472 lines
12 KiB
C
472 lines
12 KiB
C
#if defined(REFCLOCK) && (defined(PARSE) || defined(PARSEPPS)) && defined(CLOCK_TRIMTSIP)
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/*
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* $Header: /src/NTP/REPOSITORY/v3/parse/clk_trimble.c,v 3.9 1994/02/02 17:45:27 kardel Exp $
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*
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* Trimble TSIP support - CURRENTLY VERY MUCH UNDER CONSTRUCTION
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*/
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#include "sys/types.h"
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#include "sys/time.h"
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#include "sys/errno.h"
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#include "ntp_syslog.h"
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#include "ntp_types.h"
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#include "ntp_fp.h"
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#include "ntp_unixtime.h"
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#include "ntp_calendar.h"
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#include "parse.h"
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/*
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* Trimble TSIP parser
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*
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* The receiver uses a serial message protocol called Trimble Standard
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* Interface Protocol (it can support others but this driver only supports
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* TSIP). Messages in this protocol have the following form:
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*
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* <DLE><id> ... <data> ... <DLE><ETX>
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*
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* Any bytes within the <data> portion of value 10 hex (<DLE>) are doubled
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* on transmission and compressed back to one on reception. Otherwise
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* the values of data bytes can be anything. The serial interface is RS-422
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* asynchronous using 9600 baud, 8 data bits with odd party (**note** 9 bits
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* in total!), and 1 stop bit. The protocol supports byte, integer, single,
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* and double datatypes. Integers are two bytes, sent most significant first.
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* Singles are IEEE754 single precision floating point numbers (4 byte) sent
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* sign & exponent first. Doubles are IEEE754 double precision floating point
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* numbers (8 byte) sent sign & exponent first.
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* The receiver supports a large set of messages, only a small subset of
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* which are used here. From driver to receiver the following are used:
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*
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* ID Description
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*
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* 21 Request current time
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* 22 Mode Select
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* 2C Set/Request operating parameters
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* 2F Request UTC info
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* 35 Set/Request I/O options
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*
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* From receiver to driver the following are recognised:
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*
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* ID Description
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*
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* 41 GPS Time
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* 44 Satellite selection, PDOP, mode
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* 46 Receiver health
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* 4B Machine code/status
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* 4C Report operating parameters (debug only)
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* 4F UTC correction data (used to get leap second warnings)
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* 55 I/O options (debug only)
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*
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* All others are accepted but ignored.
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*
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*/
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extern int debug;
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struct trimble
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{
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u_char t_in_pkt; /* first DLE received */
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u_char t_dle; /* subsequent DLE received */
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u_char t_status; /* last status */
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u_char t_error; /* last error */
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u_short t_week; /* GPS week */
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u_short t_weekleap; /* GPS week of next/last week */
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u_short t_dayleap; /* day in week */
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u_short t_gpsutc; /* GPS - UTC offset */
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u_short t_gpsutcleap; /* offset at next/last leap */
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u_char t_operable; /* receiver feels OK */
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u_char t_leap; /* possible leap warning */
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};
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static unsigned LONG inp_tsip();
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static unsigned LONG cvt_trimtsip();
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struct clockformat clock_trimtsip =
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{
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inp_tsip, /* Trimble TSIP input handler */
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cvt_trimtsip, /* Trimble TSIP conversion */
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syn_simple, /* easy time stamps for RS232 (fallback) */
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pps_simple, /* easy PPS monitoring */
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(unsigned LONG (*)())0, /* no time code synthesizer monitoring */
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(void *)0, /* no configuration data */
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"Trimble SV6/TSIP",
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128, /* input buffer */
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CVT_FIXEDONLY, /* we do our own input handling */
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sizeof(struct trimble), /* no private data */
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{ 0, 0},
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'\0',
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'\0',
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'\0'
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};
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#define ADDSECOND 0x01
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#define DELSECOND 0x02
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#define DLE 0x10
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#define ETX 0x03
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static unsigned LONG inp_tsip(parseio, ch, ctime)
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register parse_t *parseio;
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register unsigned char ch;
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register timestamp_t *ctime;
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{
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register struct trimble *t = (struct trimble *)parseio->parse_pdata;
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if (!t)
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return 0; /* local data not allocated - sigh! */
