiter_send(instance, hp)) != NULL)
|
|
jupiter_debug(instance->peer, "jupiter_platform", "%u: %s", platform, cp);
|
|
}
|
|
|
|
/* Checksum "len" shorts */
|
|
static u_short
|
|
jupiter_cksum(u_short *sp, u_int len)
|
|
{
|
|
u_short sum, x;
|
|
|
|
sum = 0;
|
|
while (len-- > 0) {
|
|
x = *sp++;
|
|
sum += getshort(x);
|
|
}
|
|
return (~sum + 1);
|
|
}
|
|
|
|
/* Return the size of the next message (or zero if we don't have it all yet) */
|
|
static int
|
|
jupiter_recv(struct instance *instance)
|
|
{
|
|
int n, len, size, cc;
|
|
struct jheader *hp;
|
|
u_char *bp;
|
|
u_short *sp;
|
|
|
|
/* Must have at least a header's worth */
|
|
cc = sizeof(*hp);
|
|
size = instance->ssize;
|
|
if (size < cc)
|
|
return (0);
|
|
|
|
/* Search for the sync short if missing */
|
|
sp = instance->sbuf;
|
|
hp = (struct jheader *)sp;
|
|
if (getshort(hp->sync) != JUPITER_SYNC) {
|
|
/* Wasn't at the front, sync up */
|
|
jupiter_debug(instance->peer, "jupiter_recv", "syncing");
|
|
bp = (u_char *)sp;
|
|
n = size;
|
|
while (n >= 2) {
|
|
if (bp[0] != (JUPITER_SYNC & 0xff)) {
|
|
/*
|
|
jupiter_debug(instance->peer, "{0x%x}", bp[0]);
|
|
*/
|
|
++bp;
|
|
--n;
|
|
continue;
|
|
}
|
|
if (bp[1] == ((JUPITER_SYNC >> 8) & 0xff))
|
|
break;
|
|
/*
|
|
jupiter_debug(instance->peer, "{0x%x 0x%x}", bp[0], bp[1]);
|
|
*/
|
|
bp += 2;
|
|
n -= 2;
|
|
}
|
|
/*
|
|
jupiter_debug(instance->peer, "\n");
|
|
*/
|
|
/* Shuffle data to front of input buffer */
|
|
if (n > 0)
|
|
memcpy(sp, bp, n);
|
|
size = n;
|
|
instance->ssize = size;
|
|
if (size < cc || hp->sync != JUPITER_SYNC)
|
|
return (0);
|
|
}
|
|
|
|
if (jupiter_cksum(sp, (cc / sizeof(u_short) - 1)) !=
|
|
getshort(hp->hsum)) {
|
|
jupiter_debug(instance->peer, "jupiter_recv", "bad header checksum!");
|
|
/* This is drastic but checksum errors should be rare */
|
|
instance->ssize = 0;
|
|
return (0);
|
|
}
|
|
|
|
/* Check for a payload */
|
|
len = getshort(hp->len);
|
|
if (len > 0) {
|
|
n = (len + 1) * sizeof(u_short);
|
|
/* Not enough data yet */
|
|
if (size < cc + n)
|
|
return (0);
|
|
|
|
/* Check payload checksum */
|
|
sp = (u_short *)(hp + 1);
|
|
if (jupiter_cksum(sp, len) != getshort(sp[len])) {
|
|
jupiter_debug(instance->peer,
|
|
"jupiter_recv", "bad payload checksum!");
|
|
/* This is drastic but checksum errors should be rare */
|
|
instance->ssize = 0;
|
|
return (0);
|
|
}
|
|
cc += n;
|
|
}
|
|
return (cc);
|
|
}
|
|
|
|
#else /* not (REFCLOCK && CLOCK_JUPITER && HAVE_PPSAPI) */
|
|
int refclock_jupiter_bs;
|
|
#endif /* not (REFCLOCK && CLOCK_JUPITER && HAVE_PPSAPI) */
|