4084 lines
120 KiB
C
4084 lines
120 KiB
C
/*
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* ----------------------------------------------------------------------------
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* "THE BEER-WARE LICENSE" (Revision 42):
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* <phk@FreeBSD.ORG> wrote this file. As long as you retain this notice you
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* can do whatever you want with this stuff. If we meet some day, and you think
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* this stuff is worth it, you can buy me a beer in return. Poul-Henning Kamp
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* ----------------------------------------------------------------------------
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*
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* refclock_oncore.c
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*
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* Driver for some of the various the Motorola Oncore GPS receivers.
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* should work with Basic, PVT6, VP, UT, UT+, GT, GT+, SL, M12, M12+T
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* The receivers with TRAIM (VP, UT, UT+, M12+T), will be more accurate
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* than the others.
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* The receivers without position hold (GT, GT+) will be less accurate.
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*
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* Tested with:
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*
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* (UT) (VP)
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* COPYRIGHT 1991-1997 MOTOROLA INC. COPYRIGHT 1991-1996 MOTOROLA INC.
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* SFTW P/N # 98-P36848P SFTW P/N # 98-P36830P
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* SOFTWARE VER # 2 SOFTWARE VER # 8
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* SOFTWARE REV # 2 SOFTWARE REV # 8
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* SOFTWARE DATE APR 24 1998 SOFTWARE DATE 06 Aug 1996
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* MODEL # R1121N1114 MODEL # B4121P1155
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* HWDR P/N # 1 HDWR P/N # _
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* SERIAL # R0010A SERIAL # SSG0226478
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* MANUFACTUR DATE 6H07 MANUFACTUR DATE 7E02
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* OPTIONS LIST IB
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*
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* (Basic) (M12)
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* COPYRIGHT 1991-1994 MOTOROLA INC. COPYRIGHT 1991-2000 MOTOROLA INC.
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* SFTW P/N # 98-P39949M SFTW P/N # 61-G10002A
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* SOFTWARE VER # 5 SOFTWARE VER # 1
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* SOFTWARE REV # 0 SOFTWARE REV # 3
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* SOFTWARE DATE 20 JAN 1994 SOFTWARE DATE Mar 13 2000
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* MODEL # A11121P116 MODEL # P143T12NR1
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* HDWR P/N # _ HWDR P/N # 1
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* SERIAL # SSG0049809 SERIAL # P003UD
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* MANUFACTUR DATE 417AMA199 MANUFACTUR DATE 0C27
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* OPTIONS LIST AB
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*
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* (M12+T) (M12+T later version)
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* COPYRIGHT 1991-2002 MOTOROLA INC. COPYRIGHT 1991-2003 MOTOROLA INC.
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* SFTW P/N # 61-G10268A SFTW P/N # 61-G10268A
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* SOFTWARE VER # 2 SOFTWARE VER # 2
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* SOFTWARE REV # 0 SOFTWARE REV # 1
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* SOFTWARE DATE AUG 14 2002 SOFTWARE DATE APR 16 2003
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* MODEL # P283T12T11 MODEL # P273T12T12
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* HWDR P/N # 2 HWDR P/N # 2
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* SERIAL # P04DC2 SERIAL # P05Z7Z
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* MANUFACTUR DATE 2J17 MANUFACTUR DATE 3G15
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*
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* --------------------------------------------------------------------------
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* Reg Clemens (June 2009)
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* BUG[1220] OK, big patch, but mostly done mechanically. Change direct calls to write
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* to clockstats to a call to oncore_log, which now calls the old routine plus msyslog.
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* Have to set the LOG_LEVELS of the calls for msyslog, and this was done by hand. New
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* routine oncore_log.
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* --------------------------------------------------------------------------
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* Reg Clemens (June 2009)
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* BUG[1218] The comment on where the oncore driver gets its input file does not
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* agree with the code. Change the comment.
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* --------------------------------------------------------------------------
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* Reg Clemens (June 2009)
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* change exit statements to return(0) in main program. I had assumed that if the
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* PPS driver did not start for some reason, we shuould stop NTPD itelf. Others
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* disagree. We now give an ERR log message and stop this driver.
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* --------------------------------------------------------------------------
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* Reg Clemens (June 2009)
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* A bytes available message for the input subsystem (Debug message).
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* --------------------------------------------------------------------------
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* Reg Clemens (Nov 2008)
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* This code adds a message for TRAIM messages. Users often worry about the
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* driver not starting up, and it is often because of signal strength being low.
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* Low signal strength will give TRAIM messages.
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* --------------------------------------------------------------------------
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* Reg Clemens (Nov 2008)
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* Add waiting on Almanac Message.
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* --------------------------------------------------------------------------
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* Reg Clemens (Nov 2008)
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* Add back in @@Bl code to do the @@Bj/@@Gj that is in later ONCOREs
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* LEAP SECONDS: All of the ONCORE receivers, VP -> M12T have the @@Bj command
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* that says 'Leap Pending'. As documented it only becomes true in the month
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* before the leap second is to be applied, but in practice at least some of
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* the receivers turn this indicator on as soon as the message is posted, which
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* can be 6months early. As such, we use the Bj command to turn on the
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* instance->pp->leap indicator but only run this test in December and June for
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* updates on 1Jan and 1July.
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*
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* The @@Gj command exists in later ONCOREs, and it gives the exact date
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* and size of the Leap Update. It can be emulated in the VP using the @@Bl
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* command which reads the raw Satellite Broadcast Messages.
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* We use these two commands to print informative messages in the clockstats
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* file once per day as soon as the message appears on the satellites.
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* --------------------------------------------------------------------------
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* Reg Clemens (Feb 2006)
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* Fix some gcc4 compiler complaints
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* Fix possible segfault in oncore_init_shmem
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* change all (possible) fprintf(stderr, to record_clock_stats
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* Apply patch from Russell J. Yount <rjy@cmu.edu> Fixed (new) MT12+T UTC not correct
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* immediately after new Almanac Read.
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* Apply patch for new PPS implementation by Rodolfo Giometti <giometti@linux.it>
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* now code can use old Ulrich Windl <Ulrich.Windl@rz.uni-regensburg.de> or
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* the new one. Compiles depending on timepps.h seen.
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* --------------------------------------------------------------------------
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* Luis Batanero Guerrero <luisba@rao.es> (Dec 2005) Patch for leap seconds
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* (the oncore driver was setting the wrong ntpd variable)
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* --------------------------------------------------------------------------
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* Reg.Clemens (Mar 2004)
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* Support for interfaces other than PPSAPI removed, for Solaris, SunOS,
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* SCO, you now need to use one of the timepps.h files in the root dir.
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* this driver will 'grab' it for you if you dont have one in /usr/include
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* --------------------------------------------------------------------------
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* This code uses the two devices
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* /dev/oncore.serial.n
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* /dev/oncore.pps.n
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* which may be linked to the same device.
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* and can read initialization data from the file
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* /etc/ntp.oncoreN, /etc/ntp.oncore.N, or /etc/ntp.oncore, where
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* n or N are the unit number, viz 127.127.30.N.
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* --------------------------------------------------------------------------
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* Reg.Clemens <reg@dwf.com> Sep98.
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* Original code written for FreeBSD.
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* With these mods it works on FreeBSD, SunOS, Solaris and Linux
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* (SunOS 4.1.3 + ppsclock)
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* (Solaris7 + MU4)
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* (RedHat 5.1 2.0.35 + PPSKit, 2.1.126 + or later).
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*
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* Lat,Long,Ht, cable-delay, offset, and the ReceiverID (along with the
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* state machine state) are printed to CLOCKSTATS if that file is enabled
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* in /etc/ntp.conf.
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*
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* --------------------------------------------------------------------------
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*
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* According to the ONCORE manual (TRM0003, Rev 3.2, June 1998, page 3.13)
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* doing an average of 10000 valid 2D and 3D fixes is what the automatic
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* site survey mode does. Looking at the output from the receiver
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* it seems like it is only using 3D fixes.
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* When we do it ourselves, take 10000 3D fixes.
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*/
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#define POS_HOLD_AVERAGE 10000 /* nb, 10000s ~= 2h45m */
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/*
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* ONCORE_SHMEM_STATUS will create a mmap(2)'ed file named according to a
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* "STATUS" line in the oncore config file, which contains the most recent
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* copy of all types of messages we recognize. This file can be mmap(2)'ed
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* by monitoring and statistics programs.
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*
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* See separate HTML documentation for this option.
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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_ONCORE)
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#include "ntpd.h"
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#include "ntp_io.h"
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#include "ntp_unixtime.h"
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#include "ntp_refclock.h"
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#include "ntp_calendar.h"
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#include "ntp_stdlib.h"
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#include <stdio.h>
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#include <stdarg.h>
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#include <ctype.h>
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#include <sys/stat.h>
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#ifdef ONCORE_SHMEM_STATUS
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# ifdef HAVE_SYS_MMAN_H
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# include <sys/mman.h>
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# ifndef MAP_FAILED
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# define MAP_FAILED ((u_char *) -1)
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# endif /* MAP_FAILED */
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# endif /* HAVE_SYS_MMAN_H */
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#endif /* ONCORE_SHMEM_STATUS */
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#ifdef HAVE_PPSAPI
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# include "ppsapi_timepps.h"
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#endif
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struct Bl {
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int dt_ls;
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int dt_lsf;
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int WN;
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int DN;
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int WN_lsf;
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int DN_lsf;
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int wn_flg;
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int lsf_flg;
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int Bl_day;
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} Bl;
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enum receive_state {
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ONCORE_NO_IDEA,
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ONCORE_CHECK_ID,
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ONCORE_CHECK_CHAN,
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ONCORE_HAVE_CHAN,
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ONCORE_RESET_SENT,
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ONCORE_TEST_SENT,
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ONCORE_INIT,
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ONCORE_ALMANAC,
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ONCORE_RUN
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};
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enum site_survey_state {
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ONCORE_SS_UNKNOWN,
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ONCORE_SS_TESTING,
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ONCORE_SS_HW,
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ONCORE_SS_SW,
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ONCORE_SS_DONE
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};
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enum antenna_state {
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ONCORE_ANTENNA_UNKNOWN = -1,
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ONCORE_ANTENNA_OK = 0,
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ONCORE_ANTENNA_OC = 1,
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ONCORE_ANTENNA_UC = 2,
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ONCORE_ANTENNA_NV = 3
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};
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/* Model Name, derived from the @@Cj message.
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* Used to initialize some variables.
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*/
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enum oncore_model {
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ONCORE_BASIC,
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ONCORE_PVT6,
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ONCORE_VP,
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ONCORE_UT,
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ONCORE_UTPLUS,
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ONCORE_GT,
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ONCORE_GTPLUS,
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ONCORE_SL,
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ONCORE_M12,
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ONCORE_UNKNOWN
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};
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/* the bits that describe these properties are in the same place
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* on the VP/UT, but have moved on the M12. As such we extract
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* them, and use them from this struct.
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*
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*/
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struct RSM {
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u_char posn0D;
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u_char posn2D;
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u_char posn3D;
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u_char bad_almanac;
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u_char bad_fix;
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};
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/* It is possible to test the VP/UT each cycle (@@Ea or equivalent) to
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* see what mode it is in. The bits on the M12 are multiplexed with
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* other messages, so we have to 'keep' the last known mode here.
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*/
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enum posn_mode {
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MODE_UNKNOWN,
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MODE_0D,
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MODE_2D,
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MODE_3D
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};
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struct instance {
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int unit; /* 127.127.30.unit */
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struct refclockproc *pp;
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struct peer *peer;
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int ttyfd; /* TTY file descriptor */
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int ppsfd; /* PPS file descriptor */
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int shmemfd; /* Status shm descriptor */
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pps_handle_t pps_h;
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pps_params_t pps_p;
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enum receive_state o_state; /* Receive state */
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enum posn_mode mode; /* 0D, 2D, 3D */
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enum site_survey_state site_survey; /* Site Survey state */
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enum antenna_state ant_state; /* antenna state */
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int Bj_day;
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u_long delay; /* ns */
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long offset; /* ns */
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u_char *shmem;
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char *shmem_fname;
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u_int shmem_Cb;
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u_int shmem_Ba;
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u_int shmem_Ea;
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u_int shmem_Ha;
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u_char shmem_reset;
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u_char shmem_Posn;
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u_char shmem_bad_Ea;
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u_char almanac_from_shmem;
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double ss_lat;
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double ss_long;
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double ss_ht;
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double dH;
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int ss_count;
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u_char posn_set;
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enum oncore_model model;
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u_int version;
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u_int revision;
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u_char chan; /* 6 for PVT6 or BASIC, 8 for UT/VP, 12 for m12, 0 if unknown */
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s_char traim; /* do we have traim? yes UT/VP, M12+T, no BASIC, GT, M12, -1 unknown, 0 no, +1 yes */
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/* the following 7 are all timing counters */
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u_char traim_delay; /* seconds counter, waiting for reply */
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u_char count; /* cycles thru Ea before starting */
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u_char count1; /* cycles thru Ea after SS_TESTING, waiting for SS_HW */
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u_char count2; /* cycles thru Ea after count, to check for @@Ea */
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u_char count3; /* cycles thru Ea checking for # channels */
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u_char count4; /* cycles thru leap after Gj to issue Bj */
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u_char count5; /* cycles thru get_timestamp waiting for valid UTC correction */
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u_char count5_set; /* only set count5 once */
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u_char counta; /* count for waiting on almanac message */
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u_char pollcnt;
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u_char timeout; /* count to retry Cj after Fa self-test */
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u_char max_len; /* max length message seen by oncore_log, for debugging */
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u_char max_count; /* count for message statistics */
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struct RSM rsm; /* bits extracted from Receiver Status Msg in @@Ea */
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struct Bl Bl; /* Satellite Broadcast Data Message */
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u_char printed;
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u_char polled;
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u_long ev_serial;
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unsigned Rcvptr;
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u_char Rcvbuf[500];
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u_char BEHa[160]; /* Ba, Ea or Ha */
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u_char BEHn[80]; /* Bn , En , or Hn */
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u_char Cj[300];
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u_char Ag; /* Satellite mask angle */
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u_char saw_At;
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u_char saw_Ay;
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u_char saw_Az;
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s_char saw_Bj;
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s_char saw_Gj;
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u_char have_dH;
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u_char init_type;
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s_char saw_tooth;
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s_char chan_in; /* chan number from INPUT, will always use it */
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u_char chan_id; /* chan number determined from part number */
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u_char chan_ck; /* chan number determined by sending commands to hardware */
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s_char traim_in; /* TRAIM from INPUT, will always use ON/OFF specified */
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s_char traim_id; /* TRAIM determined from part number */
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u_char traim_ck; /* TRAIM determined by sending commands to hardware */
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u_char once; /* one pass code at top of BaEaHa */
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s_char assert;
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u_char hardpps;
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s_char pps_control; /* PPS control, M12 only */
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s_char pps_control_msg_seen;
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};
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#define rcvbuf instance->Rcvbuf
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#define rcvptr instance->Rcvptr
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static int oncore_start (int, struct peer *);
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static void oncore_poll (int, struct peer *);
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static void oncore_shutdown (int, struct peer *);
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static void oncore_consume (struct instance *);
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static void oncore_read_config (struct instance *);
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static void oncore_receive (struct recvbuf *);
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static int oncore_ppsapi (struct instance *);
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static void oncore_get_timestamp (struct instance *, long, long);
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static void oncore_init_shmem (struct instance *);
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static void oncore_antenna_report (struct instance *, enum antenna_state);
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static void oncore_chan_test (struct instance *);
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static void oncore_check_almanac (struct instance *);
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static void oncore_check_antenna (struct instance *);
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static void oncore_check_leap_sec (struct instance *);
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static int oncore_checksum_ok (u_char *, int);
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static void oncore_compute_dH (struct instance *);
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static void oncore_load_almanac (struct instance *);
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static void oncore_log (struct instance *, int, const char *);
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static int oncore_log_f (struct instance *, int, const char *, ...)
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NTP_PRINTF(3, 4);
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static void oncore_print_Cb (struct instance *, u_char *);
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/* static void oncore_print_array (u_char *, int); */
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static void oncore_print_posn (struct instance *);
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static void oncore_sendmsg (struct instance *, u_char *, size_t);
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static void oncore_set_posn (struct instance *);
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static void oncore_set_traim (struct instance *);
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static void oncore_shmem_get_3D (struct instance *);
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static void oncore_ss (struct instance *);
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static int oncore_wait_almanac (struct instance *);
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static void oncore_msg_any (struct instance *, u_char *, size_t, int);
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static void oncore_msg_Adef (struct instance *, u_char *, size_t);
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static void oncore_msg_Ag (struct instance *, u_char *, size_t);
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static void oncore_msg_As (struct instance *, u_char *, size_t);
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static void oncore_msg_At (struct instance *, u_char *, size_t);
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static void oncore_msg_Ay (struct instance *, u_char *, size_t);
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static void oncore_msg_Az (struct instance *, u_char *, size_t);
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static void oncore_msg_BaEaHa (struct instance *, u_char *, size_t);
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static void oncore_msg_Bd (struct instance *, u_char *, size_t);
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static void oncore_msg_Bj (struct instance *, u_char *, size_t);
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static void oncore_msg_Bl (struct instance *, u_char *, size_t);
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static void oncore_msg_BnEnHn (struct instance *, u_char *, size_t);
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static void oncore_msg_CaFaIa (struct instance *, u_char *, size_t);
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static void oncore_msg_Cb (struct instance *, u_char *, size_t);
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static void oncore_msg_Cf (struct instance *, u_char *, size_t);
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static void oncore_msg_Cj (struct instance *, u_char *, size_t);
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static void oncore_msg_Cj_id (struct instance *, u_char *, size_t);
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static void oncore_msg_Cj_init (struct instance *, u_char *, size_t);
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static void oncore_msg_Ga (struct instance *, u_char *, size_t);
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static void oncore_msg_Gb (struct instance *, u_char *, size_t);
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static void oncore_msg_Gc (struct instance *, u_char *, size_t);
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static void oncore_msg_Gj (struct instance *, u_char *, size_t);
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static void oncore_msg_Sz (struct instance *, u_char *, size_t);
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struct refclock refclock_oncore = {
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oncore_start, /* start up driver */
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oncore_shutdown, /* shut down driver */
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oncore_poll, /* transmit poll message */
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noentry, /* not used */
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noentry, /* not used */
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noentry, /* not used */
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NOFLAGS /* not used */
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};
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/*
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* Understanding the next bit here is not easy unless you have a manual
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* for the the various Oncore Models.