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if (!t->t_in_pkt && ch != DLE) {
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/* wait for start of packet */
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#ifdef DEBUG
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if (debug > 2)
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printf("sv6+ discarding %2.2x\n", ch);
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#endif
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return 0;
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}
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switch (ch) {
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case DLE:
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if (!t->t_in_pkt) {
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t->t_dle = 0;
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t->t_in_pkt = 1;
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parseio->parse_index = 0;
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parseio->parse_data[parseio->parse_index++] = ch;
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parseio->parse_dtime.parse_stime = *ctime; /* pick up time stamp at packet start */
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} else if (t->t_dle) {
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/* Double DLE -> insert a DLE */
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t->t_dle = 0;
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parseio->parse_data[parseio->parse_index++] = DLE;
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} else
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t->t_dle = 1;
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break;
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case ETX:
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if (t->t_dle) {
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/* DLE,ETX -> end of packet */
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parseio->parse_data[parseio->parse_index++] = DLE;
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parseio->parse_data[parseio->parse_index++] = ch;
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parseio->parse_data[parseio->parse_index] = '\0';
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parseio->parse_ldsize = parseio->parse_index+1;
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bcopy(parseio->parse_data, parseio->parse_ldata, parseio->parse_ldsize);
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t->t_in_pkt = t->t_dle = 0;
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return 1;
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}
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/* fall into ... */
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default:
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t->t_dle = 0;
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parseio->parse_data[parseio->parse_index++] = ch;
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}
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return (parseio->parse_index == parseio->parse_dsize-1); /* buffer full - attempt to parse (likely to fail) */
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}
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#define GPSORIGIN 2524953600 /* NTP origin - GPS origin in seconds */
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#define SECSPERWEEK 604800 /* seconds per week - GPS tells us about weeks */
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#define L_UF_SCALE 4294967296.0 /* scale a float fraction to l_uf units */
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/*
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* mapping union for ints, floats, doubles for both input & output to the
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* receiver
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*
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* CAVEAT: must disappear - non portable
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*/
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union {
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u_char bd[8];
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int iv;
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float fv;
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double dv;
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} uval;
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static float getflt P((u_char *));
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static double getdbl P((u_char *));
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static int getint P((u_char *));
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/*
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* cvt_trimtsip
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*
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* convert TSIP type format
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*/
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static unsigned LONG
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cvt_trimtsip(buffer, size, format, clock, t)
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register char *buffer;
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register int size;
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register struct format *format;
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register clocktime_t *clock;
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register struct trimble *t;
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{
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#define mb(_X_) (buffer[2+(_X_)]) /* shortcut for buffer access */
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register u_char cmd;
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if (!t) {
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#ifdef DEBUG
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if (debug) printf("sv6+ BAD call (t=0)\n");
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#endif
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return CVT_NONE; /* local data not allocated - sigh! */
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}
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if ((size < 4) ||
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(buffer[0] != DLE) ||
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(buffer[size-1] != ETX) ||
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(buffer[size-2] != DLE))
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{
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#ifdef DEBUG
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if (debug > 2) {
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int i;
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printf("sv6+ BAD packet, size %d:\n ", size);
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for (i = 0; i < size; i++) {
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printf ("%2.2x, ", buffer[i]&0xff);
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if (i%16 == 15) printf("\n\t");
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}
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printf("\n");
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}
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#endif
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return CVT_NONE;
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}
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else
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{
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cmd = buffer[1];
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#ifdef DEBUG
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if (debug > 1)
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switch(cmd)
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{
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case 0x41:
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printf("sv6+ gps time: %f, %d, %f\n",
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getflt(&mb(0)), getint(&mb(4)), getflt(&mb(6)));
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break;
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case 0x44:
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printf("sv6+ sats: %2x, %2d %2d %2d %2d, %.2f\n",
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mb(0), mb(1), mb(2), mb(3), mb(4), getflt(&mb(5)));
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break;
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case 0x45:
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printf("sv6+ software: %d.%d (19%d/%d/%d)\n",