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*/
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static struct msg_desc {
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const char flag[3];
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const int len;
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void (*handler) (struct instance *, u_char *, size_t);
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const char *fmt;
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int shmem;
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} oncore_messages[] = {
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/* Ea and En first since they're most common */
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{ "Ea", 76, oncore_msg_BaEaHa, "mdyyhmsffffaaaaoooohhhhmmmmvvhhddtntimsdimsdimsdimsdimsdimsdimsdimsdsC", 0 },
|
|
{ "Ba", 68, oncore_msg_BaEaHa, "mdyyhmsffffaaaaoooohhhhmmmmvvhhddtntimsdimsdimsdimsdimsdimsdsC", 0 },
|
|
{ "Ha", 154, oncore_msg_BaEaHa, "mdyyhmsffffaaaaoooohhhhmmmmaaaaoooohhhhmmmmVVvvhhddntimsiddimsiddimsiddimsiddimsiddimsiddimsiddimsiddimsiddimsiddimsiddimsiddssrrccooooTTushmvvvvvvC", 0 },
|
|
{ "Bn", 59, oncore_msg_BnEnHn, "otaapxxxxxxxxxxpysreensffffsffffsffffsffffsffffsffffC", 0 },
|
|
{ "En", 69, oncore_msg_BnEnHn, "otaapxxxxxxxxxxpysreensffffsffffsffffsffffsffffsffffsffffsffffC", 0 },
|
|
{ "Hn", 78, oncore_msg_BnEnHn, "", 0 },
|
|
{ "Ab", 10, 0, "", 0 },
|
|
{ "Ac", 11, 0, "", 0 },
|
|
{ "Ad", 11, oncore_msg_Adef, "", 0 },
|
|
{ "Ae", 11, oncore_msg_Adef, "", 0 },
|
|
{ "Af", 15, oncore_msg_Adef, "", 0 },
|
|
{ "Ag", 8, oncore_msg_Ag, "", 0 }, /* Satellite mask angle */
|
|
{ "As", 20, oncore_msg_As, "", 0 },
|
|
{ "At", 8, oncore_msg_At, "", 0 },
|
|
{ "Au", 12, 0, "", 0 },
|
|
{ "Av", 8, 0, "", 0 },
|
|
{ "Aw", 8, 0, "", 0 },
|
|
{ "Ay", 11, oncore_msg_Ay, "", 0 },
|
|
{ "Az", 11, oncore_msg_Az, "", 0 },
|
|
{ "AB", 8, 0, "", 0 },
|
|
{ "Bb", 92, 0, "", 0 },
|
|
{ "Bd", 23, oncore_msg_Bd, "", 0 },
|
|
{ "Bj", 8, oncore_msg_Bj, "", 0 },
|
|
{ "Bl", 41, oncore_msg_Bl, "", 0 },
|
|
{ "Ca", 9, oncore_msg_CaFaIa, "", 0 },
|
|
{ "Cb", 33, oncore_msg_Cb, "", 0 },
|
|
{ "Cf", 7, oncore_msg_Cf, "", 0 },
|
|
{ "Cg", 8, 0, "", 0 },
|
|
{ "Ch", 9, 0, "", 0 },
|
|
{ "Cj", 294, oncore_msg_Cj, "", 0 },
|
|
{ "Ek", 71, 0, "", 0 },
|
|
{ "Fa", 9, oncore_msg_CaFaIa, "", 0 },
|
|
{ "Ga", 20, oncore_msg_Ga, "", 0 },
|
|
{ "Gb", 17, oncore_msg_Gb, "", 0 },
|
|
{ "Gc", 8, oncore_msg_Gc, "", 0 },
|
|
{ "Gd", 8, 0, "", 0 },
|
|
{ "Ge", 8, 0, "", 0 },
|
|
{ "Gj", 21, oncore_msg_Gj, "", 0 },
|
|
{ "Ia", 10, oncore_msg_CaFaIa, "", 0 },
|
|
{ "Sz", 8, oncore_msg_Sz, "", 0 },
|
|
{ {0}, 7, 0, "", 0 }
|
|
};
|
|
|
|
|
|
static u_char oncore_cmd_Aa[] = { 'A', 'a', 0, 0, 0 }; /* 6/8 Time of Day */
|
|
static u_char oncore_cmd_Ab[] = { 'A', 'b', 0, 0, 0 }; /* 6/8 GMT Correction */
|
|
static u_char oncore_cmd_AB[] = { 'A', 'B', 4 }; /* VP Application Type: Static */
|
|
static u_char oncore_cmd_Ac[] = { 'A', 'c', 0, 0, 0, 0 }; /* 6/8 Date */
|
|
static u_char oncore_cmd_Ad[] = { 'A', 'd', 0,0,0,0 }; /* 6/8 Latitude */
|
|
static u_char oncore_cmd_Ae[] = { 'A', 'e', 0,0,0,0 }; /* 6/8 Longitude */
|
|
static u_char oncore_cmd_Af[] = { 'A', 'f', 0,0,0,0, 0 }; /* 6/8 Height */
|
|
static u_char oncore_cmd_Ag[] = { 'A', 'g', 0 }; /* 6/8/12 Satellite Mask Angle */
|
|
static u_char oncore_cmd_Agx[] = { 'A', 'g', 0xff }; /* 6/8/12 Satellite Mask Angle: read */
|
|
static u_char oncore_cmd_As[] = { 'A', 's', 0,0,0,0, 0,0,0,0, 0,0,0,0, 0 }; /* 6/8/12 Posn Hold Parameters */
|
|
static u_char oncore_cmd_Asx[] = { 'A', 's', 0x7f,0xff,0xff,0xff, /* 6/8/12 Posn Hold Readback */
|
|
0x7f,0xff,0xff,0xff, /* on UT+ this doesnt work with 0xff */
|
|
0x7f,0xff,0xff,0xff, 0xff }; /* but does work with 0x7f (sigh). */
|
|
static u_char oncore_cmd_At0[] = { 'A', 't', 0 }; /* 6/8 Posn Hold: off */
|
|
static u_char oncore_cmd_At1[] = { 'A', 't', 1 }; /* 6/8 Posn Hold: on */
|
|
static u_char oncore_cmd_At2[] = { 'A', 't', 2 }; /* 6/8 Posn Hold: Start Site Survey */
|
|
static u_char oncore_cmd_Atx[] = { 'A', 't', 0xff }; /* 6/8 Posn Hold: Read Back */
|
|
static u_char oncore_cmd_Au[] = { 'A', 'u', 0,0,0,0, 0 }; /* GT/M12 Altitude Hold Ht. */
|
|
static u_char oncore_cmd_Av0[] = { 'A', 'v', 0 }; /* VP/GT Altitude Hold: off */
|
|
static u_char oncore_cmd_Av1[] = { 'A', 'v', 1 }; /* VP/GT Altitude Hold: on */
|
|
static u_char oncore_cmd_Aw[] = { 'A', 'w', 1 }; /* 6/8/12 UTC/GPS time selection */
|
|
static u_char oncore_cmd_Ay[] = { 'A', 'y', 0, 0, 0, 0 }; /* Timing 1PPS time offset: set */
|
|
static u_char oncore_cmd_Ayx[] = { 'A', 'y', 0xff, 0xff, 0xff, 0xff }; /* Timing 1PPS time offset: Read */
|
|
static u_char oncore_cmd_Az[] = { 'A', 'z', 0, 0, 0, 0 }; /* 6/8UT/12 1PPS Cable Delay: set */
|
|
static u_char oncore_cmd_Azx[] = { 'A', 'z', 0xff, 0xff, 0xff, 0xff }; /* 6/8UT/12 1PPS Cable Delay: Read */
|
|
static u_char oncore_cmd_Ba0[] = { 'B', 'a', 0 }; /* 6 Position/Data/Status: off */
|
|
static u_char oncore_cmd_Ba[] = { 'B', 'a', 1 }; /* 6 Position/Data/Status: on */
|
|
static u_char oncore_cmd_Bb[] = { 'B', 'b', 1 }; /* 6/8/12 Visible Satellites */
|
|
static u_char oncore_cmd_Bd[] = { 'B', 'd', 1 }; /* 6/8/12? Almanac Status Msg. */
|
|
static u_char oncore_cmd_Be[] = { 'B', 'e', 1 }; /* 6/8/12 Request Almanac Data */
|
|
static u_char oncore_cmd_Bj[] = { 'B', 'j', 0 }; /* 6/8 Leap Second Pending */
|
|
static u_char oncore_cmd_Bl[] = { 'B', 'l', 1 }; /* VP Satellite Broadcast Data Msg */
|
|
static u_char oncore_cmd_Bn0[] = { 'B', 'n', 0, 1, 0,10, 2, 0,0,0, 0,0,0,0,0,0,0 }; /* 6 TRAIM setup/status: msg off, traim on */
|
|
static u_char oncore_cmd_Bn[] = { 'B', 'n', 1, 1, 0,10, 2, 0,0,0, 0,0,0,0,0,0,0 }; /* 6 TRAIM setup/status: msg on, traim on */
|
|
static u_char oncore_cmd_Bnx[] = { 'B', 'n', 0, 0, 0,10, 2, 0,0,0, 0,0,0,0,0,0,0 }; /* 6 TRAIM setup/status: msg off, traim off */
|
|
static u_char oncore_cmd_Ca[] = { 'C', 'a' }; /* 6 Self Test */
|
|
static u_char oncore_cmd_Cf[] = { 'C', 'f' }; /* 6/8/12 Set to Defaults */
|
|
static u_char oncore_cmd_Cg[] = { 'C', 'g', 1 }; /* VP Posn Fix/Idle Mode */
|
|
static u_char oncore_cmd_Cj[] = { 'C', 'j' }; /* 6/8/12 Receiver ID */
|
|
static u_char oncore_cmd_Ea0[] = { 'E', 'a', 0 }; /* 8 Position/Data/Status: off */
|
|
static u_char oncore_cmd_Ea[] = { 'E', 'a', 1 }; /* 8 Position/Data/Status: on */
|
|
static u_char oncore_cmd_Ek[] = { 'E', 'k', 0 }; /* just turn off */ /* 8 Posn/Status/Data - extension */
|
|
static u_char oncore_cmd_En0[] = { 'E', 'n', 0, 1, 0,10, 2, 0,0,0, 0,0,0,0,0,0,0 }; /* 8/GT TRAIM setup/status: msg off, traim on */
|
|
static u_char oncore_cmd_En[] = { 'E', 'n', 1, 1, 0,10, 2, 0,0,0, 0,0,0,0,0,0,0 }; /* 8/GT TRAIM setup/status: msg on, traim on */
|
|
static u_char oncore_cmd_Enx[] = { 'E', 'n', 0, 0, 0,10, 2, 0,0,0, 0,0,0,0,0,0,0 }; /* 8/GT TRAIM setup/status: msg off, traim off */
|
|
static u_char oncore_cmd_Fa[] = { 'F', 'a' }; /* 8 Self Test */
|
|
static u_char oncore_cmd_Ga[] = { 'G', 'a', 0,0,0,0, 0,0,0,0, 0,0,0,0, 0 }; /* 12 Position Set */
|
|
static u_char oncore_cmd_Gax[] = { 'G', 'a', 0xff, 0xff, 0xff, 0xff, /* 12 Position Set: Read */
|
|
0xff, 0xff, 0xff, 0xff, /* */
|
|
0xff, 0xff, 0xff, 0xff, 0xff }; /* */
|
|
static u_char oncore_cmd_Gb[] = { 'G', 'b', 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 }; /* 12 set Date/Time */
|
|
static u_char oncore_cmd_Gc[] = { 'G', 'c', 0 }; /* 12 PPS Control: Off, On, 1+satellite,TRAIM */
|
|
static u_char oncore_cmd_Gd0[] = { 'G', 'd', 0 }; /* 12 Position Control: 3D (no hold) */
|
|
static u_char oncore_cmd_Gd1[] = { 'G', 'd', 1 }; /* 12 Position Control: 0D (3D hold) */
|
|
static u_char oncore_cmd_Gd2[] = { 'G', 'd', 2 }; /* 12 Position Control: 2D (Alt Hold) */
|
|
static u_char oncore_cmd_Gd3[] = { 'G', 'd', 3 }; /* 12 Position Coltrol: Start Site Survey */
|
|
static u_char oncore_cmd_Ge0[] = { 'G', 'e', 0 }; /* M12+T TRAIM: off */
|
|
static u_char oncore_cmd_Ge[] = { 'G', 'e', 1 }; /* M12+T TRAIM: on */
|
|
static u_char oncore_cmd_Gj[] = { 'G', 'j' }; /* 8?/12 Leap Second Pending */
|
|
static u_char oncore_cmd_Ha0[] = { 'H', 'a', 0 }; /* 12 Position/Data/Status: off */
|
|
static u_char oncore_cmd_Ha[] = { 'H', 'a', 1 }; /* 12 Position/Data/Status: on */
|
|
static u_char oncore_cmd_Hn0[] = { 'H', 'n', 0 }; /* 12 TRAIM Status: off */
|
|
static u_char oncore_cmd_Hn[] = { 'H', 'n', 1 }; /* 12 TRAIM Status: on */
|
|
static u_char oncore_cmd_Ia[] = { 'I', 'a' }; /* 12 Self Test */
|
|
|
|
/* it appears that as of 1997/1998, the UT had As,At, but not Au,Av
|
|
* the GT had Au,Av, but not As,At
|
|
* This was as of v2.0 of both firmware sets. possibly 1.3 for UT.
|
|
* Bj in UT at v1.3
|
|
* dont see Bd in UT/GT thru 1999
|
|
* Gj in UT as of 3.0, 1999 , Bj as of 1.3
|
|
*/
|
|
|
|
#define DEVICE1 "/dev/oncore.serial.%d" /* name of serial device */
|
|
#define DEVICE2 "/dev/oncore.pps.%d" /* name of pps device */
|
|
|
|
#define SPEED B9600 /* Oncore Binary speed (9600 bps) */
|
|
|
|
/*
|
|
* Assemble and disassemble 32bit signed quantities from a buffer.
|
|
*
|
|
*/
|
|
|
|
/* to buffer, int w, u_char *buf */
|
|
#define w32_buf(buf,w) { u_int i_tmp; \
|
|
i_tmp = (w<0) ? (~(-w)+1) : (w); \
|
|
(buf)[0] = (i_tmp >> 24) & 0xff; \
|
|
(buf)[1] = (i_tmp >> 16) & 0xff; \
|
|
(buf)[2] = (i_tmp >> 8) & 0xff; \
|
|
(buf)[3] = (i_tmp ) & 0xff; \
|
|
}
|
|
|
|
#define w32(buf) (((buf)[0]&0xff) << 24 | \
|
|
((buf)[1]&0xff) << 16 | \
|
|
((buf)[2]&0xff) << 8 | \
|
|
((buf)[3]&0xff) )
|
|
|
|
/* from buffer, char *buf, result to an int */
|
|
#define buf_w32(buf) (((buf)[0]&0200) ? (-(~w32(buf)+1)) : w32(buf))
|
|
|
|
|
|
/*
|
|
* oncore_start - initialize data for processing
|
|
*/
|
|
|
|
static int
|
|
oncore_start(
|
|
int unit,
|
|
struct peer *peer
|
|
)
|
|
{
|
|
#define STRING_LEN 32
|
|
register struct instance *instance;
|
|
struct refclockproc *pp;
|
|
int fd1, fd2;
|
|
char device1[STRING_LEN], device2[STRING_LEN];
|
|
#ifndef SYS_WINNT
|
|
struct stat stat1, stat2;
|
|
#endif
|
|
|
|
/* create instance structure for this unit */
|
|
|
|
instance = emalloc(sizeof(*instance));
|
|
memset(instance, 0, sizeof(*instance));
|
|
|
|
/* initialize miscellaneous variables */
|
|
|
|
pp = peer->procptr;
|
|
instance->pp = pp;
|
|
instance->unit = unit;
|
|
instance->peer = peer;
|
|
instance->assert = 1;
|
|
instance->once = 1;
|
|
|
|
instance->Bj_day = -1;
|
|
instance->traim = -1;
|
|
instance->traim_in = -1;
|
|
instance->chan_in = -1;
|
|
instance->pps_control = -1; /* PPS control, M12 only */
|
|
instance->pps_control_msg_seen = -1; /* Have seen response to Gc msg */
|
|
instance->model = ONCORE_UNKNOWN;
|
|
instance->mode = MODE_UNKNOWN;
|
|
instance->site_survey = ONCORE_SS_UNKNOWN;
|
|
instance->Ag = 0xff; /* Satellite mask angle, unset by user */
|
|
instance->ant_state = ONCORE_ANTENNA_UNKNOWN;
|
|
|
|
peer->flags &= ~FLAG_PPS; /* PPS not active yet */
|
|
peer->precision = -26;
|
|
peer->minpoll = 4;
|
|
peer->maxpoll = 4;
|
|
pp->clockdesc = "Motorola Oncore GPS Receiver";
|
|
memcpy((char *)&pp->refid, "GPS\0", (size_t) 4);
|
|
|
|
oncore_log(instance, LOG_NOTICE, "ONCORE DRIVER -- CONFIGURING");
|
|
instance->o_state = ONCORE_NO_IDEA;
|
|
oncore_log(instance, LOG_NOTICE, "state = ONCORE_NO_IDEA");
|
|
|
|
/* Now open files.
|
|
* This is a bit complicated, a we dont want to open the same file twice
|
|
* (its a problem on some OS), and device2 may not exist for the new PPS
|
|
*/
|
|
|
|
(void)snprintf(device1, sizeof(device1), DEVICE1, unit);
|
|
(void)snprintf(device2, sizeof(device2), DEVICE2, unit);
|
|
|
|
/* OPEN DEVICES */
|
|
/* opening different devices for fd1 and fd2 presents no problems */
|
|
/* opening the SAME device twice, seems to be OS dependent.
|
|
(a) on Linux (no streams) no problem
|
|
(b) on SunOS (and possibly Solaris, untested), (streams)
|
|
never see the line discipline.
|
|
Since things ALWAYS work if we only open the device once, we check
|
|
to see if the two devices are in fact the same, then proceed to
|
|
do one open or two.
|
|
|
|
For use with linuxPPS we assume that the N_TTY file has been opened
|
|
and that the line discipline has been changed to N_PPS by another
|
|
program (say ppsldisc) so that the two files expected by the oncore
|
|
driver can be opened.
|
|
|
|
Note that the linuxPPS N_PPS file is just like a N_TTY, so we can do
|
|
the stat below without error even though the file has already had its
|
|
line discipline changed by another process.
|
|
|
|
The Windows port of ntpd arranges to return duplicate handles for
|
|
multiple opens of the same serial device, and doesn't have inodes
|
|
for serial handles, so we just open both on Windows.
|
|
*/
|
|
#ifndef SYS_WINNT
|
|
if (stat(device1, &stat1)) {
|
|
oncore_log_f(instance, LOG_ERR, "Can't stat fd1 (%s)",
|
|
device1);
|
|
return(0); /* exit, no file, can't start driver */
|
|
}
|
|
|
|
if (stat(device2, &stat2)) {
|
|
stat2.st_dev = stat2.st_ino = -2;
|
|
oncore_log_f(instance, LOG_ERR, "Can't stat fd2 (%s) %d %m",
|
|
device2, errno);
|
|
}
|
|
#endif /* !SYS_WINNT */
|
|
|
|
fd1 = refclock_open(device1, SPEED, LDISC_RAW);
|
|
if (fd1 <= 0) {
|
|
oncore_log_f(instance, LOG_ERR, "Can't open fd1 (%s)",
|
|
device1);
|
|
return(0); /* exit, can't open file, can't start driver */
|
|
}
|
|
|
|
/* for LINUX the PPS device is the result of a line discipline.
|
|
It seems simplest to let an external program create the appropriate
|
|
/dev/pps<n> file, and only check (carefully) for its existance here
|
|
*/
|
|
|
|
#ifndef SYS_WINNT
|
|
if ((stat1.st_dev == stat2.st_dev) && (stat1.st_ino == stat2.st_ino)) /* same device here */
|
|
fd2 = fd1;
|
|
else
|
|
#endif /* !SYS_WINNT */
|
|
{ /* different devices here */
|
|
if ((fd2=tty_open(device2, O_RDWR, 0777)) < 0) {
|
|
oncore_log_f(instance, LOG_ERR,
|
|
"Can't open fd2 (%s)", device2);
|
|
return(0); /* exit, can't open PPS file, can't start driver */
|
|
}
|
|
}
|
|
|
|
/* open ppsapi source */
|
|
|
|
if (time_pps_create(fd2, &instance->pps_h) < 0) {
|
|
oncore_log(instance, LOG_ERR, "exit, PPSAPI not found in kernel");
|
|
return(0); /* exit, don't find PPSAPI in kernel */
|
|
}
|
|
|
|
/* continue initialization */
|
|
|
|
instance->ttyfd = fd1;
|
|
instance->ppsfd = fd2;
|
|
|
|
/* go read any input data in /etc/ntp.oncoreX or /etc/ntp/oncore.X */
|
|
|
|
oncore_read_config(instance);
|
|
|
|
if (!oncore_ppsapi(instance))
|
|
return(0);
|
|
|
|
pp->io.clock_recv = oncore_receive;
|
|
pp->io.srcclock = peer;
|
|
pp->io.datalen = 0;
|
|
pp->io.fd = fd1;
|
|
if (!io_addclock(&pp->io)) {
|
|
oncore_log(instance, LOG_ERR, "can't do io_addclock");
|
|
close(fd1);
|
|
pp->io.fd = -1;
|
|
free(instance);
|
|
return (0);
|
|
}
|
|
pp->unitptr = instance;
|
|
|
|
#ifdef ONCORE_SHMEM_STATUS
|
|
/*
|
|
* Before starting ONCORE, lets setup SHMEM
|
|
* This will include merging an old SHMEM into the new one if
|
|
* an old one is found.
|
|
*/
|
|
|
|
oncore_init_shmem(instance);
|
|
#endif
|
|
|
|
/*
|
|
* This will return the Model of the Oncore receiver.
|
|
* and start the Initialization loop in oncore_msg_Cj.
|
|
*/
|
|
|
|
instance->o_state = ONCORE_CHECK_ID;
|
|
oncore_log(instance, LOG_NOTICE, "state = ONCORE_CHECK_ID");
|
|
|
|
instance->timeout = 4;
|
|
oncore_sendmsg(instance, oncore_cmd_Cg, sizeof(oncore_cmd_Cg)); /* Set Posn Fix mode (not Idle (VP)) */
|
|
oncore_sendmsg(instance, oncore_cmd_Cj, sizeof(oncore_cmd_Cj));
|
|
|
|
instance->pollcnt = 2;
|
|
return (1);
|
|
}
|
|
|
|
|
|
/*
|
|
* oncore_shutdown - shut down the clock
|
|
*/
|
|
|
|
static void
|
|
oncore_shutdown(
|
|
int unit,
|
|
struct peer *peer
|
|
)
|
|
{
|
|
register struct instance *instance;
|
|
struct refclockproc *pp;
|
|
|
|
pp = peer->procptr;
|
|
instance = pp->unitptr;
|
|
|
|
if (pp->io.fd != -1)
|
|
io_closeclock(&pp->io);
|
|
|
|
if (instance != NULL) {
|
|
time_pps_destroy (instance->pps_h);
|
|
|
|
close(instance->ttyfd);
|
|
|
|
if ((instance->ppsfd != -1) && (instance->ppsfd != instance->ttyfd))
|
|
close(instance->ppsfd);
|
|
|
|
if (instance->shmemfd)
|
|
close(instance->shmemfd);
|
|
|
|
free(instance);
|
|
}
|
|
}
|
|
|
|
|
|
|
|
/*
|
|
* oncore_poll - called by the transmit procedure
|
|
*/
|
|
|
|
static void
|
|
oncore_poll(
|
|
int unit,
|
|
struct peer *peer
|
|
)
|
|
{
|
|
struct instance *instance;
|
|
|
|
instance = peer->procptr->unitptr;
|
|
if (instance->timeout) {
|
|
instance->timeout--;
|
|
if (instance->timeout == 0) {
|
|
oncore_log(instance, LOG_ERR,
|
|
"Oncore: No response from @@Cj, shutting down driver");
|
|
oncore_shutdown(unit, peer);
|
|
} else {
|
|
oncore_sendmsg(instance, oncore_cmd_Cj, sizeof(oncore_cmd_Cj));
|
|
oncore_log(instance, LOG_WARNING, "Oncore: Resend @@Cj");
|
|
}
|
|
return;
|
|
}
|
|
|
|
if (!instance->pollcnt)
|
|
refclock_report(peer, CEVNT_TIMEOUT);
|
|
else
|
|
instance->pollcnt--;
|
|
peer->procptr->polls++;
|
|
instance->polled = 1;
|
|
}
|
|
|
|
|
|
|
|
/*
|
|
* Initialize PPSAPI
|
|
*/
|
|
|
|
static int
|
|
oncore_ppsapi(
|
|
struct instance *instance
|
|
)
|
|
{
|
|
int cap, mode, mode1;
|
|
const char *cp;
|
|
|
|
if (time_pps_getcap(instance->pps_h, &cap) < 0) {
|
|
oncore_log_f(instance, LOG_ERR, "time_pps_getcap failed: %m");
|
|
return (0);
|
|
}
|
|
|
|
if (time_pps_getparams(instance->pps_h, &instance->pps_p) < 0) {
|
|
oncore_log_f(instance, LOG_ERR, "time_pps_getparams failed: %m");
|
|
return (0);
|
|
}
|
|
|
|
/* nb. only turn things on, if someone else has turned something
|
|
* on before we get here, leave it alone!
|
|
*/
|
|
|
|
if (instance->assert) {
|
|
cp = "Assert";
|
|
mode = PPS_CAPTUREASSERT;
|
|
mode1 = PPS_OFFSETASSERT;
|
|
} else {
|
|
cp = "Clear";
|
|
mode = PPS_CAPTURECLEAR;
|
|
mode1 = PPS_OFFSETCLEAR;
|
|
}
|
|
oncore_log_f(instance, LOG_INFO, "Initializing timing to %s.",
|
|
cp);
|
|
|
|
if (!(mode & cap)) {
|
|
oncore_log_f(instance, LOG_ERR,
|
|
"Can't set timing to %s, exiting...", cp);
|
|
return(0);
|
|
}
|
|
|
|
if (!(mode1 & cap)) {
|
|
oncore_log_f(instance, LOG_NOTICE,
|
|
"Can't set %s, this will increase jitter.",
|
|
cp);
|
|
mode1 = 0;
|
|
}
|
|
|
|
/* only set what is legal */
|
|
|
|
instance->pps_p.mode = (mode | mode1 | PPS_TSFMT_TSPEC) & cap;
|
|
|
|
if (time_pps_setparams(instance->pps_h, &instance->pps_p) < 0) {
|
|
oncore_log_f(instance, LOG_ERR, "ONCORE: time_pps_setparams fails %m");
|
|
return(0); /* exit, can't do time_pps_setparans on PPS file */
|
|
}
|
|
|
|
/* If HARDPPS is on, we tell kernel */
|
|
|
|
if (instance->hardpps) {
|
|
int i;
|
|
|
|
oncore_log(instance, LOG_INFO, "HARDPPS Set.");
|
|
|
|
if (instance->assert)
|
|
i = PPS_CAPTUREASSERT;
|
|
else
|
|
i = PPS_CAPTURECLEAR;
|
|
|
|
/* we know that 'i' is legal from above */
|
|
|
|
if (time_pps_kcbind(instance->pps_h, PPS_KC_HARDPPS, i,
|
|
PPS_TSFMT_TSPEC) < 0) {
|
|
oncore_log_f(instance, LOG_ERR, "time_pps_kcbind failed: %m");
|
|
oncore_log(instance, LOG_ERR, "HARDPPS failed, abort...");
|
|
return (0);
|
|
}
|
|
|
|
hardpps_enable = 1;
|
|
}
|
|
return(1);
|
|
}
|
|
|
|
|
|
|
|
#ifdef ONCORE_SHMEM_STATUS
|
|
static void
|
|
oncore_init_shmem(
|
|
struct instance *instance
|
|
)
|
|
{
|
|
int l, fd;
|
|
u_char *cp, *cp1, *buf, *shmem_old;
|
|
struct msg_desc *mp;
|
|
struct stat sbuf;
|
|
size_t i, n, n1, shmem_length, shmem_old_size;
|
|
|
|
/*
|
|
* The first thing we do is see if there is an instance->shmem_fname file (still)
|
|
* out there from a previous run. If so, we copy it in and use it to initialize
|
|
* shmem (so we won't lose our almanac if we need it).
|
|
*/
|
|
|
|
shmem_old = 0;
|
|
shmem_old_size = 0;
|
|
if ((fd = open(instance->shmem_fname, O_RDONLY)) < 0)
|
|
oncore_log(instance, LOG_WARNING, "ONCORE: Can't open SHMEM file");
|
|
else {
|
|
fstat(fd, &sbuf);
|
|
shmem_old_size = sbuf.st_size;
|
|
if (shmem_old_size != 0) {
|
|
shmem_old = emalloc((unsigned) sbuf.st_size);
|
|
read(fd, shmem_old, shmem_old_size);
|
|
}
|
|
close(fd);
|
|
}
|
|
|
|
/* OK, we now create the NEW SHMEM. */
|
|
|
|
if ((instance->shmemfd = open(instance->shmem_fname, O_RDWR|O_CREAT|O_TRUNC, 0644)) < 0) {
|
|
oncore_log(instance, LOG_WARNING, "ONCORE: Can't open shmem");
|
|
if (shmem_old)
|
|
free(shmem_old);
|
|
|
|
return;
|
|
}
|
|
|
|
/* see how big it needs to be */
|
|
|
|
n = 1;
|
|
for (mp=oncore_messages; mp->flag[0]; mp++) {
|
|
mp->shmem = n;
|
|
/* Allocate space for multiplexed almanac, and 0D/2D/3D @@Ea records */
|
|
if (!strcmp(mp->flag, "Cb")) {
|
|
instance->shmem_Cb = n;
|
|
n += (mp->len + 3) * 34;
|
|
}
|
|
if (!strcmp(mp->flag, "Ba")) {
|
|
instance->shmem_Ba = n;
|
|
n += (mp->len + 3) * 3;
|
|
}
|
|
if (!strcmp(mp->flag, "Ea")) {
|
|
instance->shmem_Ea = n;
|
|
n += (mp->len + 3) * 3;
|
|
}
|
|
if (!strcmp(mp->flag, "Ha")) {
|
|
instance->shmem_Ha = n;
|
|
n += (mp->len + 3) * 3;
|
|
}
|
|
n += (mp->len + 3);
|
|
}
|
|
shmem_length = n + 2;
|
|
|
|
buf = emalloc(shmem_length);
|
|
memset(buf, 0, shmem_length);
|
|
|
|
/* next build the new SHMEM buffer in memory */
|
|
|
|
for (mp=oncore_messages; mp->flag[0]; mp++) {
|
|
l = mp->shmem;
|
|
buf[l + 0] = mp->len >> 8;
|
|
buf[l + 1] = mp->len & 0xff;
|
|
buf[l + 2] = 0;
|
|
buf[l + 3] = '@';
|
|
buf[l + 4] = '@';
|
|
buf[l + 5] = mp->flag[0];
|
|
buf[l + 6] = mp->flag[1];
|
|
if (!strcmp(mp->flag, "Cb") || !strcmp(mp->flag, "Ba") || !strcmp(mp->flag, "Ea") || !strcmp(mp->flag, "Ha")) {
|
|
if (!strcmp(mp->flag, "Cb"))
|
|
n = 35;
|
|
else
|
|
n = 4;
|
|
for (i=1; i<n; i++) {
|
|
buf[l + i * (mp->len+3) + 0] = mp->len >> 8;
|
|
buf[l + i * (mp->len+3) + 1] = mp->len & 0xff;
|
|
buf[l + i * (mp->len+3) + 2] = 0;
|
|
buf[l + i * (mp->len+3) + 3] = '@';
|
|
buf[l + i * (mp->len+3) + 4] = '@';
|
|
buf[l + i * (mp->len+3) + 5] = mp->flag[0];
|
|
buf[l + i * (mp->len+3) + 6] = mp->flag[1];
|
|
}
|
|
}
|
|
}
|
|
|
|
/* we now walk thru the two buffers (shmem_old and buf, soon to become shmem)
|
|
* copying the data in shmem_old to buf.
|
|
* When we are done we write it out and free both buffers.
|
|
* If the structure sizes dont agree, I will not copy.
|
|
* This could be due to an addition/deletion or a problem with the disk file.
|
|
*/
|
|
|
|
if (shmem_old) {
|
|
if (shmem_old_size == shmem_length) {
|
|
for (cp=buf+4, cp1=shmem_old+4; (n = 256*(*(cp-3)) + *(cp-2)); cp+=(n+3), cp1+=(n+3)) {
|
|
n1 = 256*(*(cp1-3)) + *(cp1-2);
|
|
if (n == 0 || n1 != n || strncmp((char *) cp, (char *) cp1, 4))
|
|
break;
|
|
|
|
memcpy(cp, cp1, (size_t) n);
|
|
}
|
|
}
|
|
free(shmem_old);
|
|
}
|
|
|
|
i = write(instance->shmemfd, buf, shmem_length);
|
|
free(buf);
|
|
|
|
if (i != shmem_length) {
|
|
oncore_log(instance, LOG_ERR, "ONCORE: error writing shmem");
|
|
close(instance->shmemfd);
|
|
return;
|
|
}
|
|
|
|
instance->shmem = (u_char *) mmap(0, shmem_length,
|
|
PROT_READ | PROT_WRITE,
|
|
#ifdef MAP_HASSEMAPHORE
|
|
MAP_HASSEMAPHORE |
|
|
#endif
|
|
MAP_SHARED, instance->shmemfd, (off_t)0);
|
|
|
|
if (instance->shmem == (u_char *)MAP_FAILED) {
|
|
instance->shmem = 0;
|
|
close(instance->shmemfd);
|
|
return;
|
|
}
|
|
|
|
oncore_log_f(instance, LOG_NOTICE,
|
|
"SHMEM (size = %ld) is CONFIGURED and available as %s",
|
|
(u_long) shmem_length, instance->shmem_fname);
|
|
}
|
|
#endif /* ONCORE_SHMEM_STATUS */
|
|
|
|
|
|
|
|
/*
|
|
* Read Input file if it exists.
|
|
*/
|
|
|
|
static void
|
|
oncore_read_config(
|
|
struct instance *instance
|
|
)
|
|
{
|
|
/*
|
|
* First we try to open the configuration file
|
|
* /etc/ntp.oncore.N
|
|
* where N is the unit number viz 127.127.30.N.
|
|
* If we don't find it we try
|
|
* /etc/ntp.oncoreN
|
|
* and then
|
|
* /etc/ntp.oncore
|
|
*
|
|
* If we don't find any then we don't have the cable delay or PPS offset
|
|
* and we choose MODE (4) below.
|
|
*
|
|
* Five Choices for MODE
|
|
* (0) ONCORE is preinitialized, don't do anything to change it.
|
|
* nb, DON'T set 0D mode, DON'T set Delay, position...
|
|
* (1) NO RESET, Read Position, delays from data file, lock it in, go to 0D mode.
|
|
* (2) NO RESET, Read Delays from data file, do SITE SURVEY to get position,
|
|
* lock this in, go to 0D mode.
|
|
* (3) HARD RESET, Read Position, delays from data file, lock it in, go to 0D mode.
|
|
* (4) HARD RESET, Read Delays from data file, do SITE SURVEY to get position,
|
|
* lock this in, go to 0D mode.
|
|
* NB. If a POSITION is specified in the config file with mode=(2,4) [SITE SURVEY]
|
|
* then this position is set as the INITIAL position of the ONCORE.
|
|
* This can reduce the time to first fix.
|
|
* -------------------------------------------------------------------------------
|
|
* Note that an Oncore UT without a battery backup retains NO information if it is
|
|
* power cycled, with a Battery Backup it remembers the almanac, etc.
|
|
* For an Oncore VP, there is an eeprom that will contain this data, along with the
|
|
* option of Battery Backup.
|
|
* So a UT without Battery Backup is equivalent to doing a HARD RESET on each
|
|
* power cycle, since there is nowhere to store the data.
|
|
* -------------------------------------------------------------------------------
|
|
*
|
|
* If we open one or the other of the files, we read it looking for
|
|
* MODE, LAT, LON, (HT, HTGPS, HTMSL), DELAY, OFFSET, ASSERT, CLEAR, HARDPPS,
|
|
* STATUS, POSN3D, POSN2D, CHAN, TRAIM
|
|
* then initialize using method MODE. For Mode = (1,3) all of (LAT, LON, HT) must
|
|
* be present or mode reverts to (2,4).
|
|
*
|
|
* Read input file.
|
|
*
|
|
* # is comment to end of line
|
|
* = allowed between 1st and 2nd fields.
|
|
*
|
|
* Expect to see one line with 'MODE' as first field, followed by an integer
|
|
* in the range 0-4 (default = 4).
|
|
*
|
|
* Expect to see two lines with 'LONG', 'LAT' followed by 1-3 fields.
|
|
* All numbers are floating point.
|
|
* DDD.ddd
|
|
* DDD MMM.mmm
|
|
* DDD MMM SSS.sss
|
|
*
|
|
* Expect to see one line with 'HT' as first field,
|
|
* followed by 1-2 fields. First is a number, the second is 'FT' or 'M'
|
|
* for feet or meters. HT is the height above the GPS ellipsoid.
|
|
* If the receiver reports height in both GPS and MSL, then we will report
|
|
* the difference GPS-MSL on the clockstats file.
|
|
*
|
|
* There is an optional line, starting with DELAY, followed
|
|
* by 1 or two fields. The first is a number (a time) the second is
|
|
* 'MS', 'US' or 'NS' for miliseconds, microseconds or nanoseconds.
|
|
* DELAY is cable delay, typically a few tens of ns.
|
|
*
|
|
* There is an optional line, starting with OFFSET, followed
|
|
* by 1 or two fields. The first is a number (a time) the second is
|
|
* 'MS', 'US' or 'NS' for miliseconds, microseconds or nanoseconds.
|
|
* OFFSET is the offset of the PPS pulse from 0. (only fully implemented
|
|
* with the PPSAPI, we need to be able to tell the Kernel about this
|
|
* offset if the Kernel PLL is in use, but can only do this presently
|
|
* when using the PPSAPI interface. If not using the Kernel PLL,
|
|
* then there is no problem.
|
|
*
|
|
* There is an optional line, with either ASSERT or CLEAR on it, which
|
|
* determine which transition of the PPS signal is used for timing by the
|
|
* PPSAPI. If neither is present, then ASSERT is assumed.
|
|
* ASSERT/CLEAR can also be set with FLAG2 of the ntp.conf input.
|
|
* For Flag2, ASSERT=0, and hence is default.
|
|
*
|
|
* There is an optional line, with HARDPPS on it. Including this line causes
|
|
* the PPS signal to control the kernel PLL.
|
|
* HARDPPS can also be set with FLAG3 of the ntp.conf input.
|
|
* For Flag3, 0 is disabled, and the default.
|
|
*
|
|
* There are three options that have to do with using the shared memory option.
|
|
* First, to enable the option there must be a SHMEM line with a file name.
|
|
* The file name is the file associated with the shared memory.
|
|
*
|
|
* In shared memory, there is one 'record' for each returned variable.
|
|
* For the @@Ea data there are three 'records' containing position data.
|
|
* There will always be data in the record corresponding to the '0D' @@Ea record,
|
|
* and the user has a choice of filling the '3D' record by specifying POSN3D,
|
|
* or the '2D' record by specifying POSN2D. In either case the '2D' or '3D'
|
|
* record is filled once every 15s.
|
|
*
|
|
* Two additional variables that can be set are CHAN and TRAIM. These should be
|
|
* set correctly by the code examining the @@Cj record, but we bring them out here
|
|
* to allow the user to override either the # of channels, or the existence of TRAIM.
|
|
* CHAN expects to be followed by in integer: 6, 8, or 12. TRAIM expects to be
|
|
* followed by YES or NO.
|
|
*
|
|
* There is an optional line with MASK on it followed by one integer field in the
|
|
* range 0 to 89. This sets the satellite mask angle and will determine the minimum
|
|
* elevation angle for satellites to be tracked by the receiver. The default value
|
|
* is 10 deg for the VP and 0 deg for all other receivers.
|
|
*
|
|
* There is an optional line with PPSCONTROL on it (only valid for M12 or M12+T
|
|
* receivers, the option is read, but ignored for all others)
|
|
* and it is followed by:
|
|
* ON Turn PPS on. This is the default and the default for other
|
|
* oncore receivers. The PPS is on even if not tracking
|
|
* any satellites.
|
|
* SATELLITE Turns PPS on if tracking at least 1 satellite, else off.
|
|
* TRAIM Turns PPS on or off controlled by TRAIM.
|
|
* The OFF option is NOT implemented, since the Oncore driver will not work
|
|
* without the PPS signal.
|
|
*
|
|
* So acceptable input would be
|
|
* # these are my coordinates (RWC)
|
|
* LON -106 34.610
|
|
* LAT 35 08.999
|
|
* HT 1589 # could equally well say HT 5215 FT
|
|
* DELAY 60 ns
|
|
*/
|
|
|
|
FILE *fd;
|
|
char *cc, *ca, line[100], units[2], device[64];
|
|
const char *dirs[] = { "/etc/ntp", "/etc", 0 };
|
|
const char *cp, **cpp;
|
|
int i, sign, lat_flg, long_flg, ht_flg, mode, mask;
|
|
double f1, f2, f3;
|
|
|
|
fd = NULL; /* just to shutup gcc complaint */
|
|
for (cpp=dirs; *cpp; cpp++) {
|
|
cp = *cpp;
|
|
snprintf(device, sizeof(device), "%s/ntp.oncore.%d",
|
|
cp, instance->unit); /* try "ntp.oncore.0 */
|
|
if ((fd=fopen(device, "r")))
|
|
break;
|
|
snprintf(device, sizeof(device), "%s/ntp.oncore%d",
|
|
cp, instance->unit); /* try "ntp.oncore0" */
|
|
if ((fd=fopen(device, "r")))
|
|
break;
|
|
snprintf(device, sizeof(device), "%s/ntp.oncore", cp);
|
|
if ((fd=fopen(device, "r"))) /* last try "ntp.oncore" */
|
|
break;
|
|
}
|
|
|
|
if (!fd) { /* no inputfile, default to the works ... */
|
|
instance->init_type = 4;
|
|
return;
|
|
}
|
|
|
|
mode = mask = 0;
|
|
lat_flg = long_flg = ht_flg = 0;
|
|
while (fgets(line, 100, fd)) {
|
|
char *cpw;
|
|
|
|
/* Remove comments */
|
|
if ((cpw = strchr(line, '#')))
|
|
*cpw = '\0';
|
|
|
|
/* Remove trailing space */
|
|
for (i = strlen(line);
|
|
i > 0 && isascii((unsigned char)line[i - 1]) && isspace((unsigned char)line[i - 1]);
|
|
)
|
|
line[--i] = '\0';
|
|
|
|
/* Remove leading space */
|
|
for (cc = line; *cc && isascii((unsigned char)*cc) && isspace((unsigned char)*cc); cc++)
|
|
continue;
|
|
|
|
/* Stop if nothing left */
|
|
if (!*cc)
|
|
continue;
|
|
|
|
/* Uppercase the command and find the arg */
|
|
for (ca = cc; *ca; ca++) {
|
|
if (isascii((unsigned char)*ca)) {
|
|
if (islower((unsigned char)*ca)) {
|
|
*ca = toupper((unsigned char)*ca);
|
|
} else if (isspace((unsigned char)*ca) || (*ca == '='))
|
|
break;
|
|
}
|
|
}
|
|
|
|
/* Remove space (and possible =) leading the arg */
|
|
for (; *ca && isascii((unsigned char)*ca) && (isspace((unsigned char)*ca) || (*ca == '=')); ca++)
|
|
continue;
|
|
|
|
if (!strncmp(cc, "STATUS", (size_t) 6) || !strncmp(cc, "SHMEM", (size_t) 5)) {
|
|
instance->shmem_fname = estrdup(ca);
|
|
continue;
|
|
}
|
|
|
|
/* Uppercase argument as well */
|
|
for (cpw = ca; *cpw; cpw++)
|
|
if (isascii((unsigned char)*cpw) && islower((unsigned char)*cpw))
|
|
*cpw = toupper((unsigned char)*cpw);
|
|
|
|
if (!strncmp(cc, "LAT", (size_t) 3)) {
|
|
f1 = f2 = f3 = 0;
|
|
sscanf(ca, "%lf %lf %lf", &f1, &f2, &f3);
|
|
sign = 1;
|
|
if (f1 < 0) {
|
|
f1 = -f1;
|
|
sign = -1;
|
|
}
|
|
instance->ss_lat = sign*1000*(fabs(f3) + 60*(fabs(f2) + 60*f1)); /*miliseconds*/
|
|
lat_flg++;
|
|
} else if (!strncmp(cc, "LON", (size_t) 3)) {
|
|
f1 = f2 = f3 = 0;
|
|
sscanf(ca, "%lf %lf %lf", &f1, &f2, &f3);
|
|
sign = 1;
|
|
if (f1 < 0) {
|
|
f1 = -f1;
|
|
sign = -1;
|
|
}
|
|
instance->ss_long = sign*1000*(fabs(f3) + 60*(fabs(f2) + 60*f1)); /*miliseconds*/
|
|
long_flg++;
|
|
} else if (!strncmp(cc, "HT", (size_t) 2)) {
|
|
f1 = 0;
|
|
units[0] = '\0';
|
|
sscanf(ca, "%lf %1s", &f1, units);
|
|
if (units[0] == 'F')
|
|
f1 = 0.3048 * f1;
|
|
instance->ss_ht = 100 * f1; /* cm */
|
|
ht_flg++;
|
|
} else if (!strncmp(cc, "DELAY", (size_t) 5)) {
|
|
f1 = 0;
|
|
units[0] = '\0';
|
|
sscanf(ca, "%lf %1s", &f1, units);
|
|
if (units[0] == 'N')
|
|
;
|
|
else if (units[0] == 'U')
|
|
f1 = 1000 * f1;
|
|
else if (units[0] == 'M')
|
|
f1 = 1000000 * f1;
|
|
else
|
|
f1 = 1000000000 * f1;
|
|
if (f1 < 0 || f1 > 1.e9)
|
|
f1 = 0;
|
|
if (f1 < 0 || f1 > 999999)
|
|
oncore_log_f(instance, LOG_WARNING,
|
|
"PPS Cable delay of %fns out of Range, ignored",
|
|
f1);
|
|
else
|
|
instance->delay = f1; /* delay in ns */
|
|
} else if (!strncmp(cc, "OFFSET", (size_t) 6)) {
|
|
f1 = 0;
|
|
units[0] = '\0';
|
|
sscanf(ca, "%lf %1s", &f1, units);
|
|
if (units[0] == 'N')
|
|
;
|
|
else if (units[0] == 'U')
|
|
f1 = 1000 * f1;
|
|
else if (units[0] == 'M')
|
|
f1 = 1000000 * f1;
|
|
else
|
|
f1 = 1000000000 * f1;
|
|
if (f1 < 0 || f1 > 1.e9)
|
|
f1 = 0;
|
|
if (f1 < 0 || f1 > 999999999.)
|
|
oncore_log_f(instance, LOG_WARNING,
|
|
"PPS Offset of %fns out of Range, ignored",
|
|
f1);
|
|
else
|
|
instance->offset = f1; /* offset in ns */
|
|
} else if (!strncmp(cc, "MODE", (size_t) 4)) {
|
|
sscanf(ca, "%d", &mode);
|
|
if (mode < 0 || mode > 4)
|
|
mode = 4;
|
|
} else if (!strncmp(cc, "ASSERT", (size_t) 6)) {
|
|
instance->assert = 1;
|
|
} else if (!strncmp(cc, "CLEAR", (size_t) 5)) {
|
|
instance->assert = 0;
|
|
} else if (!strncmp(cc, "HARDPPS", (size_t) 7)) {
|
|
instance->hardpps = 1;
|
|
} else if (!strncmp(cc, "POSN2D", (size_t) 6)) {
|
|
instance->shmem_Posn = 2;
|
|
} else if (!strncmp(cc, "POSN3D", (size_t) 6)) {
|
|
instance->shmem_Posn = 3;
|
|
} else if (!strncmp(cc, "CHAN", (size_t) 4)) {
|
|
sscanf(ca, "%d", &i);
|
|
if ((i == 6) || (i == 8) || (i == 12))
|
|
instance->chan_in = i;
|
|
} else if (!strncmp(cc, "TRAIM", (size_t) 5)) {
|
|
instance->traim_in = 1; /* so TRAIM alone is YES */
|
|
if (!strcmp(ca, "NO") || !strcmp(ca, "OFF")) /* Yes/No, On/Off */
|
|
instance->traim_in = 0;
|
|
} else if (!strncmp(cc, "MASK", (size_t) 4)) {
|
|
sscanf(ca, "%d", &mask);
|
|
if (mask > -1 && mask < 90)
|
|
instance->Ag = mask; /* Satellite mask angle */
|
|
} else if (!strncmp(cc,"PPSCONTROL",10)) { /* pps control M12 only */
|
|
if (!strcmp(ca,"ON") || !strcmp(ca, "CONTINUOUS")) {
|
|
instance->pps_control = 1; /* PPS always on */
|
|
} else if (!strcmp(ca,"SATELLITE")) {
|
|
instance->pps_control = 2; /* PPS on when satellite is available */
|
|
} else if (!strcmp(ca,"TRAIM")) {
|
|
instance->pps_control = 3; /* PPS on when TRAIM status is OK */
|
|
} else {
|
|
oncore_log_f(instance, LOG_WARNING,
|
|
"Unknown value \"%s\" for PPSCONTROL, ignored",
|
|
cc);
|
|
}
|
|
}
|
|
}
|
|
fclose(fd);
|
|
|
|
/*
|
|
* OK, have read all of data file, and extracted the good stuff.
|
|
* If lat/long/ht specified they ALL must be specified for mode = (1,3).
|
|
*/
|
|
|
|
instance->posn_set = 1;
|
|
if (!( lat_flg && long_flg && ht_flg )) {
|
|
oncore_log_f(instance, LOG_WARNING,
|
|
"ONCORE: incomplete data on %s", device);
|
|
instance->posn_set = 0;
|
|
if (mode == 1 || mode == 3) {
|
|
oncore_log_f(instance, LOG_WARNING,
|
|
"Input Mode = %d, but no/incomplete position, mode set to %d",
|
|
mode, mode+1);
|
|
mode++;
|
|
}
|
|
}
|
|
instance->init_type = mode;
|
|
|
|
oncore_log_f(instance, LOG_INFO, "Input mode = %d", mode);
|
|
}
|
|
|
|
|
|
|
|
/*
|
|
* move data from NTP to buffer (toss the extra in the unlikely case it won't fit)
|
|
*/
|
|
|
|
static void
|
|
oncore_receive(
|
|
struct recvbuf *rbufp
|
|
)
|
|
{
|
|
size_t i;
|
|
u_char *p;
|
|
struct peer *peer;
|
|
struct instance *instance;
|
|
|
|
peer = rbufp->recv_peer;
|
|
instance = peer->procptr->unitptr;
|
|
p = (u_char *) &rbufp->recv_space;
|
|
|
|
#ifdef ONCORE_VERBOSE_RECEIVE
|
|
if (debug > 4) {
|
|
int i;
|
|
char Msg[120], Msg2[10];
|
|
|
|
oncore_log_f(instance, LOG_DEBUG,
|
|
">>> %d bytes available",
|
|
rbufp->recv_length);
|
|
strlcpy(Msg, ">>>", sizeof(Msg));
|
|
for (i = 0; i < rbufp->recv_length; i++) {
|
|
snprintf(Msg2, sizeof(Msg2), "%02x ", p[i]);
|
|
strlcat(Msg, Msg2, sizeof(Msg));
|
|
}
|
|
oncore_log(instance, LOG_DEBUG, Msg);
|
|
|
|
strlcpy(Msg, ">>>", sizeof(Msg));
|
|
for (i = 0; i < rbufp->recv_length; i++) {
|
|
snprintf(Msg2, sizeof(Msg2), "%03o ", p[i]);
|
|
strlcat(Msg, Msg2, sizeof(Msg));
|
|
}
|
|
oncore_log(instance, LOG_DEBUG, Msg);
|
|
}
|
|
#endif
|
|
|
|
i = rbufp->recv_length;
|
|
if (rcvbuf+rcvptr+i > &rcvbuf[sizeof rcvbuf])
|
|
i = sizeof(rcvbuf) - rcvptr; /* and some char will be lost */
|
|
memcpy(rcvbuf+rcvptr, p, i);
|
|
rcvptr += i;
|
|
oncore_consume(instance);
|
|
}
|
|
|
|
|
|
|
|
/*
|
|
* Deal with any complete messages
|
|
*/
|
|
|
|
static void
|
|
oncore_consume(
|
|
struct instance *instance
|
|
)
|
|
{
|
|
unsigned i, m, l;
|
|
|
|
while (rcvptr >= 7) {
|
|
if (rcvbuf[0] != '@' || rcvbuf[1] != '@') {
|
|
/* We're not in sync, lets try to get there */
|
|
for (i=1; i < rcvptr-1; i++)
|
|
if (rcvbuf[i] == '@' && rcvbuf[i+1] == '@')
|
|
break;
|
|
#ifdef ONCORE_VERBOSE_CONSUME
|
|
if (debug > 4)
|
|
oncore_log_f(instance, LOG_DEBUG,
|
|
">>> skipping %d chars",
|
|
i);
|
|
#endif
|
|
if (i != rcvptr)
|
|
memcpy(rcvbuf, rcvbuf+i, (size_t)(rcvptr-i));
|
|
rcvptr -= i;
|
|
continue;
|
|
}
|
|
|
|
/* Ok, we have a header now */
|
|
l = sizeof(oncore_messages)/sizeof(oncore_messages[0]) -1;
|
|
for(m=0; m<l; m++)
|
|
if (!strncmp(oncore_messages[m].flag, (char *)(rcvbuf+2), (size_t) 2))
|
|
break;
|
|
if (m == l) {
|
|
#ifdef ONCORE_VERBOSE_CONSUME
|
|
if (debug > 4)
|
|
oncore_log_f(instance, LOG_DEBUG,
|
|
">>> Unknown MSG, skipping 4 (%c%c)",
|
|
rcvbuf[2], rcvbuf[3]);
|
|
#endif
|
|
memcpy(rcvbuf, rcvbuf+4, (size_t) 4);
|
|
rcvptr -= 4;
|
|
continue;
|
|
}
|
|
|
|
l = oncore_messages[m].len;
|
|
#ifdef ONCORE_VERBOSE_CONSUME
|
|
if (debug > 3)
|
|
oncore_log_f(instance, LOG_DEBUG,
|
|
"GOT: %c%c %d of %d entry %d",
|
|
instance->unit, rcvbuf[2],
|
|
rcvbuf[3], rcvptr, l, m);
|
|
#endif
|
|
/* Got the entire message ? */
|
|
|
|
if (rcvptr < l)
|
|
return;
|
|
|
|
/* are we at the end of message? should be <Cksum><CR><LF> */
|
|
|
|
if (rcvbuf[l-2] != '\r' || rcvbuf[l-1] != '\n') {
|
|
#ifdef ONCORE_VERBOSE_CONSUME
|
|
if (debug)
|
|
oncore_log(instance, LOG_DEBUG, "NO <CR><LF> at end of message");
|
|
#endif
|
|
} else { /* check the CheckSum */
|
|
if (oncore_checksum_ok(rcvbuf, l)) {
|
|
if (instance->shmem != NULL) {
|
|
instance->shmem[oncore_messages[m].shmem + 2]++;
|
|
memcpy(instance->shmem + oncore_messages[m].shmem + 3,
|
|
rcvbuf, (size_t) l);
|
|
}
|
|
oncore_msg_any(instance, rcvbuf, (size_t) (l-3), m);
|
|
if (oncore_messages[m].handler)
|
|
oncore_messages[m].handler(instance, rcvbuf, (size_t) (l-3));
|
|
}
|
|
#ifdef ONCORE_VERBOSE_CONSUME
|
|
else if (debug) {
|
|
char Msg[120], Msg2[10];
|
|
|
|
oncore_log(instance, LOG_ERR, "Checksum mismatch!");
|
|
snprintf(Msg, sizeof(Msg), "@@%c%c ", rcvbuf[2], rcvbuf[3]);
|
|
for (i = 4; i < l; i++) {
|
|
snprintf(Msg2, sizeof(Msg2),
|
|
"%03o ", rcvbuf[i]);
|
|
strlcat(Msg, Msg2, sizeof(Msg));
|
|
}
|
|
oncore_log(instance, LOG_DEBUG, Msg);
|
|
}
|
|
#endif
|
|
}
|
|
|
|
if (l != rcvptr)
|
|
memcpy(rcvbuf, rcvbuf+l, (size_t) (rcvptr-l));
|
|
rcvptr -= l;
|
|
}
|
|
}
|
|
|
|
|
|
|
|
static void
|
|
oncore_get_timestamp(
|
|
struct instance *instance,
|
|
long dt1, /* tick offset THIS time step */
|
|
long dt2 /* tick offset NEXT time step */
|
|
)
|
|
{
|
|
int Rsm;
|
|
u_long j;
|
|
l_fp ts, ts_tmp;
|
|
double dmy;
|
|
#ifdef HAVE_STRUCT_TIMESPEC
|
|
struct timespec *tsp = 0;
|
|
#else
|
|
struct timeval *tsp = 0;
|
|
#endif
|
|
int current_mode;
|
|
pps_params_t current_params;
|
|
struct timespec timeout;
|
|
struct peer *peer;
|
|
pps_info_t pps_i;
|
|
char Msg[160];
|
|
|
|
peer = instance->peer;
|
|
|
|
#if 1
|
|
/* If we are in SiteSurvey mode, then we are in 3D mode, and we fall thru.
|
|
* If we have Finished the SiteSurvey, then we fall thru for the 14/15
|
|
* times we get here in 0D mode (the 1/15 is in 3D for SHMEM).
|
|
* This gives good time, which gets better when the SS is done.
|
|
*/
|
|
|
|
if ((instance->site_survey == ONCORE_SS_DONE) && (instance->mode != MODE_0D)) {
|
|
#else
|
|
/* old check, only fall thru for SS_DONE and 0D mode, 2h45m wait for ticks */
|
|
|
|
if ((instance->site_survey != ONCORE_SS_DONE) || (instance->mode != MODE_0D)) {
|
|
#endif
|
|
peer->flags &= ~FLAG_PPS; /* problem - clear PPS FLAG */
|
|
return;
|
|
}
|
|
|
|
/* Don't do anything without an almanac to define the GPS->UTC delta */
|
|
|
|
if (instance->rsm.bad_almanac) {
|
|
peer->flags &= ~FLAG_PPS; /* problem - clear PPS FLAG */
|
|
return;
|
|
}
|
|
|
|
/* Once the Almanac is valid, the M12+T does not produce valid UTC
|
|
* immediately.
|
|
* Wait for UTC offset decode valid, then wait one message more
|
|
* so we are not off by 13 seconds after reset.
|
|
*/
|
|
|
|
if (instance->count5) {
|
|
instance->count5--;
|
|
peer->flags &= ~FLAG_PPS; /* problem - clear PPS FLAG */
|
|
return;
|
|
}
|
|
|
|
j = instance->ev_serial;
|
|
timeout.tv_sec = 0;
|
|
timeout.tv_nsec = 0;
|
|
if (time_pps_fetch(instance->pps_h, PPS_TSFMT_TSPEC, &pps_i,
|
|
&timeout) < 0) {
|
|
oncore_log_f(instance, LOG_ERR,
|
|
"time_pps_fetch failed %m");
|
|
peer->flags &= ~FLAG_PPS; /* problem - clear PPS FLAG */
|
|
return;
|
|
}
|
|
|
|
if (instance->assert) {
|
|
tsp = &pps_i.assert_timestamp;
|
|
|
|
#ifdef ONCORE_VERBOSE_GET_TIMESTAMP
|
|
if (debug > 2) {
|
|
u_long i;
|
|
|
|
i = (u_long) pps_i.assert_sequence;
|
|
# ifdef HAVE_STRUCT_TIMESPEC
|
|
oncore_log_f(instance, LOG_DEBUG,
|
|
"serial/j (%lu, %lu) %ld.%09ld", i,
|
|
j, (long)tsp->tv_sec,
|
|
(long)tsp->tv_nsec);
|
|
# else
|
|
oncore_log_f(instance, LOG_DEBUG,
|
|
"serial/j (%lu, %lu) %ld.%06ld", i,
|
|
j, (long)tsp->tv_sec,
|
|
(long)tsp->tv_usec);
|
|
# endif
|
|
}
|
|
#endif
|
|
|
|
if (pps_i.assert_sequence == j) {
|
|
oncore_log(instance, LOG_NOTICE, "ONCORE: oncore_get_timestamp, error serial pps");
|
|
peer->flags &= ~FLAG_PPS; /* problem - clear PPS FLAG */
|
|
return;
|
|
}
|
|
|
|
instance->ev_serial = pps_i.assert_sequence;
|
|
} else {
|
|
tsp = &pps_i.clear_timestamp;
|
|
|
|
#if 0
|
|
if (debug > 2) {
|
|
u_long i;
|
|
|
|
i = (u_long) pps_i.clear_sequence;
|
|
# ifdef HAVE_STRUCT_TIMESPEC
|
|
oncore_log_f(instance, LOG_DEBUG,
|
|
"serial/j (%lu, %lu) %ld.%09ld", i,
|
|
j, (long)tsp->tv_sec,
|
|
(long)tsp->tv_nsec);
|
|
# else
|
|
oncore_log_f(instance, LOG_DEBUG,
|
|
"serial/j (%lu, %lu) %ld.%06ld", i,
|
|
j, (long)tsp->tv_sec,
|
|
(long)tsp->tv_usec);
|
|
# endif
|
|
}
|
|
#endif
|
|
|
|
if (pps_i.clear_sequence == j) {
|
|
oncore_log(instance, LOG_ERR, "oncore_get_timestamp, error serial pps");
|
|
peer->flags &= ~FLAG_PPS; /* problem - clear PPS FLAG */
|
|
return;
|
|
}
|
|
instance->ev_serial = pps_i.clear_sequence;
|
|
}
|
|
|
|
/* convert timespec -> ntp l_fp */
|
|
|
|
dmy = tsp->tv_nsec;
|
|
dmy /= 1e9;
|
|
ts.l_uf = dmy * 4294967296.0;
|
|
ts.l_ui = tsp->tv_sec;
|
|
|
|
#if 0
|
|
alternate code for previous 4 lines is
|
|
dmy = 1.0e-9*tsp->tv_nsec; /* fractional part */
|
|
DTOLFP(dmy, &ts);
|
|
dmy = tsp->tv_sec; /* integer part */
|
|
DTOLFP(dmy, &ts_tmp);
|
|
L_ADD(&ts, &ts_tmp);
|
|
or more simply
|
|
dmy = 1.0e-9*tsp->tv_nsec; /* fractional part */
|
|
DTOLFP(dmy, &ts);
|
|
ts.l_ui = tsp->tv_sec;
|
|
#endif /* 0 */
|
|
|
|
/* now have timestamp in ts */
|
|
/* add in saw_tooth and offset, these will be ZERO if no TRAIM */
|
|
/* they will be IGNORED if the PPSAPI cant do PPS_OFFSET/ASSERT/CLEAR */
|
|
/* we just try to add them in and dont test for that here */
|
|
|
|
/* saw_tooth not really necessary if using TIMEVAL */
|
|
/* since its only precise to us, but do it anyway. */
|
|
|
|
/* offset in ns, and is positive (late), we subtract */
|
|
/* to put the PPS time transition back where it belongs */
|
|
|
|
/* must hand the offset for the NEXT sec off to the Kernel to do */
|
|
/* the addition, so that the Kernel PLL sees the offset too */
|
|
|
|
if (instance->assert)
|
|
instance->pps_p.assert_offset.tv_nsec = -dt2;
|
|
else
|
|
instance->pps_p.clear_offset.tv_nsec = -dt2;
|
|
|
|
/* The following code is necessary, and not just a time_pps_setparams,
|
|
* using the saved instance->pps_p, since some other process on the
|
|
* machine may have diddled with the mode bits (say adding something
|
|
* that it needs). We take what is there and ADD what we need.
|
|
* [[ The results from the time_pps_getcap is unlikely to change so
|
|
* we could probably just save it, but I choose to do the call ]]
|
|
* Unfortunately, there is only ONE set of mode bits in the kernel per
|
|
* interface, and not one set for each open handle.
|
|
*
|
|
* There is still a race condition here where we might mess up someone
|
|
* elses mode, but if he is being careful too, he should survive.
|
|
*/
|
|
|
|
if (time_pps_getcap(instance->pps_h, ¤t_mode) < 0) {
|
|
oncore_log_f(instance, LOG_ERR,
|
|
"time_pps_getcap failed: %m");
|
|
peer->flags &= ~FLAG_PPS; /* problem - clear PPS FLAG */
|
|
return;
|
|
}
|
|
|
|
if (time_pps_getparams(instance->pps_h, ¤t_params) < 0) {
|
|
oncore_log_f(instance, LOG_ERR,
|
|
"time_pps_getparams failed: %m");
|
|
peer->flags &= ~FLAG_PPS; /* problem - clear PPS FLAG */
|
|
return;
|
|
}
|
|
|
|
/* or current and mine */
|
|
current_params.mode |= instance->pps_p.mode;
|
|
/* but only set whats legal */
|
|
current_params.mode &= current_mode;
|
|
|
|
current_params.assert_offset.tv_sec = 0;
|
|
current_params.assert_offset.tv_nsec = -dt2;
|
|
current_params.clear_offset.tv_sec = 0;
|
|
current_params.clear_offset.tv_nsec = -dt2;
|
|
|
|
if (time_pps_setparams(instance->pps_h, ¤t_params))
|
|
oncore_log(instance, LOG_ERR, "ONCORE: Error doing time_pps_setparams");
|
|
|
|
/* have time from UNIX origin, convert to NTP origin. */
|
|
|
|
ts.l_ui += JAN_1970;
|
|
instance->pp->lastrec = ts;
|
|
|
|
/* print out information about this timestamp (long line) */
|
|
|
|
ts_tmp = ts;
|
|
ts_tmp.l_ui = 0; /* zero integer part */
|
|
LFPTOD(&ts_tmp, dmy); /* convert fractional part to a double */
|
|
j = 1.0e9*dmy; /* then to integer ns */
|
|
|
|
Rsm = 0;
|
|
if (instance->chan == 6)
|
|
Rsm = instance->BEHa[64];
|
|
else if (instance->chan == 8)
|
|
Rsm = instance->BEHa[72];
|
|
else if (instance->chan == 12)
|
|
Rsm = ((instance->BEHa[129]<<8) | instance->BEHa[130]);
|
|
|
|
if (instance->chan == 6 || instance->chan == 8) {
|
|
char f1[5], f2[5], f3[5], f4[5];
|
|
if (instance->traim) {
|
|
snprintf(f1, sizeof(f1), "%d",
|
|
instance->BEHn[21]);
|
|
snprintf(f2, sizeof(f2), "%d",
|
|
instance->BEHn[22]);
|
|
snprintf(f3, sizeof(f3), "%2d",
|
|
instance->BEHn[23] * 256 +
|
|
instance->BEHn[24]);
|
|
snprintf(f4, sizeof(f4), "%3d",
|
|
(s_char)instance->BEHn[25]);
|
|
} else {
|
|
strlcpy(f1, "x", sizeof(f1));
|
|
strlcpy(f2, "x", sizeof(f2));
|
|
strlcpy(f3, "xx", sizeof(f3));
|
|
strlcpy(f4, "xxx", sizeof(f4));
|
|
}
|
|
snprintf(Msg, sizeof(Msg), /* MAX length 128, currently at 127 */
|
|
"%u.%09lu %d %d %2d %2d %2d %2ld rstat %02x dop %4.1f nsat %2d,%d traim %d,%s,%s sigma %s neg-sawtooth %s sat %d%d%d%d%d%d%d%d",
|
|
ts.l_ui, j,
|
|
instance->pp->year, instance->pp->day,
|
|
instance->pp->hour, instance->pp->minute, instance->pp->second,
|
|
(long) tsp->tv_sec % 60,
|
|
Rsm, 0.1*(256*instance->BEHa[35]+instance->BEHa[36]),
|
|
/*rsat dop */
|
|
instance->BEHa[38], instance->BEHa[39], instance->traim, f1, f2,
|
|
/* nsat visible, nsat tracked, traim,traim,traim */
|
|
f3, f4,
|
|
/* sigma neg-sawtooth */
|
|
/*sat*/ instance->BEHa[41], instance->BEHa[45], instance->BEHa[49], instance->BEHa[53],
|
|
instance->BEHa[57], instance->BEHa[61], instance->BEHa[65], instance->BEHa[69]
|
|
); /* will be 0 for 6 chan */
|
|
} else if (instance->chan == 12) {
|
|
char f1[5], f2[5], f3[5], f4[5];
|
|
if (instance->traim) {
|
|
snprintf(f1, sizeof(f1), "%d",
|
|
instance->BEHn[6]);
|
|
snprintf(f2, sizeof(f2), "%d",
|
|
instance->BEHn[7]);
|
|
snprintf(f3, sizeof(f3), "%d",
|
|
instance->BEHn[12] * 256 +
|
|
instance->BEHn[13]);
|
|
snprintf(f4, sizeof(f4), "%3d",
|
|
(s_char)instance->BEHn[14]);
|
|
} else {
|
|
strlcpy(f1, "x", sizeof(f1));
|
|
strlcpy(f2, "x", sizeof(f2));
|
|
strlcpy(f3, "xx", sizeof(f3));
|
|
strlcpy(f4, "xxx", sizeof(f4));
|
|
}
|
|
snprintf(Msg, sizeof(Msg),
|
|
"%u.%09lu %d %d %2d %2d %2d %2ld rstat %02x dop %4.1f nsat %2d,%d traim %d,%s,%s sigma %s neg-sawtooth %s sat %d%d%d%d%d%d%d%d%d%d%d%d",
|
|
ts.l_ui, j,
|
|
instance->pp->year, instance->pp->day,
|
|
instance->pp->hour, instance->pp->minute, instance->pp->second,
|
|
(long) tsp->tv_sec % 60,
|
|
Rsm, 0.1*(256*instance->BEHa[53]+instance->BEHa[54]),
|
|
/*rsat dop */
|
|
instance->BEHa[55], instance->BEHa[56], instance->traim, f1, f2,
|
|
/* nsat visible, nsat tracked traim,traim,traim */
|
|
f3, f4,
|
|
/* sigma neg-sawtooth */
|
|
/*sat*/ instance->BEHa[58], instance->BEHa[64], instance->BEHa[70], instance->BEHa[76],
|
|
instance->BEHa[82], instance->BEHa[88], instance->BEHa[94], instance->BEHa[100],
|
|
instance->BEHa[106], instance->BEHa[112], instance->BEHa[118], instance->BEHa[124]
|
|
);
|
|
}
|
|
|
|
/* and some things I dont understand (magic ntp things) */
|
|
|
|
if (!refclock_process(instance->pp)) {
|
|
refclock_report(instance->peer, CEVNT_BADTIME);
|
|
peer->flags &= ~FLAG_PPS; /* problem - clear PPS FLAG */
|
|
return;
|
|
}
|
|
|
|
oncore_log(instance, LOG_INFO, Msg); /* this is long message above */
|
|
instance->pollcnt = 2;
|
|
|
|
if (instance->polled) {
|
|
instance->polled = 0;
|
|
/* instance->pp->dispersion = instance->pp->skew = 0; */
|
|
instance->pp->lastref = instance->pp->lastrec;
|
|
refclock_receive(instance->peer);
|
|
}
|
|
peer->flags |= FLAG_PPS;
|
|
}
|
|
|
|
|
|
/*************** oncore_msg_XX routines start here *******************/
|
|
|
|
|
|
/*
|
|
* print Oncore response message.
|
|
*/
|
|
|
|
static void
|
|
oncore_msg_any(
|
|
struct instance *instance,
|
|
u_char *buf,
|
|
size_t len,
|
|
int idx
|
|
)
|
|
{
|
|
#ifdef ONCORE_VERBOSE_MSG_ANY
|
|
int i;
|
|
const char *fmt = oncore_messages[idx].fmt;
|
|
const char *p;
|
|
char *q;
|
|
char *qlim;
|
|
#ifdef HAVE_GETCLOCK
|
|
struct timespec ts;
|
|
#endif
|
|
struct timeval tv;
|
|
char Msg[120], Msg2[10];
|
|
|
|
if (debug > 3) {
|
|
# ifdef HAVE_GETCLOCK
|
|
(void) getclock(TIMEOFDAY, &ts);
|
|
tv.tv_sec = ts.tv_sec;
|
|
tv.tv_usec = ts.tv_nsec / 1000;
|
|
# else
|
|
GETTIMEOFDAY(&tv, 0);
|
|
# endif
|
|
oncore_log(instance, LOG_DEBUG, "%ld.%06ld",
|
|
(long)tv.tv_sec, (long)tv.tv_usec);
|
|
|
|
if (!*fmt) {
|
|
snprintf(Msg, sizeof(Msg), ">>@@%c%c ", buf[2],
|
|
buf[3]);
|
|
for(i = 2; i < len && i < 2400 ; i++) {
|
|
snprintf(Msg2, sizeof(Msg2), "%02x",
|
|
buf[i]);
|
|
strlcat(Msg, Msg2, sizeof(Msg));
|
|
}
|
|
oncore_log(instance, LOG_DEBUG, Msg);
|
|
return;
|
|
} else {
|
|
strlcpy(Msg, "##", sizeof(Msg));
|
|
qlim = Msg + sizeof(Msg) - 3;
|
|
for (p = fmt, q = Msg + 2; q < qlim && *p; ) {
|
|
*q++ = *p++;
|
|
*q++ = '_';
|
|
}
|
|
*q = '\0';
|
|
oncore_log(instance, LOG_DEBUG, Msg);
|
|
snprintf(Msg, sizeof(Msg), "%c%c", buf[2],
|
|
buf[3]);
|
|
i = 4;
|
|
for (p = fmt; *p; p++) {
|
|
snprintf(Msg2, "%02x", buf[i++]);
|
|
strlcat(Msg, Msg2, sizeof(Msg));
|
|
}
|
|
oncore_log(instance, LOG_DEBUG, Msg);
|
|
}
|
|
}
|
|
#endif
|
|
}
|
|
|
|
|
|
|
|
/* Latitude, Longitude, Height */
|
|
|
|
static void
|
|
oncore_msg_Adef(
|
|
struct instance *instance,
|
|
u_char *buf,
|
|
size_t len
|
|
)
|
|
{
|
|
}
|
|
|
|
|
|
|
|
/* Mask Angle */
|
|
|
|
static void
|
|
oncore_msg_Ag(
|
|
struct instance *instance,
|
|
u_char *buf,
|
|
size_t len
|
|
)
|
|
{
|
|
const char *cp;
|
|
|
|
cp = "set to";
|
|
if (instance->o_state == ONCORE_RUN)
|
|
cp = "is";
|
|
|
|
instance->Ag = buf[4];
|
|
oncore_log_f(instance, LOG_INFO,
|
|
"Satellite mask angle %s %d degrees", cp,
|
|
(int)instance->Ag);
|
|
}
|
|
|
|
|
|
|
|
/*
|
|
* get Position hold position
|
|
*/
|
|
|
|
static void
|
|
oncore_msg_As(
|
|
struct instance *instance,
|
|
u_char *buf,
|
|
size_t len
|
|
)
|
|
{
|
|
instance->ss_lat = buf_w32(&buf[4]);
|
|
instance->ss_long = buf_w32(&buf[8]);
|
|
instance->ss_ht = buf_w32(&buf[12]);
|
|
|
|
/* Print out Position */
|
|
oncore_print_posn(instance);
|
|
}
|
|
|
|
|
|
|
|
/*
|
|
* Try to use Oncore UT+ Auto Survey Feature
|
|
* If its not there (VP), set flag to do it ourselves.
|
|
*/
|
|
|
|
static void
|
|
oncore_msg_At(
|
|
struct instance *instance,
|
|
u_char *buf,
|
|
size_t len
|
|
)
|
|
{
|
|
instance->saw_At = 1;
|
|
if (instance->site_survey == ONCORE_SS_TESTING) {
|
|
if (buf[4] == 2) {
|
|
oncore_log(instance, LOG_NOTICE,
|
|
"Initiating hardware 3D site survey");
|
|
|
|
oncore_log(instance, LOG_NOTICE, "SSstate = ONCORE_SS_HW");
|
|
instance->site_survey = ONCORE_SS_HW;
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
|
|
/*
|
|
* get PPS Offset
|
|
* Nb. @@Ay is not supported for early UT (no plus) model
|
|
*/
|
|
|
|
static void
|
|
oncore_msg_Ay(
|
|
struct instance *instance,
|
|
u_char *buf,
|
|
size_t len
|
|
)
|
|
{
|
|
if (instance->saw_Ay)
|
|
return;
|
|
|
|
instance->saw_Ay = 1;
|
|
|
|
instance->offset = buf_w32(&buf[4]);
|
|
|
|
oncore_log_f(instance, LOG_INFO, "PPS Offset is set to %ld ns",
|
|
instance->offset);
|
|
}
|
|
|
|
|
|
|
|
/*
|
|
* get Cable Delay
|
|
*/
|
|
|
|
static void
|
|
oncore_msg_Az(
|
|
struct instance *instance,
|
|
u_char *buf,
|
|
size_t len
|
|
)
|
|
{
|
|
if (instance->saw_Az)
|
|
return;
|
|
|
|
instance->saw_Az = 1;
|
|
|
|
instance->delay = buf_w32(&buf[4]);
|
|
|
|
oncore_log_f(instance, LOG_INFO, "Cable delay is set to %ld ns",
|
|
instance->delay);
|
|
}
|
|
|
|
|
|
|
|
/* Ba, Ea and Ha come here, these contain Position */
|
|
|
|
static void
|
|
oncore_msg_BaEaHa(
|
|
struct instance *instance,
|
|
u_char *buf,
|
|
size_t len
|
|
)
|
|
{
|
|
const char *cp;
|
|
int mode;
|
|
|
|
/* OK, we are close to the RUN state now.
|
|
* But we have a few more items to initialize first.
|
|
*
|
|
* At the beginning of this routine there are several 'timers'.
|
|
* We enter this routine 1/sec, and since the upper levels of NTP have usurped
|
|
* the use of timers, we use the 1/sec entry to do things that
|
|
* we would normally do with timers...
|
|
*/
|
|
|
|
if (instance->o_state == ONCORE_CHECK_CHAN) { /* here while checking for the # chan */
|
|
if (buf[2] == 'B') { /* 6chan */
|
|
if (instance->chan_ck < 6) instance->chan_ck = 6;
|
|
} else if (buf[2] == 'E') { /* 8chan */
|
|
if (instance->chan_ck < 8) instance->chan_ck = 8;
|
|
} else if (buf[2] == 'H') { /* 12chan */
|
|
if (instance->chan_ck < 12) instance->chan_ck = 12;
|
|
}
|
|
|
|
if (instance->count3++ < 5)
|
|
return;
|
|
|
|
instance->count3 = 0;
|
|
|
|
if (instance->chan_in != -1) /* set in Input */
|
|
instance->chan = instance->chan_in;
|
|
else /* set from test */
|
|
instance->chan = instance->chan_ck;
|
|
|
|
oncore_log_f(instance, LOG_INFO, "Input says chan = %d",
|
|
instance->chan_in);
|
|
oncore_log_f(instance, LOG_INFO, "Model # says chan = %d",
|
|
instance->chan_id);
|
|
oncore_log_f(instance, LOG_INFO, "Testing says chan = %d",
|
|
instance->chan_ck);
|
|
oncore_log_f(instance, LOG_INFO, "Using chan = %d",
|
|
instance->chan);
|
|
|
|
instance->o_state = ONCORE_HAVE_CHAN;
|
|
oncore_log(instance, LOG_NOTICE, "state = ONCORE_HAVE_CHAN");
|
|
|
|
instance->timeout = 4;
|
|
oncore_sendmsg(instance, oncore_cmd_Cj, sizeof(oncore_cmd_Cj));
|
|
return;
|
|
}
|
|
|
|
if (instance->o_state != ONCORE_ALMANAC && instance->o_state != ONCORE_RUN)
|
|
return;
|
|
|
|
/* PAUSE 5sec - make sure results are stable, before using position */
|
|
|
|
if (instance->count) {
|
|
if (instance->count++ < 5)
|
|
return;
|
|
instance->count = 0;
|
|
}
|
|
|
|
memcpy(instance->BEHa, buf, (size_t) (len+3)); /* Ba, Ea or Ha */
|
|
|
|
/* check if we saw a response to Gc (M12 or M12+T */
|
|
|
|
if (instance->pps_control_msg_seen != -2) {
|
|
if ((instance->pps_control_msg_seen == -1) && (instance->pps_control != -1)) {
|
|
oncore_log(instance, LOG_INFO, "PPSCONTROL set, but not implemented (not M12)");
|
|
}
|
|
instance->pps_control_msg_seen = -2;
|
|
}
|
|
|
|
/* check the antenna (did it get unplugged) and almanac (is it ready) for changes. */
|
|
|
|
oncore_check_almanac(instance);
|
|
oncore_check_antenna(instance);
|
|
|
|
/* If we are in Almanac mode, waiting for Almanac, we can't do anything till we have it */
|
|
/* When we have an almanac, we will start the Bn/En/@@Hn messages */
|
|
|
|
if (instance->o_state == ONCORE_ALMANAC)
|
|
if (oncore_wait_almanac(instance))
|
|
return;
|
|
|
|
/* do some things once when we get this far in BaEaHa */
|
|
|
|
if (instance->once) {
|
|
instance->once = 0;
|
|
instance->count2 = 1;
|
|
|
|
/* Have we seen an @@At (position hold) command response */
|
|
/* if not, message out */
|
|
|
|
if (instance->chan != 12 && !instance->saw_At) {
|
|
oncore_log(instance, LOG_NOTICE,
|
|
"Not Good, no @@At command (no Position Hold), must be a GT/GT+");
|
|
oncore_sendmsg(instance, oncore_cmd_Av1, sizeof(oncore_cmd_Av1));
|
|
}
|
|
|
|
/* have an Almanac, can start the SiteSurvey
|
|
* (actually only need to get past the almanac_load where we diddle with At
|
|
* command,- we can't change it after we start the HW_SS below
|
|
*/
|
|
|
|
mode = instance->init_type;
|
|
switch (mode) {
|
|
case 0: /* NO initialization, don't change anything */
|
|
case 1: /* Use given Position */
|
|
case 3:
|
|
instance->site_survey = ONCORE_SS_DONE;
|
|
oncore_log(instance, LOG_NOTICE, "SSstate = ONCORE_SS_DONE");
|
|
break;
|
|
|
|
case 2:
|
|
case 4: /* Site Survey */
|
|
oncore_log(instance, LOG_NOTICE, "SSstate = ONCORE_SS_TESTING");
|
|
instance->site_survey = ONCORE_SS_TESTING;
|
|
instance->count1 = 1;
|
|
if (instance->chan == 12)
|
|
oncore_sendmsg(instance, oncore_cmd_Gd3, sizeof(oncore_cmd_Gd3)); /* M12+T */
|
|
else
|
|
oncore_sendmsg(instance, oncore_cmd_At2, sizeof(oncore_cmd_At2)); /* not GT, arg not VP */
|
|
break;
|
|
}
|
|
|
|
/* Read back PPS Offset for Output */
|
|
/* Nb. This will fail silently for early UT (no plus) and M12 models */
|
|
|
|
oncore_sendmsg(instance, oncore_cmd_Ayx, sizeof(oncore_cmd_Ayx));
|
|
|
|
/* Read back Cable Delay for Output */
|
|
|
|
oncore_sendmsg(instance, oncore_cmd_Azx, sizeof(oncore_cmd_Azx));
|
|
|
|
/* Read back Satellite Mask Angle for Output */
|
|
|
|
oncore_sendmsg(instance, oncore_cmd_Agx, sizeof(oncore_cmd_Agx));
|
|
}
|
|
|
|
|
|
/* Unfortunately, the Gd3 command returns '3' for the M12 v1.3 firmware where it is
|
|
* out-of-range and it should return 0-2. (v1.3 can't do a HW Site Survey)
|
|
* We must do the Gd3, and then wait a cycle or two for things to settle,
|
|
* then check Ha[130]&0x10 to see if a SS is in progress.
|
|
* We will set SW if HW has not been set after an appropriate delay.
|
|
*/
|
|
|
|
if (instance->site_survey == ONCORE_SS_TESTING) {
|
|
if (instance->chan == 12) {
|
|
if (instance->count1) {
|
|
if (instance->count1++ > 5 || instance->BEHa[130]&0x10) {
|
|
instance->count1 = 0;
|
|
if (instance->BEHa[130]&0x10) {
|
|
oncore_log(instance, LOG_NOTICE,
|
|
"Initiating hardware 3D site survey");
|
|
|
|
oncore_log(instance, LOG_NOTICE, "SSstate = ONCORE_SS_HW");
|
|
instance->site_survey = ONCORE_SS_HW;
|
|
} else {
|
|
oncore_log(instance, LOG_NOTICE, "SSstate = ONCORE_SS_SW");
|
|
instance->site_survey = ONCORE_SS_SW;
|
|
}
|
|
}
|
|
}
|
|
} else {
|
|
if (instance->count1) {
|
|
if (instance->count1++ > 5) {
|
|
instance->count1 = 0;
|
|
/*
|
|
* For instance->site_survey to still be ONCORE_SS_TESTING, then after a 5sec
|
|
* wait after the @@At2/@@Gd3 command we have not changed the state to
|
|
* ONCORE_SS_HW. If the Hardware is capable of doing a Site Survey, then
|
|
* the variable would have been changed by now.
|
|
* There are three possibilities:
|
|
* 6/8chan
|
|
* (a) We did not get a response to the @@At0 or @@At2 commands,
|
|
* and it must be a GT/GT+/SL with no position hold mode.
|
|
* We will have to do it ourselves.
|
|
* (b) We saw the @@At0, @@At2 commands, but @@At2 failed,
|
|
* must be a VP or older UT which doesn't have Site Survey mode.
|
|
* We will have to do it ourselves.
|
|
* 12chan
|
|
* (c) We saw the @@Gd command, and saw H[13]*0x10
|
|
* We will have to do it ourselves (done above)
|
|
*/
|
|
|
|
oncore_log_f(instance, LOG_INFO,
|
|
"Initiating software 3D site survey (%d samples)",
|
|
POS_HOLD_AVERAGE);
|
|
|
|
oncore_log(instance, LOG_NOTICE, "SSstate = ONCORE_SS_SW");
|
|
instance->site_survey = ONCORE_SS_SW;
|
|
|
|
instance->ss_lat = instance->ss_long = instance->ss_ht = 0;
|
|
if (instance->chan == 12)
|
|
oncore_sendmsg(instance, oncore_cmd_Gd0, sizeof(oncore_cmd_Gd0)); /* disable */
|
|
else {
|
|
oncore_sendmsg(instance, oncore_cmd_At0, sizeof(oncore_cmd_At0)); /* disable */
|
|
oncore_sendmsg(instance, oncore_cmd_Av0, sizeof(oncore_cmd_Av0)); /* disable */
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
/* check the mode we are in 0/2/3D */
|
|
|
|
if (instance->chan == 6) {
|
|
if (instance->BEHa[64]&0x8)
|
|
instance->mode = MODE_0D;
|
|
else if (instance->BEHa[64]&0x10)
|
|
instance->mode = MODE_2D;
|
|
else if (instance->BEHa[64]&0x20)
|
|
instance->mode = MODE_3D;
|
|
} else if (instance->chan == 8) {
|
|
if (instance->BEHa[72]&0x8)
|
|
instance->mode = MODE_0D;
|
|
else if (instance->BEHa[72]&0x10)
|
|
instance->mode = MODE_2D;
|
|
else if (instance->BEHa[72]&0x20)
|
|
instance->mode = MODE_3D;
|
|
} else if (instance->chan == 12) {
|
|
int bits;
|
|
|
|
bits = (instance->BEHa[129]>>5) & 0x7; /* actually Ha */
|
|
if (bits == 0x4)
|
|
instance->mode = MODE_0D;
|
|
else if (bits == 0x6)
|
|
instance->mode = MODE_2D;
|
|
else if (bits == 0x7)
|
|
instance->mode = MODE_3D;
|
|
}
|
|
|
|
/* copy the record to the (extra) location in SHMEM */
|
|
|
|
if (instance->shmem) {
|
|
int i;
|
|
u_char *smp; /* pointer to start of shared mem for Ba/Ea/Ha */
|
|
|
|
switch(instance->chan) {
|
|
case 6: smp = &instance->shmem[instance->shmem_Ba]; break;
|
|
case 8: smp = &instance->shmem[instance->shmem_Ea]; break;
|
|
case 12: smp = &instance->shmem[instance->shmem_Ha]; break;
|
|
default: smp = (u_char *) NULL; break;
|
|
}
|
|
|
|
switch (instance->mode) {
|
|
case MODE_0D: i = 1; break; /* 0D, Position Hold */
|
|
case MODE_2D: i = 2; break; /* 2D, Altitude Hold */
|
|
case MODE_3D: i = 3; break; /* 3D fix */
|
|
default: i = 0; break;
|
|
}
|
|
|
|
if (i && smp != NULL) {
|
|
i *= (len+6);
|
|
smp[i + 2]++;
|
|
memcpy(&smp[i+3], buf, (size_t) (len+3));
|
|
}
|
|
}
|
|
|
|
/*
|
|
* check if traim timer active
|
|
* if it hasn't been cleared, then @@Bn/@@En/@@Hn did not respond
|
|
*/
|
|
|
|
if (instance->traim_delay) {
|
|
if (instance->traim_delay++ > 5) {
|
|
instance->traim = 0;
|
|
instance->traim_delay = 0;
|
|
cp = "ONCORE: Did not detect TRAIM response, TRAIM = OFF";
|
|
oncore_log(instance, LOG_INFO, cp);
|
|
|
|
oncore_set_traim(instance);
|
|
} else
|
|
return;
|
|
|
|
}
|
|
|
|
/* by now should have a @@Ba/@@Ea/@@Ha with good data in it */
|
|
|
|
if (!instance->have_dH && !instance->traim_delay)
|
|
oncore_compute_dH(instance);
|
|
|
|
/*
|
|
* must be ONCORE_RUN if we are here.
|
|
* Have # chan and TRAIM by now.
|
|
*/
|
|
|
|
instance->pp->year = buf[6]*256+buf[7];
|
|
instance->pp->day = ymd2yd(buf[6]*256+buf[7], buf[4], buf[5]);
|
|
instance->pp->hour = buf[8];
|
|
instance->pp->minute = buf[9];
|
|
instance->pp->second = buf[10];
|
|
|
|
/*
|
|
* Are we doing a Hardware or Software Site Survey?
|
|
*/
|
|
|
|
if (instance->site_survey == ONCORE_SS_HW || instance->site_survey == ONCORE_SS_SW)
|
|
oncore_ss(instance);
|
|
|
|
/* see if we ever saw a response from the @@Ayx above */
|
|
|
|
if (instance->count2) {
|
|
if (instance->count2++ > 5) { /* this delay to check on @@Ay command */
|
|
instance->count2 = 0;
|
|
|
|
/* Have we seen an Ay (1PPS time offset) command response */
|
|
/* if not, and non-zero offset, zero the offset, and send message */
|
|
|
|
if (!instance->saw_Ay && instance->offset) {
|
|
oncore_log(instance, LOG_INFO, "No @@Ay command, PPS OFFSET ignored");
|
|
instance->offset = 0;
|
|
}
|
|
}
|
|
}
|
|
|
|
/*
|
|
* Check the leap second status once per day.
|
|
*/
|
|
|
|
oncore_check_leap_sec(instance);
|
|
|
|
/*
|
|
* if SHMEM active, every 15s, steal one 'tick' to get 2D or 3D posn.
|
|
*/
|
|
|
|
if (instance->shmem && !instance->shmem_bad_Ea && instance->shmem_Posn && (instance->site_survey == ONCORE_SS_DONE))
|
|
oncore_shmem_get_3D(instance);
|
|
|
|
if (!instance->traim) /* NO traim, no BnEnHn, go get tick */
|
|
oncore_get_timestamp(instance, instance->offset, instance->offset);
|
|
}
|
|
|
|
|
|
|
|
/* Almanac Status */
|
|
|
|
static void
|
|
oncore_msg_Bd(
|
|
struct instance *instance,
|
|
u_char *buf,
|
|
size_t len
|
|
)
|
|
{
|
|
oncore_log_f(instance, LOG_NOTICE,
|
|
"Bd: Almanac %s, week = %d, t = %d, %d SVs: %x",
|
|
((buf[4]) ? "LOADED" : "(NONE)"), buf[5], buf[6],
|
|
buf[7], w32(&buf[8]));
|
|
}
|
|
|
|
|
|
|
|
/* get leap-second warning message */
|
|
|
|
/*
|
|
* @@Bj does NOT behave as documented in current Oncore firmware.
|
|
* It turns on the LEAP indicator when the data is set, and does not,
|
|
* as documented, wait until the beginning of the month when the
|
|
* leap second will occur.
|
|
* Since this firmware bug will never be fixed in all the outstanding Oncore receivers
|
|
* @@Bj is only called in June/December.
|
|
*/
|
|
|
|
static void
|
|
oncore_msg_Bj(
|
|
struct instance *instance,
|
|
u_char *buf,
|
|
size_t len
|
|
)
|
|
{
|
|
const char *cp;
|
|
|
|
instance->saw_Bj = 1;
|
|
|
|
switch(buf[4]) {
|
|
case 1:
|
|
instance->pp->leap = LEAP_ADDSECOND;
|
|
cp = "Set pp.leap to LEAP_ADDSECOND";
|
|
break;
|
|
case 2:
|
|
instance->pp->leap = LEAP_DELSECOND;
|
|
cp = "Set pp.leap to LEAP_DELSECOND";
|
|
break;
|
|
case 0:
|
|
default:
|
|
instance->pp->leap = LEAP_NOWARNING;
|
|
cp = "Set pp.leap to LEAP_NOWARNING";
|
|
break;
|
|
}
|
|
oncore_log(instance, LOG_NOTICE, cp);
|
|
}
|
|
|
|
|
|
|
|
static void
|
|
oncore_msg_Bl(
|
|
struct instance *instance,
|
|
u_char *buf,
|
|
size_t len
|
|
)
|
|
{
|
|
int subframe, valid, page, i, j, tow;
|
|
int day_now, day_lsf;
|
|
const char *cp;
|
|
enum {
|
|
WARN_NOT_YET,
|
|
WARN_0,
|
|
WARN_PLUS,
|
|
WARN_MINUS
|
|
} warn;
|
|
|
|
day_now = day_lsf = 0;
|
|
cp = NULL; /* keep gcc happy */
|
|
|
|
subframe = buf[6] & 017;
|
|
valid = (buf[6] >> 4) & 017;
|
|
page = buf[7];
|
|
|
|
if ((!instance->Bl.lsf_flg && !instance->Bl.wn_flg) && (subframe == 4 && page == 18 && valid == 10)) {
|
|
instance->Bl.dt_ls = buf[32];
|
|
instance->Bl.WN_lsf = buf[33];
|
|
instance->Bl.DN_lsf = buf[34];
|
|
instance->Bl.dt_lsf = buf[35];
|
|
instance->Bl.lsf_flg++;
|
|
}
|
|
if ((instance->Bl.lsf_flg && !instance->Bl.wn_flg) && (subframe == 1 && valid == 10)) {
|
|
i = (buf[7+7]<<8) + buf[7+8];
|
|
instance->Bl.WN = i >> 6;
|
|
tow = (buf[7+4]<<16) + (buf[7+5]<<8) + buf[7+6];
|
|
tow >>= 7;
|
|
tow = tow & 0377777;
|
|
tow <<= 2;
|
|
instance->Bl.DN = tow/57600L + 1;
|
|
instance->Bl.wn_flg++;
|
|
}
|
|
if (instance->Bl.wn_flg && instance->Bl.lsf_flg) {
|
|
instance->Bl.wn_flg = instance->Bl.lsf_flg = 0;
|
|
oncore_cmd_Bl[2] = 0;
|
|
oncore_sendmsg(instance, oncore_cmd_Bl, sizeof oncore_cmd_Bl);
|
|
oncore_cmd_Bl[2] = 1;
|
|
|
|
i = instance->Bl.WN&01400;
|
|
instance->Bl.WN_lsf |= i;
|
|
|
|
/* have everything I need, doit */
|
|
|
|
i = (instance->Bl.WN_lsf - instance->Bl.WN);
|
|
if (i < 0)
|
|
i += 1024;
|
|
day_now = instance->Bl.DN;
|
|
day_lsf = 7*i + instance->Bl.DN_lsf;
|
|
|
|
/* ignore if in past or more than a month in future */
|
|
|
|
warn = WARN_NOT_YET;
|
|
if (day_lsf >= day_now && day_lsf - day_now < 32) {
|
|
/* if < 28d, doit, if 28-31, ck day-of-month < 20 (not at end of prev month) */
|
|
if (day_lsf - day_now < 28 || instance->BEHa[5] < 20) {
|
|
i = instance->Bl.dt_lsf - instance->Bl.dt_ls;
|
|
switch (i) {
|
|
case -1:
|
|
warn = WARN_MINUS;
|
|
break;
|
|
case 0:
|
|
warn = WARN_0;
|
|
break;
|
|
case 1:
|
|
warn = WARN_PLUS;
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
|
|
switch (warn) {
|
|
case WARN_0:
|
|
case WARN_NOT_YET:
|
|
instance->peer->leap = LEAP_NOWARNING;
|
|
cp = "Set peer.leap to LEAP_NOWARNING";
|
|
break;
|
|
case WARN_MINUS:
|
|
instance->peer->leap = LEAP_DELSECOND;
|
|
cp = "Set peer.leap to LEAP_DELSECOND";
|
|
break;
|
|
case WARN_PLUS:
|
|
instance->peer->leap = LEAP_ADDSECOND;
|
|
cp = "Set peer.leap to LEAP_ADDSECOND";
|
|
break;
|
|
}
|
|
oncore_log(instance, LOG_NOTICE, cp);
|
|
|
|
i = instance->Bl.dt_lsf-instance->Bl.dt_ls;
|
|
if (i) {
|
|
j = (i >= 0) ? i : -i; /* abs(i) */
|
|
oncore_log_f(instance, LOG_NOTICE,
|
|
"see Leap_Second (%c%d) in %d days",
|
|
((i >= 0) ? '+' : '-'), j,
|
|
day_lsf-day_now);
|
|
}
|
|
}
|
|
|
|
/*
|
|
* Reg only wants the following output for "deeper" driver debugging.
|
|
* See Bug 2142 and Bug 1866
|
|
*/
|
|
#if 0
|
|
oncore_log_f(instance, LOG_DEBUG,
|
|
"dt_ls = %d dt_lsf = %d WN = %d DN = %d WN_lsf = %d DNlsf = %d wn_flg = %d lsf_flg = %d Bl_day = %d",
|
|
instance->Bl.dt_ls, instance->Bl.dt_lsf,
|
|
instance->Bl.WN, instance->Bl.DN,
|
|
instance->Bl.WN_lsf, instance->Bl.DN_lsf,
|
|
instance->Bl.wn_flg, instance->Bl.lsf_flg,
|
|
instance->Bl.Bl_day);
|
|
#endif
|
|
}
|
|
|
|
|
|
static void
|
|
oncore_msg_BnEnHn(
|
|
struct instance *instance,
|
|
u_char *buf,
|
|
size_t len
|
|
)
|
|
{
|
|
long dt1, dt2;
|
|
|
|
if (instance->o_state != ONCORE_RUN)
|
|
return;
|
|
|
|
if (instance->traim_delay) { /* flag that @@Bn/@@En/Hn returned */
|
|
instance->traim_ck = 1;
|
|
instance->traim_delay = 0;
|
|
oncore_log(instance, LOG_NOTICE, "ONCORE: Detected TRAIM, TRAIM = ON");
|
|
|
|
oncore_set_traim(instance);
|
|
}
|
|
|
|
memcpy(instance->BEHn, buf, (size_t) len); /* Bn or En or Hn */
|
|
|
|
if (!instance->traim) /* BnEnHn will be turned off in any case */
|
|
return;
|
|
|
|
/* If Time RAIM doesn't like it, don't trust it */
|
|
|
|
if (buf[2] == 'H') {
|
|
if (instance->BEHn[6]) { /* bad TRAIM */
|
|
oncore_log(instance, LOG_WARNING, "BAD TRAIM");
|
|
return;
|
|
}
|
|
|
|
dt1 = instance->saw_tooth + instance->offset; /* dt this time step */
|
|
instance->saw_tooth = (s_char) instance->BEHn[14]; /* update for next time Hn[14] */
|
|
dt2 = instance->saw_tooth + instance->offset; /* dt next time step */
|
|
} else {
|
|
if (instance->BEHn[21]) /* bad TRAIM */
|
|
return;
|
|
|
|
dt1 = instance->saw_tooth + instance->offset; /* dt this time step */
|
|
instance->saw_tooth = (s_char) instance->BEHn[25]; /* update for next time Bn[25], En[25] */
|
|
dt2 = instance->saw_tooth + instance->offset; /* dt next time step */
|
|
}
|
|
|
|
oncore_get_timestamp(instance, dt1, dt2);
|
|
}
|
|
|
|
|
|
|
|
/* Here for @@Ca, @@Fa and @@Ia messages */
|
|
|
|
/* These are Self test Commands for 6, 8, and 12 chan receivers.
|
|
* There are good reasons NOT to do a @@Ca, @@Fa or @@Ia command with the ONCORE.
|
|
* It was found that under some circumstances the following
|
|
* command would fail if issued immediately after the return from the
|
|
* @@Fa, but a 2sec delay seemed to fix things. Since simply calling
|
|
* sleep(2) is wasteful, and may cause trouble for some OS's, repeating
|
|
* itimer, we set a flag, and test it at the next POLL. If it hasn't
|
|
* been cleared, we reissue the @@Cj that is issued below.
|
|
* Note that we do a @@Cj at the beginning, and again here.
|
|
* The first is to get the info, the 2nd is just used as a safe command
|
|
* after the @@Fa for all Oncores (and it was in this posn in the
|
|
* original code).
|
|
*/
|
|
|
|
static void
|
|
oncore_msg_CaFaIa(
|
|
struct instance *instance,
|
|
u_char *buf,
|
|
size_t len
|
|
)
|
|
{
|
|
int i;
|
|
|
|
if (instance->o_state == ONCORE_TEST_SENT) {
|
|
enum antenna_state antenna;
|
|
|
|
instance->timeout = 0;
|
|
|
|
#if ONCORE_VERBOSE_SELF_TEST
|
|
if (debug > 2) {
|
|
if (buf[2] == 'I')
|
|
oncore_log_f(instance, LOG_DEBUG,
|
|
">>@@%ca %x %x %x", buf[2],
|
|
buf[4], buf[5], buf[6]);
|
|
else
|
|
oncore_log_f(instance, LOG_DEBUG,
|
|
">>@@%ca %x %x", buf[2],
|
|
buf[4], buf[5]);
|
|
}
|
|
#endif
|
|
|
|
antenna = (buf[4] & 0xc0) >> 6;
|
|
buf[4] &= ~0xc0;
|
|
|
|
i = buf[4] || buf[5];
|
|
if (buf[2] == 'I') i = i || buf[6];
|
|
if (i) {
|
|
if (buf[2] == 'I')
|
|
oncore_log_f(instance, LOG_ERR,
|
|
"self test failed: result %02x %02x %02x",
|
|
buf[4], buf[5], buf[6]);
|
|
else
|
|
oncore_log_f(instance, LOG_ERR,
|
|
"self test failed: result %02x %02x",
|
|
buf[4], buf[5]);
|
|
|
|
oncore_log(instance, LOG_ERR,
|
|
"ONCORE: self test failed, shutting down driver");
|
|
|
|
refclock_report(instance->peer, CEVNT_FAULT);
|
|
oncore_shutdown(instance->unit, instance->peer);
|
|
return;
|
|
}
|
|
|
|
/* report the current antenna state */
|
|
|
|
oncore_antenna_report(instance, antenna);
|
|
|
|
instance->o_state = ONCORE_INIT;
|
|
oncore_log(instance, LOG_NOTICE, "state = ONCORE_INIT");
|
|
|
|
instance->timeout = 4;
|
|
oncore_sendmsg(instance, oncore_cmd_Cj, sizeof(oncore_cmd_Cj));
|
|
}
|
|
}
|
|
|
|
|
|
|
|
/*
|
|
* Demultiplex the almanac into shmem
|
|
*/
|
|
|
|
static void
|
|
oncore_msg_Cb(
|
|
struct instance *instance,
|
|
u_char *buf,
|
|
size_t len
|
|
)
|
|
{
|
|
int i;
|
|
|
|
if (instance->shmem == NULL)
|
|
return;
|
|
|
|
if (buf[4] == 5 && buf[5] > 0 && buf[5] < 26)
|
|
i = buf[5];
|
|
else if (buf[4] == 4 && buf[5] <= 5)
|
|
i = buf[5] + 24;
|
|
else if (buf[4] == 4 && buf[5] <= 10)
|
|
i = buf[5] + 23;
|
|
else if (buf[4] == 4 && buf[5] == 25)
|
|
i = 34;
|
|
else {
|
|
oncore_log(instance, LOG_NOTICE, "Cb: Response is NO ALMANAC");
|
|
return;
|
|
}
|
|
|
|
i *= 36;
|
|
instance->shmem[instance->shmem_Cb + i + 2]++;
|
|
memcpy(instance->shmem + instance->shmem_Cb + i + 3, buf, (size_t) (len + 3));
|
|
|
|
#ifdef ONCORE_VERBOSE_MSG_CB
|
|
oncore_log_f(instance, LOG_DEBUG, "See Cb [%d,%d]", buf[4],
|
|
buf[5]);
|
|
#endif
|
|
}
|
|
|
|
|
|
|
|
/*
|
|
* Set to Factory Defaults (Reasonable for UT w/ no Battery Backup
|
|
* not so for VP (eeprom) or any unit with a battery
|
|
*/
|
|
|
|
static void
|
|
oncore_msg_Cf(
|
|
struct instance *instance,
|
|
u_char *buf,
|
|
size_t len
|
|
)
|
|
{
|
|
if (instance->o_state == ONCORE_RESET_SENT) {
|
|
oncore_sendmsg(instance, oncore_cmd_Cg, sizeof(oncore_cmd_Cg)); /* Return to Posn Fix mode */
|
|
/* Reset set VP to IDLE */
|
|
instance->o_state = ONCORE_TEST_SENT;
|
|
oncore_log(instance, LOG_NOTICE, "state = ONCORE_TEST_SENT");
|
|
|
|
oncore_sendmsg(instance, oncore_cmd_Cj, sizeof(oncore_cmd_Cj));
|
|
}
|
|
}
|
|
|
|
|
|
|
|
/*
|
|
* This is the Grand Central Station for the Preliminary Initialization.
|
|
* Once done here we move on to oncore_msg_BaEaHa for final Initialization and Running.
|
|
*
|
|
* We do an @@Cj whenever we need a safe command for all Oncores.
|
|
* The @@Cj gets us back here where we can switch to the next phase of setup.
|
|
*
|
|
* o Once at the very beginning (in start) to get the Model number.
|
|
* This info is printed, but no longer used.
|
|
* o Again after we have determined the number of Channels in the receiver.
|
|
* o And once later after we have done a reset and test, (which may hang),
|
|
* as we are about to initialize the Oncore and start it running.
|
|
* o We have one routine below for each case.
|
|
*/
|
|
|
|
static void
|
|
oncore_msg_Cj(
|
|
struct instance *instance,
|
|
u_char *buf,
|
|
size_t len
|
|
)
|
|
{
|
|
int mode;
|
|
|
|
memcpy(instance->Cj, buf, len);
|
|
|
|
instance->timeout = 0;
|
|
if (instance->o_state == ONCORE_CHECK_ID) {
|
|
oncore_msg_Cj_id(instance, buf, len);
|
|
oncore_chan_test(instance);
|
|
} else if (instance->o_state == ONCORE_HAVE_CHAN) {
|
|
mode = instance->init_type;
|
|
if (mode == 3 || mode == 4) { /* Cf will return here to check for TEST */
|
|
instance->o_state = ONCORE_RESET_SENT;
|
|
oncore_log(instance, LOG_NOTICE, "state = ONCORE_RESET_SENT");
|
|
oncore_sendmsg(instance, oncore_cmd_Cf, sizeof(oncore_cmd_Cf));
|
|
} else {
|
|
instance->o_state = ONCORE_TEST_SENT;
|
|
oncore_log(instance, LOG_NOTICE, "state = ONCORE_TEST_SENT");
|
|
}
|
|
}
|
|
|
|
if (instance->o_state == ONCORE_TEST_SENT) {
|
|
if (instance->chan == 6)
|
|
oncore_sendmsg(instance, oncore_cmd_Ca, sizeof(oncore_cmd_Ca));
|
|
else if (instance->chan == 8)
|
|
oncore_sendmsg(instance, oncore_cmd_Fa, sizeof(oncore_cmd_Fa));
|
|
else if (instance->chan == 12)
|
|
oncore_sendmsg(instance, oncore_cmd_Ia, sizeof(oncore_cmd_Ia));
|
|
} else if (instance->o_state == ONCORE_INIT)
|
|
oncore_msg_Cj_init(instance, buf, len);
|
|
}
|
|
|
|
|
|
|
|
/* The information on determining a Oncore 'Model', viz VP, UT, etc, from
|
|
* the Model Number comes from "Richard M. Hambly" <rick@cnssys.com>
|
|
* and from Motorola. Until recently Rick was the only source of
|
|
* this information as Motorola didn't give the information out.
|
|
*
|
|
* Determine the Type from the Model #, this determines #chan and if TRAIM is
|
|
* available.
|
|
*
|
|
* The Information from this routine is NO LONGER USED.
|
|
* The RESULTS are PRINTED, BUT NOT USED, and the routine COULD BE DELETED
|
|
*/
|
|
|
|
static void
|
|
oncore_msg_Cj_id(
|
|
struct instance *instance,
|
|
u_char *buf,
|
|
size_t len
|
|
)
|
|
{
|
|
char *cp2, Model[21];
|
|
const char *cp, *cp1;
|
|
|
|
/* Write Receiver ID message to clockstats file */
|
|
|
|
instance->Cj[294] = '\0';
|
|
for (cp= (char *)instance->Cj; cp< (char *) &instance->Cj[294]; ) {
|
|
char *cpw = strchr(cp, '\r');
|
|
if (!cpw)
|
|
cpw = (char *)&instance->Cj[294];
|
|
*cpw = '\0';
|
|
oncore_log(instance, LOG_NOTICE, cp);
|
|
*cpw = '\r';
|
|
cp = cpw+2;
|
|
}
|
|
|
|
/* next, the Firmware Version and Revision numbers */
|
|
|
|
instance->version = atoi((char *) &instance->Cj[83]);
|
|
instance->revision = atoi((char *) &instance->Cj[111]);
|
|
|
|
/* from model number decide which Oncore this is,
|
|
and then the number of channels */
|
|
|
|
for (cp= (char *) &instance->Cj[160]; *cp == ' '; cp++) /* start right after 'Model #' */
|
|
;
|
|
cp1 = cp;
|
|
cp2 = Model;
|
|
for (; !isspace((unsigned char)*cp) && cp-cp1 < 20; cp++, cp2++)
|
|
*cp2 = *cp;
|
|
*cp2 = '\0';
|
|
|
|
cp = 0;
|
|
if (!strncmp(Model, "PVT6", (size_t) 4)) {
|
|
cp = "PVT6";
|
|
instance->model = ONCORE_PVT6;
|
|
} else if (Model[0] == 'A') {
|
|
cp = "Basic";
|
|
instance->model = ONCORE_BASIC;
|
|
} else if (Model[0] == 'B' || !strncmp(Model, "T8", (size_t) 2)) {
|
|
cp = "VP";
|
|
instance->model = ONCORE_VP;
|
|
} else if (Model[0] == 'P') {
|
|
cp = "M12";
|
|
instance->model = ONCORE_M12;
|
|
} else if (Model[0] == 'R' || Model[0] == 'D' || Model[0] == 'S') {
|
|
if (Model[5] == 'N') {
|
|
cp = "GT";
|
|
instance->model = ONCORE_GT;
|
|
} else if ((Model[1] == '3' || Model[1] == '4') && Model[5] == 'G') {
|
|
cp = "GT+";
|
|
instance->model = ONCORE_GTPLUS;
|
|
} else if ((Model[1] == '5' && Model[5] == 'U') || (Model[1] == '1' && Model[5] == 'A')) {
|
|
cp = "UT";
|
|
instance->model = ONCORE_UT;
|
|
} else if (Model[1] == '5' && Model[5] == 'G') {
|
|
cp = "UT+";
|
|
instance->model = ONCORE_UTPLUS;
|
|
} else if (Model[1] == '6' && Model[5] == 'G') {
|
|
cp = "SL";
|
|
instance->model = ONCORE_SL;
|
|
} else {
|
|
cp = "Unknown";
|
|
instance->model = ONCORE_UNKNOWN;
|
|
}
|
|
} else {
|
|
cp = "Unknown";
|
|
instance->model = ONCORE_UNKNOWN;
|
|
}
|
|
|
|
/* use MODEL to set CHAN and TRAIM and possibly zero SHMEM */
|
|
|
|
oncore_log_f(instance, LOG_INFO,
|
|
"This looks like an Oncore %s with version %d.%d firmware.",
|
|
cp, instance->version, instance->revision);
|
|
|
|
instance->chan_id = 8; /* default */
|
|
if (instance->model == ONCORE_BASIC || instance->model == ONCORE_PVT6)
|
|
instance->chan_id = 6;
|
|
else if (instance->model == ONCORE_VP || instance->model == ONCORE_UT || instance->model == ONCORE_UTPLUS)
|
|
instance->chan_id = 8;
|
|
else if (instance->model == ONCORE_M12)
|
|
instance->chan_id = 12;
|
|
|
|
instance->traim_id = 0; /* default */
|
|
if (instance->model == ONCORE_BASIC || instance->model == ONCORE_PVT6)
|
|
instance->traim_id = 0;
|
|
else if (instance->model == ONCORE_VP || instance->model == ONCORE_UT || instance->model == ONCORE_UTPLUS)
|
|
instance->traim_id = 1;
|
|
else if (instance->model == ONCORE_M12)
|
|
instance->traim_id = -1;
|
|
|
|
oncore_log_f(instance, LOG_INFO, "Channels = %d, TRAIM = %s",
|
|
instance->chan_id,
|
|
((instance->traim_id < 0)
|
|
? "UNKNOWN"
|
|
: (instance->traim_id > 0)
|
|
? "ON"
|
|
: "OFF"));
|
|
}
|
|
|
|
|
|
|
|
/* OK, know type of Oncore, have possibly reset it, and have tested it.
|
|
* We know the number of channels.
|
|
* We will determine whether we have TRAIM before we actually start.
|
|
* Now initialize.
|
|
*/
|
|
|
|
static void
|
|
oncore_msg_Cj_init(
|
|
struct instance *instance,
|
|
u_char *buf,
|
|
size_t len
|
|
)
|
|
{
|
|
u_char Cmd[20];
|
|
int mode;
|
|
|
|
|
|
/* The M12 with 1.3 or 2.0 Firmware, loses track of all Satellites and has to
|
|
* start again if we go from 0D -> 3D, then loses them again when we
|
|
* go from 3D -> 0D. We do this to get a @@Ea message for SHMEM.
|
|
* For NOW we will turn this aspect of filling SHMEM off for the M12
|
|
*/
|
|
|
|
if (instance->chan == 12) {
|
|
instance->shmem_bad_Ea = 1;
|
|
oncore_log_f(instance, LOG_NOTICE,
|
|
"*** SHMEM partially enabled for ONCORE M12 s/w v%d.%d ***",
|
|
instance->version, instance->revision);
|
|
}
|
|
|
|
oncore_sendmsg(instance, oncore_cmd_Cg, sizeof(oncore_cmd_Cg)); /* Return to Posn Fix mode */
|
|
oncore_sendmsg(instance, oncore_cmd_Bb, sizeof(oncore_cmd_Bb)); /* turn on for shmem (6/8/12) */
|
|
oncore_sendmsg(instance, oncore_cmd_Ek, sizeof(oncore_cmd_Ek)); /* turn off (VP) */
|
|
oncore_sendmsg(instance, oncore_cmd_Aw, sizeof(oncore_cmd_Aw)); /* UTC time (6/8/12) */
|
|
oncore_sendmsg(instance, oncore_cmd_AB, sizeof(oncore_cmd_AB)); /* Appl type static (VP) */
|
|
oncore_sendmsg(instance, oncore_cmd_Be, sizeof(oncore_cmd_Be)); /* Tell us the Almanac for shmem (6/8/12) */
|
|
oncore_sendmsg(instance, oncore_cmd_Bd, sizeof(oncore_cmd_Bd)); /* Tell us when Almanac changes */
|
|
|
|
mode = instance->init_type;
|
|
|
|
/* If there is Position input in the Config file
|
|
* and mode = (1,3) set it as posn hold posn, goto 0D mode.
|
|
* or mode = (2,4) set it as INITIAL position, and do Site Survey.
|
|
*/
|
|
|
|
if (instance->posn_set) {
|
|
oncore_log(instance, LOG_INFO, "Setting Posn from input data");
|
|
oncore_set_posn(instance); /* this should print posn indirectly thru the As cmd */
|
|
} else /* must issue an @@At here to check on 6/8 Position Hold, set_posn would have */
|
|
if (instance->chan != 12)
|
|
oncore_sendmsg(instance, oncore_cmd_Atx, sizeof(oncore_cmd_Atx));
|
|
|
|
if (mode != 0) {
|
|
/* cable delay in ns */
|
|
memcpy(Cmd, oncore_cmd_Az, (size_t) sizeof(oncore_cmd_Az));
|
|
w32_buf(&Cmd[-2+4], (int)instance->delay);
|
|
oncore_sendmsg(instance, Cmd, sizeof(oncore_cmd_Az)); /* 6,8,12 */
|
|
|
|
/* PPS offset in ns */
|
|
memcpy(Cmd, oncore_cmd_Ay, (size_t) sizeof(oncore_cmd_Ay)); /* some have it, some don't */
|
|
w32_buf(&Cmd[-2+4], instance->offset); /* will check for hw response */
|
|
oncore_sendmsg(instance, Cmd, sizeof(oncore_cmd_Ay));
|
|
|
|
/* Satellite mask angle */
|
|
|
|
if (instance->Ag != 0xff) { /* will have 0xff in it if not set by user */
|
|
memcpy(Cmd, oncore_cmd_Ag, (size_t) sizeof(oncore_cmd_Ag));
|
|
Cmd[-2+4] = instance->Ag;
|
|
oncore_sendmsg(instance, Cmd, sizeof(oncore_cmd_Ag));
|
|
}
|
|
}
|
|
|
|
/* 6, 8 12 chan - Position/Status/Data Output Message, 1/s
|
|
* now we're really running
|
|
* these were ALL started in the chan test,
|
|
* However, if we had mode=3,4 then commands got turned off, so we turn
|
|
* them on again here just in case
|
|
*/
|
|
|
|
if (instance->chan == 6) { /* start 6chan, kill 8,12chan commands, possibly testing VP in 6chan mode */
|
|
oncore_sendmsg(instance, oncore_cmd_Ea0, sizeof(oncore_cmd_Ea0));
|
|
oncore_sendmsg(instance, oncore_cmd_En0, sizeof(oncore_cmd_En0));
|
|
oncore_sendmsg(instance, oncore_cmd_Ha0, sizeof(oncore_cmd_Ha0));
|
|
oncore_sendmsg(instance, oncore_cmd_Hn0, sizeof(oncore_cmd_Hn0));
|
|
oncore_sendmsg(instance, oncore_cmd_Ba, sizeof(oncore_cmd_Ba ));
|
|
} else if (instance->chan == 8) { /* start 8chan, kill 6,12chan commands */
|
|
oncore_sendmsg(instance, oncore_cmd_Ba0, sizeof(oncore_cmd_Ba0));
|
|
oncore_sendmsg(instance, oncore_cmd_Bn0, sizeof(oncore_cmd_Bn0));
|
|
oncore_sendmsg(instance, oncore_cmd_Ha0, sizeof(oncore_cmd_Ha0));
|
|
oncore_sendmsg(instance, oncore_cmd_Hn0, sizeof(oncore_cmd_Hn0));
|
|
oncore_sendmsg(instance, oncore_cmd_Ea, sizeof(oncore_cmd_Ea ));
|
|
} else if (instance->chan == 12){ /* start 12chan, kill 6,12chan commands */
|
|
oncore_sendmsg(instance, oncore_cmd_Ba0, sizeof(oncore_cmd_Ba0));
|
|
oncore_sendmsg(instance, oncore_cmd_Bn0, sizeof(oncore_cmd_Bn0));
|
|
oncore_sendmsg(instance, oncore_cmd_Ea0, sizeof(oncore_cmd_Ea0));
|
|
oncore_sendmsg(instance, oncore_cmd_En0, sizeof(oncore_cmd_En0));
|
|
oncore_sendmsg(instance, oncore_cmd_Ha, sizeof(oncore_cmd_Ha ));
|
|
oncore_cmd_Gc[2] = (instance->pps_control < 0) ? 1 : instance->pps_control;
|
|
oncore_sendmsg(instance, oncore_cmd_Gc, sizeof(oncore_cmd_Gc)); /* PPS off/continuous/Tracking 1+sat/TRAIM */
|
|
}
|
|
|
|
instance->count = 1;
|
|
instance->o_state = ONCORE_ALMANAC;
|
|
oncore_log(instance, LOG_NOTICE, "state = ONCORE_ALMANAC");
|
|
}
|
|
|
|
|
|
|
|
/* 12chan position */
|
|
|
|
static void
|
|
oncore_msg_Ga(
|
|
struct instance *instance,
|
|
u_char *buf,
|
|
size_t len
|
|
)
|
|
{
|
|
long lat, lon, ht;
|
|
double Lat, Lon, Ht;
|
|
|
|
|
|
lat = buf_w32(&buf[4]);
|
|
lon = buf_w32(&buf[8]);
|
|
ht = buf_w32(&buf[12]); /* GPS ellipsoid */
|
|
|
|
Lat = lat;
|
|
Lon = lon;
|
|
Ht = ht;
|
|
|
|
Lat /= 3600000;
|
|
Lon /= 3600000;
|
|
Ht /= 100;
|
|
|
|
oncore_log_f(instance, LOG_NOTICE,
|
|
"Ga Posn Lat = %.7f, Lon = %.7f, Ht = %.2f", Lat,
|
|
Lon, Ht);
|
|
|
|
instance->ss_lat = lat;
|
|
instance->ss_long = lon;
|
|
instance->ss_ht = ht;
|
|
|
|
oncore_print_posn(instance);
|
|
}
|
|
|
|
|
|
|
|
/* 12 chan time/date */
|
|
|
|
static void
|
|
oncore_msg_Gb(
|
|
struct instance *instance,
|
|
u_char *buf,
|
|
size_t len
|
|
)
|
|
{
|
|
const char * gmts;
|
|
int mo, d, y, h, m, s, gmth, gmtm;
|
|
|
|
mo = buf[4];
|
|
d = buf[5];
|
|
y = 256*buf[6]+buf[7];
|
|
|
|
h = buf[8];
|
|
m = buf[9];
|
|
s = buf[10];
|
|
|
|
gmts = ((buf[11] == 0) ? "+" : "-");
|
|
gmth = buf[12];
|
|
gmtm = buf[13];
|
|
|
|
oncore_log_f(instance, LOG_NOTICE,
|
|
"Date/Time set to: %d%s%d %2d:%02d:%02d GMT (GMT offset is %s%02d:%02d)",
|
|
d, months[mo-1], y, h, m, s, gmts, gmth, gmtm);
|
|
}
|
|
|
|
|
|
|
|
/* Response to PPS Control message (M12 and M12+T only ) */
|
|
|
|
static void
|
|
oncore_msg_Gc(
|
|
struct instance *instance,
|
|
u_char *buf,
|
|
size_t len
|
|
)
|
|
{
|
|
const char *tbl[] = {"OFF", "ON", "SATELLITE", "TRAIM" };
|
|
|
|
instance->pps_control_msg_seen = 1;
|
|
oncore_log_f(instance, LOG_INFO, "PPS Control set to %s",
|
|
tbl[buf[4]]);
|
|
}
|
|
|
|
|
|
|
|
/* Leap Second for M12, gives all info from satellite message */
|
|
/* also in UT v3.0 */
|
|
|
|
static void
|
|
oncore_msg_Gj(
|
|
struct instance *instance,
|
|
u_char *buf,
|
|
size_t len
|
|
)
|
|
{
|
|
static const char * insrem[2] = {
|
|
"removed",
|
|
"inserted"
|
|
};
|
|
|
|
int dt;
|
|
const char *cp;
|
|
|
|
instance->saw_Gj = 1; /* flag, saw_Gj, dont need to try Bj in check_leap */
|
|
|
|
/* print the message to verify whats there */
|
|
|
|
dt = buf[5] - buf[4];
|
|
|
|
oncore_log_f(instance, LOG_INFO,
|
|
"Leap Sec Msg: %d %d %d %d %d %d %d %d %d %d",
|
|
buf[4], buf[5], 256 * buf[6] + buf[7], buf[8],
|
|
buf[9], buf[10],
|
|
(buf[14] + 256 *
|
|
(buf[13] + 256 * (buf[12] + 256 * buf[11]))),
|
|
buf[15], buf[16], buf[17]);
|
|
|
|
/* There seems to be eternal confusion about when a leap second
|
|
* takes place. It's the second *before* the new TAI offset
|
|
* becomes effective. But since the ONCORE receiver tells us
|
|
* just that, we would have to do some time/date calculations to
|
|
* get the actual leap second -- that is, the one that is
|
|
* deleted or inserted.
|
|
*
|
|
* Going through all this for a simple log is probably overkill,
|
|
* so for fixing bug#1050 the message output is changed to
|
|
* reflect the fact that it tells the second after the leap
|
|
* second.
|
|
*/
|
|
if (dt)
|
|
oncore_log_f(instance, LOG_NOTICE,
|
|
"Leap second %s (%d) before %04u-%02u-%02u/%02u:%02u:%02u",
|
|
insrem[(dt > 0)], dt,
|
|
256u * buf[6] + buf[7], buf[8], buf[9],
|
|
buf[15], buf[16], buf[17]);
|
|
|
|
/* Only raise warning within a month of the leap second */
|
|
|
|
instance->pp->leap = LEAP_NOWARNING;
|
|
cp = "Set pp.leap to LEAP_NOWARNING";
|
|
|
|
if (buf[6] == instance->BEHa[6] && buf[7] == instance->BEHa[7] && /* year */
|
|
buf[8] == instance->BEHa[4]) { /* month */
|
|
if (dt) {
|
|
if (dt < 0) {
|
|
instance->pp->leap = LEAP_DELSECOND;
|
|
cp = "Set pp.leap to LEAP_DELSECOND";
|
|
} else {
|
|
instance->pp->leap = LEAP_ADDSECOND;
|
|
cp = "Set pp.leap to LEAP_ADDSECOND";
|
|
}
|
|
}
|
|
}
|
|
oncore_log(instance, LOG_INFO, cp);
|
|
}
|
|
|
|
|
|
|
|
/* Power on failure */
|
|
|
|
static void
|
|
oncore_msg_Sz(
|
|
struct instance *instance,
|
|
u_char *buf,
|
|
size_t len
|
|
)
|
|
{
|
|
if (instance && instance->peer) {
|
|
oncore_log(instance, LOG_ERR, "Oncore: System Failure at Power On");
|
|
oncore_shutdown(instance->unit, instance->peer);
|
|
}
|
|
}
|
|
|
|
/************** Small Subroutines ***************/
|
|
|
|
|
|
static void
|
|
oncore_antenna_report(
|
|
struct instance *instance,
|
|
enum antenna_state new_state)
|
|
{
|
|
const char *cp;
|
|
|
|
if (instance->ant_state == new_state)
|
|
return;
|
|
|
|
switch (new_state) {
|
|
case ONCORE_ANTENNA_OK: cp = "GPS antenna: OK"; break;
|
|
case ONCORE_ANTENNA_OC: cp = "GPS antenna: short (overcurrent)"; break;
|
|
case ONCORE_ANTENNA_UC: cp = "GPS antenna: open (not connected)"; break;
|
|
case ONCORE_ANTENNA_NV: cp = "GPS antenna: short (no voltage)"; break;
|
|
default: cp = "GPS antenna: ?"; break;
|
|
}
|
|
|
|
instance->ant_state = new_state;
|
|
oncore_log(instance, LOG_NOTICE, cp);
|
|
}
|
|
|
|
|
|
|
|
static void
|
|
oncore_chan_test(
|
|
struct instance *instance
|
|
)
|
|
{
|
|
/* subroutine oncore_Cj_id has determined the number of channels from the
|
|
* model number of the attached oncore. This is not always correct since
|
|
* the oncore could have non-standard firmware. Here we check (independently) by
|
|
* trying a 6, 8, and 12 chan command, and see which responds.
|
|
* Caution: more than one CAN respond.
|
|
*
|
|
* This #chan is used by the code rather than that calculated from the model number.
|
|
*/
|
|
|
|
instance->o_state = ONCORE_CHECK_CHAN;
|
|
oncore_log(instance, LOG_NOTICE, "state = ONCORE_CHECK_CHAN");
|
|
|
|
instance->count3 = 1;
|
|
oncore_sendmsg(instance, oncore_cmd_Ba, sizeof(oncore_cmd_Ba));
|
|
oncore_sendmsg(instance, oncore_cmd_Ea, sizeof(oncore_cmd_Ea));
|
|
oncore_sendmsg(instance, oncore_cmd_Ha, sizeof(oncore_cmd_Ha));
|
|
}
|
|
|
|
|
|
|
|
/* check for a GOOD Almanac, have we got one yet? */
|
|
|
|
static void
|
|
oncore_check_almanac(
|
|
struct instance *instance
|
|
)
|
|
{
|
|
if (instance->chan == 6) {
|
|
instance->rsm.bad_almanac = instance->BEHa[64]&0x1;
|
|
instance->rsm.bad_fix = instance->BEHa[64]&0x52;
|
|
} else if (instance->chan == 8) {
|
|
instance->rsm.bad_almanac = instance->BEHa[72]&0x1;
|
|
instance->rsm.bad_fix = instance->BEHa[72]&0x52;
|
|
} else if (instance->chan == 12) {
|
|
int bits1, bits2, bits3;
|
|
|
|
bits1 = (instance->BEHa[129]>>5) & 0x7; /* actually Ha */
|
|
bits2 = instance->BEHa[130];
|
|
instance->rsm.bad_almanac = (bits2 & 0x80);
|
|
instance->rsm.bad_fix = (bits2 & 0x8) || (bits1 == 0x2);
|
|
/* too few sat Bad Geom */
|
|
|
|
bits3 = instance->BEHa[141]; /* UTC parameters */
|
|
if (!instance->count5_set && (bits3 & 0xC0)) {
|
|
instance->count5 = 4; /* was 2 [Bug 1766] */
|
|
instance->count5_set = 1;
|
|
}
|
|
#ifdef ONCORE_VERBOSE_CHECK_ALMANAC
|
|
oncore_log_f(instance, LOG_DEBUG,
|
|
"DEBUG BITS: (%x %x), (%x %x %x), %x %x %x %x %x",
|
|
instance->BEHa[129], instance->BEHa[130],
|
|
bits1, bits2, bits3,
|
|
instance->mode == MODE_0D,
|
|
instance->mode == MODE_2D,
|
|
instance->mode == MODE_3D,
|
|
instance->rsm.bad_almanac,
|
|
instance->rsm.bad_fix);
|
|
}
|
|
#endif
|
|
}
|
|
}
|
|
|
|
|
|
|
|
/* check the antenna for changes (did it get unplugged?) */
|
|
|
|
static void
|
|
oncore_check_antenna(
|
|
struct instance *instance
|
|
)
|
|
{
|
|
enum antenna_state antenna; /* antenna state */
|
|
|
|
antenna = instance->ant_state;
|
|
if (instance->chan == 12)
|
|
antenna = (instance->BEHa[130] & 0x6 ) >> 1;
|
|
else
|
|
antenna = (instance->BEHa[37] & 0xc0) >> 6; /* prob unset 6, set GT, UT unset VP */
|
|
|
|
oncore_antenna_report (instance, antenna);
|
|
}
|
|
|
|
|
|
|
|
/*
|
|
* Check the leap second status once per day.
|
|
*
|
|
* Note that the ONCORE firmware for the Bj command is wrong at
|
|
* least in the VP.
|
|
* It starts advertising a LEAP SECOND as soon as the GPS satellite
|
|
* data message (page 18, subframe 4) is updated to a date in the
|
|
* future, and does not wait for the month that it will occur.
|
|
* The event will usually be advertised several months in advance.
|
|
* Since there is a one bit flag, there is no way to tell if it is
|
|
* this month, or when...
|
|
*
|
|
* As such, we have the workaround below, of only checking for leap
|
|
* seconds with the Bj command in June/December.
|
|
*
|
|
* The Gj command gives more information, and we can tell in which
|
|
* month to apply the correction.
|
|
*
|
|
* Note that with the VP we COULD read the raw data message, and
|
|
* interpret it ourselves, but since this is specific to this receiver
|
|
* only, and the above workaround is adequate, we don't bother.
|
|
*/
|
|
|
|
static void
|
|
oncore_check_leap_sec(
|
|
struct instance *instance
|
|
)
|
|
{
|
|
oncore_cmd_Bl[2] = 1; /* just to be sure */
|
|
if (instance->Bj_day != instance->BEHa[5]) { /* do this 1/day */
|
|
instance->Bj_day = instance->BEHa[5];
|
|
|
|
if (instance->saw_Gj < 0) { /* -1 DONT have Gj use Bj */
|
|
if ((instance->BEHa[4] == 6) || (instance->BEHa[4] == 12))
|
|
oncore_sendmsg(instance, oncore_cmd_Bj, sizeof(oncore_cmd_Bj));
|
|
oncore_sendmsg(instance, oncore_cmd_Bl, sizeof(oncore_cmd_Bl));
|
|
return;
|
|
}
|
|
|
|
if (instance->saw_Gj == 0) /* 0 is dont know if we have Gj */
|
|
instance->count4 = 1;
|
|
|
|
oncore_sendmsg(instance, oncore_cmd_Gj, sizeof(oncore_cmd_Gj));
|
|
return;
|
|
}
|
|
|
|
/* Gj works for some 6/8 chan UT and the M12 */
|
|
/* if no response from Gj in 5 sec, we try Bj */
|
|
/* which isnt implemented in all the GT/UT either */
|
|
|
|
if (instance->count4) { /* delay, waiting for Gj response */
|
|
if (instance->saw_Gj == 1)
|
|
instance->count4 = 0;
|
|
else if (instance->count4++ > 5) { /* delay, waiting for Gj response */
|
|
instance->saw_Gj = -1; /* didnt see it, will use Bj */
|
|
instance->count4 = 0;
|
|
if ((instance->BEHa[4] == 6) || (instance->BEHa[4] == 12)) {
|
|
oncore_sendmsg(instance, oncore_cmd_Bj, sizeof(oncore_cmd_Bj));
|
|
oncore_sendmsg(instance, oncore_cmd_Bl, sizeof(oncore_cmd_Bl));
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
|
|
/* check the message checksum,
|
|
* buf points to START of message ( @@ )
|
|
* len is length WITH CR/LF.
|
|
*/
|
|
|
|
static int
|
|
oncore_checksum_ok(
|
|
u_char *buf,
|
|
int len
|
|
)
|
|
{
|
|
int i, j;
|
|
|
|
j = 0;
|
|
for (i = 2; i < len-3; i++)
|
|
j ^= buf[i];
|
|
|
|
return(j == buf[len-3]);
|
|
}
|
|
|
|
|
|
|
|
static void
|
|
oncore_compute_dH(
|
|
struct instance *instance
|
|
)
|
|
{
|
|
int GPS, MSL;
|
|
|
|
/* Here calculate dH = GPS - MSL for output message */
|
|
/* also set Altitude Hold mode if GT */
|
|
|
|
instance->have_dH = 1;
|
|
if (instance->chan == 12) {
|
|
GPS = buf_w32(&instance->BEHa[39]);
|
|
MSL = buf_w32(&instance->BEHa[43]);
|
|
} else {
|
|
GPS = buf_w32(&instance->BEHa[23]);
|
|
MSL = buf_w32(&instance->BEHa[27]);
|
|
}
|
|
instance->dH = GPS - MSL;
|
|
instance->dH /= 100.;
|
|
|
|
/* if MSL is not set, the calculation is meaningless */
|
|
|
|
if (MSL) /* not set ! */
|
|
oncore_log_f(instance, LOG_INFO,
|
|
"dH = (GPS - MSL) = %.2fm", instance->dH);
|
|
}
|
|
|
|
|
|
|
|
/*
|
|
* try loading Almanac from shmem (where it was copied from shmem_old
|
|
*/
|
|
|
|
static void
|
|
oncore_load_almanac(
|
|
struct instance *instance
|
|
)
|
|
{
|
|
u_char *cp, Cmd[20];
|
|
int n;
|
|
struct timeval tv;
|
|
struct tm *tm;
|
|
|
|
if (!instance->shmem)
|
|
return;
|
|
|
|
#ifndef ONCORE_VERBOSE_LOAD_ALMANAC
|
|
for (cp = instance->shmem + 4; (n = 256 * (*(cp-3)) + *(cp-2));
|
|
cp += (n + 3)) {
|
|
if (!strncmp((char *) cp, "@@Cb", 4) &&
|
|
oncore_checksum_ok(cp, 33) &&
|
|
(*(cp+4) == 4 || *(cp+4) == 5)) {
|
|
write(instance->ttyfd, cp, n);
|
|
oncore_print_Cb(instance, cp);
|
|
}
|
|
}
|
|
#else /* ONCORE_VERBOSE_LOAD_ALMANAC follows */
|
|
for (cp = instance->shmem + 4; (n = 256 * (*(cp-3)) + *(cp-2));
|
|
cp += (n+3)) {
|
|
oncore_log_f(instance, LOG_DEBUG, "See %c%c%c%c %d",
|
|
*(cp), *(cp+1), *(cp+2), *(cp+3), *(cp+4));
|
|
|
|
if (!strncmp(cp, "@@Cb", 4)) {
|
|
oncore_print_Cb(instance, cp);
|
|
if (oncore_checksum_ok(cp, 33)) {
|
|
if (*(cp+4) == 4 || *(cp+4) == 5) {
|
|
oncore_log(instance, LOG_DEBUG, "GOOD SF");
|
|
write(instance->ttyfd, cp, n);
|
|
} else
|
|
oncore_log(instance, LOG_DEBUG, "BAD SF");
|
|
} else
|
|
oncore_log(instance, LOG_DEBUG, "BAD CHECKSUM");
|
|
}
|
|
}
|
|
#endif
|
|
|
|
/* Must load position and time or the Almanac doesn't do us any good */
|
|
|
|
if (!instance->posn_set) { /* if we input a posn use it, else from SHMEM */
|
|
oncore_log(instance, LOG_NOTICE, "Loading Posn from SHMEM");
|
|
for (cp=instance->shmem+4; (n = 256*(*(cp-3)) + *(cp-2)); cp+=(n+3)) {
|
|
if ((instance->chan == 6 && (!strncmp((char *) cp, "@@Ba", 4) && oncore_checksum_ok(cp, 68))) ||
|
|
(instance->chan == 8 && (!strncmp((char *) cp, "@@Ea", 4) && oncore_checksum_ok(cp, 76))) ||
|
|
(instance->chan == 12 && (!strncmp((char *) cp, "@@Ha", 4) && oncore_checksum_ok(cp, 154)))) {
|
|
int ii, jj, kk;
|
|
|
|
instance->posn_set = 1;
|
|
ii = buf_w32(cp + 15);
|
|
jj = buf_w32(cp + 19);
|
|
kk = buf_w32(cp + 23);
|
|
#ifdef ONCORE_VERBOSE_LOAD_ALMANAC
|
|
oncore_log_f(instance, LOG_DEBUG,
|
|
"SHMEM posn = %ld (%d, %d, %d)",
|
|
(long)(cp-instance->shmem),
|
|
ii, jj, kk);
|
|
#endif
|
|
if (ii != 0 || jj != 0 || kk != 0) { /* phk asked for this test */
|
|
instance->ss_lat = ii;
|
|
instance->ss_long = jj;
|
|
instance->ss_ht = kk;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
oncore_set_posn(instance);
|
|
|
|
/* and set time to time from Computer clock */
|
|
|
|
GETTIMEOFDAY(&tv, 0);
|
|
tm = gmtime((const time_t *) &tv.tv_sec);
|
|
|
|
#ifdef ONCORE_VERBOSE_LOAD_ALMANAC
|
|
oncore_log_f(instance, LOG_DEBUG, "DATE %d %d %d, %d %d %d",
|
|
1900 + tm->tm_year, tm->tm_mon, tm->tm_mday,
|
|
tm->tm_hour, tm->tm_min, tm->tm_sec);
|
|
#endif
|
|
if (instance->chan == 12) {
|
|
memcpy(Cmd, oncore_cmd_Gb, (size_t) sizeof(oncore_cmd_Gb));
|
|
Cmd[-2+4] = tm->tm_mon + 1;
|
|
Cmd[-2+5] = tm->tm_mday;
|
|
Cmd[-2+6] = (1900+tm->tm_year)/256;
|
|
Cmd[-2+7] = (1900+tm->tm_year)%256;
|
|
Cmd[-2+8] = tm->tm_hour;
|
|
Cmd[-2+9] = tm->tm_min;
|
|
Cmd[-2+10] = tm->tm_sec;
|
|
Cmd[-2+11] = 0;
|
|
Cmd[-2+12] = 0;
|
|
Cmd[-2+13] = 0;
|
|
oncore_sendmsg(instance, Cmd, sizeof(oncore_cmd_Gb));
|
|
} else {
|
|
/* First set GMT offset to zero */
|
|
|
|
oncore_sendmsg(instance, oncore_cmd_Ab, sizeof(oncore_cmd_Ab));
|
|
|
|
memcpy(Cmd, oncore_cmd_Ac, (size_t) sizeof(oncore_cmd_Ac));
|
|
Cmd[-2+4] = tm->tm_mon + 1;
|
|
Cmd[-2+5] = tm->tm_mday;
|
|
Cmd[-2+6] = (1900+tm->tm_year)/256;
|
|
Cmd[-2+7] = (1900+tm->tm_year)%256;
|
|
oncore_sendmsg(instance, Cmd, sizeof(oncore_cmd_Ac));
|
|
|
|
memcpy(Cmd, oncore_cmd_Aa, (size_t) sizeof(oncore_cmd_Aa));
|
|
Cmd[-2+4] = tm->tm_hour;
|
|
Cmd[-2+5] = tm->tm_min;
|
|
Cmd[-2+6] = tm->tm_sec;
|
|
oncore_sendmsg(instance, Cmd, sizeof(oncore_cmd_Aa));
|
|
}
|
|
|
|
oncore_log(instance, LOG_INFO, "Setting Posn and Time after Loading Almanac");
|
|
}
|
|
|
|
|
|
|
|
/* Almanac data input */
|
|
|
|
static void
|
|
oncore_print_Cb(
|
|
struct instance *instance,
|
|
u_char *cp
|
|
)
|
|
{
|
|
#ifdef ONCORE_VERBOSE_CB
|
|
int ii;
|
|
char Msg[160], Msg2[10];
|
|
|
|
oncore_log_f(instance, LOG_DEBUG, "DEBUG: See: %c%c%c%c", *(cp),
|
|
*(cp+1), *(cp+2), *(cp+3));
|
|
|
|
snprintf(Msg, sizeof(Msg), "DEBUG: Cb: [%d,%d]", *(cp+4),
|
|
*(cp+5));
|
|
for (ii = 0; ii < 33; ii++) {
|
|
snprintf(Msg2, sizeof(Msg2), " %d", *(cp+ii));
|
|
strlcat(Msg, Msg2, sizeof(Msg));
|
|
}
|
|
oncore_log(instance, LOG_DEBUG, Msg);
|
|
|
|
oncore_log_f(instance, LOG_DEBUG, "Debug: Cb: [%d,%d]", *(cp+4),
|
|
*(cp+5));
|
|
#endif
|
|
}
|
|
|
|
|
|
#if 0
|
|
static void
|
|
oncore_print_array(
|
|
u_char *cp,
|
|
int n
|
|
)
|
|
{
|
|
int jj, i, j, nn;
|
|
|
|
nn = 0;
|
|
printf("\nTOP\n");
|
|
jj = n/16;
|
|
for (j=0; j<jj; j++) {
|
|
printf("%4d: ", nn);
|
|
nn += 16;
|
|
for (i=0; i<16; i++)
|
|
printf(" %o", *cp++);
|
|
printf("\n");
|
|
}
|
|
}
|
|
#endif
|
|
|
|
|
|
static void
|
|
oncore_print_posn(
|
|
struct instance *instance
|
|
)
|
|
{
|
|
char ew, ns;
|
|
double xd, xm, xs, yd, ym, ys, hm, hft;
|
|
int idx, idy, is, imx, imy;
|
|
long lat, lon;
|
|
|
|
oncore_log(instance, LOG_INFO, "Posn:");
|
|
ew = 'E';
|
|
lon = instance->ss_long;
|
|
if (lon < 0) {
|
|
ew = 'W';
|
|
lon = -lon;
|
|
}
|
|
|
|
ns = 'N';
|
|
lat = instance->ss_lat;
|
|
if (lat < 0) {
|
|
ns = 'S';
|
|
lat = -lat;
|
|
}
|
|
|
|
hm = instance->ss_ht/100.;
|
|
hft= hm/0.3048;
|
|
|
|
xd = lat/3600000.; /* lat, lon in int msec arc, ht in cm. */
|
|
yd = lon/3600000.;
|
|
oncore_log_f(instance, LOG_INFO,
|
|
"Lat = %c %11.7fdeg, Long = %c %11.7fdeg, Alt = %5.2fm (%5.2fft) GPS",
|
|
ns, xd, ew, yd, hm, hft);
|
|
|
|
idx = xd;
|
|
idy = yd;
|
|
imx = lat%3600000;
|
|
imy = lon%3600000;
|
|
xm = imx/60000.;
|
|
ym = imy/60000.;
|
|
oncore_log_f(instance, LOG_INFO,
|
|
"Lat = %c %3ddeg %7.4fm, Long = %c %3ddeg %8.5fm, Alt = %7.2fm (%7.2fft) GPS",
|
|
ns, idx, xm, ew, idy, ym, hm, hft);
|
|
|
|
imx = xm;
|
|
imy = ym;
|
|
is = lat%60000;
|
|
xs = is/1000.;
|
|
is = lon%60000;
|
|
ys = is/1000.;
|
|
oncore_log_f(instance, LOG_INFO,
|
|
"Lat = %c %3ddeg %2dm %5.2fs, Long = %c %3ddeg %2dm %5.2fs, Alt = %7.2fm (%7.2fft) GPS",
|
|
ns, idx, imx, xs, ew, idy, imy, ys, hm, hft);
|
|
}
|
|
|
|
|
|
|
|
/*
|
|
* write message to Oncore.
|
|
*/
|
|
|
|
static void
|
|
oncore_sendmsg(
|
|
struct instance *instance,
|
|
u_char *ptr,
|
|
size_t len
|
|
)
|
|
{
|
|
int fd;
|
|
u_char cs = 0;
|
|
|
|
fd = instance->ttyfd;
|
|
#ifdef ONCORE_VERBOSE_SENDMSG
|
|
if (debug > 4) {
|
|
oncore_log_f(instance, LOG_DEBUG, "ONCORE: Send @@%c%c %d",
|
|
ptr[0], ptr[1], (int)len);
|
|
}
|
|
#endif
|
|
write(fd, "@@", (size_t) 2);
|
|
write(fd, ptr, len);
|
|
while (len--)
|
|
cs ^= *ptr++;
|
|
write(fd, &cs, (size_t) 1);
|
|
write(fd, "\r\n", (size_t) 2);
|
|
}
|
|
|
|
|
|
|
|
static void
|
|
oncore_set_posn(
|
|
struct instance *instance
|
|
)
|
|
{
|
|
int mode;
|
|
u_char Cmd[20];
|
|
|
|
/* Turn OFF position hold, it needs to be off to set position (for some units),
|
|
will get set ON in @@Ea later */
|
|
|
|
if (instance->chan == 12)
|
|
oncore_sendmsg(instance, oncore_cmd_Gd0, sizeof(oncore_cmd_Gd0)); /* (12) */
|
|
else {
|
|
oncore_sendmsg(instance, oncore_cmd_At0, sizeof(oncore_cmd_At0)); /* (6/8) */
|
|
oncore_sendmsg(instance, oncore_cmd_Av0, sizeof(oncore_cmd_Av0)); /* (6/8) */
|
|
}
|
|
|
|
mode = instance->init_type;
|
|
|
|
if (mode != 0) { /* first set posn hold position */
|
|
memcpy(Cmd, oncore_cmd_As, (size_t) sizeof(oncore_cmd_As)); /* don't modify static variables */
|
|
w32_buf(&Cmd[-2+4], (int) instance->ss_lat);
|
|
w32_buf(&Cmd[-2+8], (int) instance->ss_long);
|
|
w32_buf(&Cmd[-2+12], (int) instance->ss_ht);
|
|
Cmd[-2+16] = 0;
|
|
oncore_sendmsg(instance, Cmd, sizeof(oncore_cmd_As)); /* posn hold 3D posn (6/8/12) */
|
|
|
|
memcpy(Cmd, oncore_cmd_Au, (size_t) sizeof(oncore_cmd_Au));
|
|
w32_buf(&Cmd[-2+4], (int) instance->ss_ht);
|
|
Cmd[-2+8] = 0;
|
|
oncore_sendmsg(instance, Cmd, sizeof(oncore_cmd_Au)); /* altitude hold (6/8/12 not UT, M12T) */
|
|
|
|
/* next set current position */
|
|
|
|
if (instance->chan == 12) {
|
|
memcpy(Cmd, oncore_cmd_Ga, (size_t) sizeof(oncore_cmd_Ga));
|
|
w32_buf(&Cmd[-2+4], (int) instance->ss_lat);
|
|
w32_buf(&Cmd[-2+8], (int) instance->ss_long);
|
|
w32_buf(&Cmd[-2+12],(int) instance->ss_ht);
|
|
Cmd[-2+16] = 0;
|
|
oncore_sendmsg(instance, Cmd, sizeof(oncore_cmd_Ga)); /* 3d posn (12) */
|
|
} else {
|
|
memcpy(Cmd, oncore_cmd_Ad, (size_t) sizeof(oncore_cmd_Ad));
|
|
w32_buf(&Cmd[-2+4], (int) instance->ss_lat);
|
|
oncore_sendmsg(instance, Cmd, sizeof(oncore_cmd_Ad)); /* lat (6/8) */
|
|
|
|
memcpy(Cmd, oncore_cmd_Ae, (size_t) sizeof(oncore_cmd_Ae));
|
|
w32_buf(&Cmd[-2+4], (int) instance->ss_long);
|
|
oncore_sendmsg(instance, Cmd, sizeof(oncore_cmd_Ae)); /* long (6/8) */
|
|
|
|
memcpy(Cmd, oncore_cmd_Af, (size_t) sizeof(oncore_cmd_Af));
|
|
w32_buf(&Cmd[-2+4], (int) instance->ss_ht);
|
|
Cmd[-2+8] = 0;
|
|
oncore_sendmsg(instance, Cmd, sizeof(oncore_cmd_Af)); /* ht (6/8) */
|
|
}
|
|
|
|
/* Finally, turn on position hold */
|
|
|
|
if (instance->chan == 12)
|
|
oncore_sendmsg(instance, oncore_cmd_Gd1, sizeof(oncore_cmd_Gd1));
|
|
else
|
|
oncore_sendmsg(instance, oncore_cmd_At1, sizeof(oncore_cmd_At1));
|
|
}
|
|
}
|
|
|
|
|
|
|
|
static void
|
|
oncore_set_traim(
|
|
struct instance *instance
|
|
)
|
|
{
|
|
if (instance->traim_in != -1) /* set in Input */
|
|
instance->traim = instance->traim_in;
|
|
else
|
|
instance->traim = instance->traim_ck;
|
|
|
|
oncore_log_f(instance, LOG_INFO, "Input says TRAIM = %d",
|
|
instance->traim_in);
|
|
oncore_log_f(instance, LOG_INFO, "Model # says TRAIM = %d",
|
|
instance->traim_id);
|
|
oncore_log_f(instance, LOG_INFO, "Testing says TRAIM = %d",
|
|
instance->traim_ck);
|
|
oncore_log_f(instance, LOG_INFO, "Using TRAIM = %d",
|
|
instance->traim);
|
|
|
|
if (instance->traim_ck == 1 && instance->traim == 0) {
|
|
/* if it should be off, and I turned it on during testing,
|
|
then turn it off again */
|
|
if (instance->chan == 6)
|
|
oncore_sendmsg(instance, oncore_cmd_Bnx, sizeof(oncore_cmd_Bnx));
|
|
else if (instance->chan == 8)
|
|
oncore_sendmsg(instance, oncore_cmd_Enx, sizeof(oncore_cmd_Enx));
|
|
else /* chan == 12 */
|
|
oncore_sendmsg(instance, oncore_cmd_Ge0, sizeof(oncore_cmd_Ge0));
|
|
oncore_sendmsg(instance, oncore_cmd_Hn0, sizeof(oncore_cmd_Hn0));
|
|
}
|
|
}
|
|
|
|
|
|
|
|
/*
|
|
* if SHMEM active, every 15s, steal one 'tick' to get 2D or 3D posn.
|
|
*/
|
|
|
|
static void
|
|
oncore_shmem_get_3D(
|
|
struct instance *instance
|
|
)
|
|
{
|
|
if (instance->pp->second%15 == 3) { /* start the sequence */ /* by changing mode */
|
|
instance->shmem_reset = 1;
|
|
if (instance->chan == 12) {
|
|
if (instance->shmem_Posn == 2)
|
|
oncore_sendmsg(instance, oncore_cmd_Gd2, sizeof(oncore_cmd_Gd2)); /* 2D */
|
|
else
|
|
oncore_sendmsg(instance, oncore_cmd_Gd0, sizeof(oncore_cmd_Gd0)); /* 3D */
|
|
} else {
|
|
if (instance->saw_At) { /* out of 0D -> 3D mode */
|
|
oncore_sendmsg(instance, oncore_cmd_At0, sizeof(oncore_cmd_At0));
|
|
if (instance->shmem_Posn == 2) /* 3D -> 2D mode */
|
|
oncore_sendmsg(instance, oncore_cmd_Av1, sizeof(oncore_cmd_Av1));
|
|
} else
|
|
oncore_sendmsg(instance, oncore_cmd_Av0, sizeof(oncore_cmd_Av0));
|
|
}
|
|
} else if (instance->shmem_reset || (instance->mode != MODE_0D)) {
|
|
instance->shmem_reset = 0;
|
|
if (instance->chan == 12)
|
|
oncore_sendmsg(instance, oncore_cmd_Gd1, sizeof(oncore_cmd_Gd1)); /* 0D */
|
|
else {
|
|
if (instance->saw_At) {
|
|
if (instance->mode == MODE_2D) /* 2D -> 3D or 0D mode */
|
|
oncore_sendmsg(instance, oncore_cmd_Av0, sizeof(oncore_cmd_Av0));
|
|
oncore_sendmsg(instance, oncore_cmd_At1, sizeof(oncore_cmd_At1)); /* to 0D mode */
|
|
} else
|
|
oncore_sendmsg(instance, oncore_cmd_Av1, sizeof(oncore_cmd_Av1));
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
|
|
/*
|
|
* Here we do the Software SiteSurvey.
|
|
* We have to average our own position for the Position Hold Mode
|
|
* We use Heights from the GPS ellipsoid.
|
|
* We check for the END of either HW or SW SiteSurvey.
|
|
*/
|
|
|
|
static void
|
|
oncore_ss(
|
|
struct instance *instance
|
|
)
|
|
{
|
|
double lat, lon, ht;
|
|
|
|
|
|
if (instance->site_survey == ONCORE_SS_HW) {
|
|
/*
|
|
* Check to see if Hardware SiteSurvey has Finished.
|
|
*/
|
|
|
|
if ((instance->chan == 8 && !(instance->BEHa[37] & 0x20)) ||
|
|
(instance->chan == 12 && !(instance->BEHa[130] & 0x10))) {
|
|
oncore_log(instance, LOG_INFO, "Now in 0D mode");
|
|
|
|
if (instance->chan == 12)
|
|
oncore_sendmsg(instance, oncore_cmd_Gax, sizeof(oncore_cmd_Gax));
|
|
else
|
|
oncore_sendmsg(instance, oncore_cmd_Asx, sizeof(oncore_cmd_Asx));
|
|
|
|
oncore_log(instance, LOG_NOTICE, "SSstate = ONCORE_SS_DONE");
|
|
instance->site_survey = ONCORE_SS_DONE;
|
|
}
|
|
} else {
|
|
/*
|
|
* Must be a Software Site Survey.
|
|
*/
|
|
|
|
if (instance->rsm.bad_fix) /* Not if poor geometry or less than 3 sats */
|
|
return;
|
|
|
|
if (instance->mode != MODE_3D) /* Use only 3D Fixes */
|
|
return;
|
|
|
|
instance->ss_lat += buf_w32(&instance->BEHa[15]);
|
|
instance->ss_long += buf_w32(&instance->BEHa[19]);
|
|
instance->ss_ht += buf_w32(&instance->BEHa[23]); /* GPS ellipsoid */
|
|
instance->ss_count++;
|
|
|
|
if (instance->ss_count != POS_HOLD_AVERAGE)
|
|
return;
|
|
|
|
instance->ss_lat /= POS_HOLD_AVERAGE;
|
|
instance->ss_long /= POS_HOLD_AVERAGE;
|
|
instance->ss_ht /= POS_HOLD_AVERAGE;
|
|
|
|
oncore_log_f(instance, LOG_NOTICE,
|
|
"Surveyed posn: lat %.3f (mas) long %.3f (mas) ht %.3f (cm)",
|
|
instance->ss_lat, instance->ss_long,
|
|
instance->ss_ht);
|
|
lat = instance->ss_lat/3600000.;
|
|
lon = instance->ss_long/3600000.;
|
|
ht = instance->ss_ht/100;
|
|
oncore_log_f(instance, LOG_NOTICE,
|
|
"Surveyed posn: lat %.7f (deg) long %.7f (deg) ht %.2f (m)",
|
|
lat, lon, ht);
|
|
|
|
oncore_set_posn(instance);
|
|
|
|
oncore_log(instance, LOG_INFO, "Now in 0D mode");
|
|
|
|
oncore_log(instance, LOG_NOTICE, "SSstate = ONCORE_SS_DONE");
|
|
instance->site_survey = ONCORE_SS_DONE;
|
|
}
|
|
}
|
|
|
|
|
|
|
|
static int
|
|
oncore_wait_almanac(
|
|
struct instance *instance
|
|
)
|
|
{
|
|
if (instance->rsm.bad_almanac) {
|
|
instance->counta++;
|
|
if (instance->counta%5 == 0)
|
|
oncore_log(instance, LOG_INFO, "Waiting for Almanac");
|
|
|
|
/*
|
|
* If we get here (first time) then we don't have an almanac in memory.
|
|
* Check if we have a SHMEM, and if so try to load whatever is there.
|
|
*/
|
|
|
|
if (!instance->almanac_from_shmem) {
|
|
instance->almanac_from_shmem = 1;
|
|
oncore_load_almanac(instance);
|
|
}
|
|
return(1);
|
|
} else { /* Here we have the Almanac, we will be starting the @@Bn/@@En/@@Hn
|
|
commands, and can finally check for TRAIM. Again, we set a delay
|
|
(5sec) and wait for things to settle down */
|
|
|
|
if (instance->chan == 6)
|
|
oncore_sendmsg(instance, oncore_cmd_Bn, sizeof(oncore_cmd_Bn));
|
|
else if (instance->chan == 8)
|
|
oncore_sendmsg(instance, oncore_cmd_En, sizeof(oncore_cmd_En));
|
|
else if (instance->chan == 12) {
|
|
oncore_sendmsg(instance, oncore_cmd_Gc, sizeof(oncore_cmd_Gc)); /* 1PPS on, continuous */
|
|
oncore_sendmsg(instance, oncore_cmd_Ge, sizeof(oncore_cmd_Ge)); /* TRAIM on */
|
|
oncore_sendmsg(instance, oncore_cmd_Hn, sizeof(oncore_cmd_Hn)); /* TRAIM status 1/s */
|
|
}
|
|
instance->traim_delay = 1;
|
|
|
|
oncore_log(instance, LOG_NOTICE, "Have now loaded an ALMANAC");
|
|
|
|
instance->o_state = ONCORE_RUN;
|
|
oncore_log(instance, LOG_NOTICE, "state = ONCORE_RUN");
|
|
}
|
|
return(0);
|
|
}
|
|
|
|
|
|
|
|
static void
|
|
oncore_log (
|
|
struct instance *instance,
|
|
int log_level,
|
|
const char *msg
|
|
)
|
|
{
|
|
msyslog(log_level, "ONCORE[%d]: %s", instance->unit, msg);
|
|
mprintf_clock_stats(&instance->peer->srcadr, "ONCORE[%d]: %s",
|
|
instance->unit, msg);
|
|
}
|
|
|
|
|
|
static int
|
|
oncore_log_f(
|
|
struct instance * instance,
|
|
int log_level,
|
|
const char * fmt,
|
|
...
|
|
)
|
|
{
|
|
va_list ap;
|
|
int rc;
|
|
char msg[512];
|
|
|
|
va_start(ap, fmt);
|
|
rc = mvsnprintf(msg, sizeof(msg), fmt, ap);
|
|
va_end(ap);
|
|
oncore_log(instance, log_level, msg);
|
|
|
|
#ifdef ONCORE_VERBOSE_ONCORE_LOG
|
|
instance->max_len = max(strlen(msg), instance->max_len);
|
|
instance->max_count++;
|
|
if (instance->max_count % 100 == 0)
|
|
oncore_log_f(instance, LOG_INFO,
|
|
"Max Message Length so far is %d",
|
|
instance->max_len);
|
|
#endif
|
|
return rc;
|
|
}
|
|
|
|
#else
|
|
int refclock_oncore_bs;
|
|
#endif /* REFCLOCK && CLOCK_ONCORE */
|