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mb(0)&0xff, mb(1)&0xff, mb(4)&0xff, mb(2)&0xff, mb(3)&0xff);
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break;
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case 0x46:
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printf("sv6+ health: %2x %2x\n",
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mb(0), mb(1));
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break;
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case 0x48:
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printf("sv6+ gps message: '%.22s'\n", &mb(0));
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break;
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case 0x4b:
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printf("sv6+ status: %2d %2x\n",
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mb(0), mb(1));
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break;
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case 0x4c:
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printf("sv6+ op params: %2x %.1f %.1f %.1f %.1f\n",
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mb(0), getflt(&mb(1)), getflt(&mb(5)),
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getflt(&mb(9)), getflt(&mb(13)));
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break;
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case 0x4f:
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printf("sv6+ utc data: %.3e %.3e %d %d %d %d %d\n",
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getdbl(&mb(0)), getflt(&mb(8)), getint(&mb(18)),
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getint(&mb(12)), getint(&mb(20)), getint(&mb(22)), getint(&mb(24)));
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break;
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case 0x54:
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/*printf("sv6+ bias and rate: %.1fm %.2fm/s at %.1fs\n",
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getflt(&mb(0)), getflt(&mb(4)), getflt(&mb(8))); ignore it*/
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break;
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case 0x55:
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printf("sv6+ io opts: %2x %2x %2x %2x\n",
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mb(0), mb(1), mb(2), mb(3));
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break;
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case 0x8f:
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{
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#define RTOD (180.0 / 3.1415926535898)
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double lat = getdbl(&mb(2));
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double lng = getdbl(&mb(10));
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printf("sv6+ last fix: %2.2x %d lat %f %c, long %f %c, alt %.2fm\n",
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mb(1)&0xff, mb(40)&0xff,
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((lat < 0) ? (-lat) : (lat))*RTOD, (lat < 0 ? 'S' : 'N'),
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((lng < 0) ? (-lng) : (lng))*RTOD, (lng < 0 ? 'W' : 'E'),
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getdbl(&mb(18)));
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}
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break;
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case 0x40:
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case 0x5b:
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case 0x6d:
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/* Ignore */
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break;
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default:
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printf("sv6+ cmd ignored: %2x, length: %d\n",
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cmd, size);
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break;
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}
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#endif /* DEBUG */
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switch(cmd)
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{
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case 0x41:
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{ /* GPS time */
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float secs = getflt(&mb(0));
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int week = getint(&mb(4));
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int secint;
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float secfrac;
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l_fp gpstime, off;
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if (secs <= 0)
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{
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#ifdef DEBUG
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if (debug)
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printf("sv6+ seconds <= 0 (%e), setting POWERUP\n");
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#endif
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clock->flags = PARSEB_POWERUP;
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return CVT_OK;
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}
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/* time OK */
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secint = secs; /* integer part, hopefully */
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secfrac = secs - secint; /* 0.0 <= secfrac < 1.0 */
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secint -= getflt(&mb(6)); /* UTC offset */
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gpstime.l_ui = week*SECSPERWEEK + secint + GPSORIGIN; /* convert to NTP time */
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gpstime.l_uf = secfrac*L_UF_SCALE;
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clock->utctime = gpstime.l_ui - JAN_1970;
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TSFTOTVU(gpstime.l_uf, clock->usecond);
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if (t->t_leap == ADDSECOND)
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clock->flags |= PARSEB_LEAPADD;
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if (t->t_leap == DELSECOND)
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clock->flags |= PARSEB_LEAPDEL;
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if (t->t_operable)
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clock->flags &= ~(PARSEB_NOSYNC|PARSEB_POWERUP);
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else
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clock->flags |= PARSEB_NOSYNC;
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return CVT_OK;
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} /* case 0x41 */
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break;
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case 0x46:
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{
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/* sv6+ health */
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u_char status = t->t_status = mb(0);
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u_char error = t->t_error = mb(1);
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if (status == 0 || status == 9 || status == 10 || status == 11)
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{
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if (!t->t_operable)
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syslog(LOG_ERR, "Trimble clock synced");
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t->t_operable = 1;
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}
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else
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{
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if (t->t_operable)
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syslog(LOG_ERR, "Trimble clock unsynced");
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t->t_operable = 0;
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}
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}
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break;
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case 0x4f:
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{
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/* UTC correction data - derive a leap warning */
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int tls = t->t_gpsutc = getint(&mb(12)); /* current leap correction (GPS-UTC) */
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int wnlsf = t->t_weekleap = getint(&mb(20)); /* week no of leap correction */
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int dn = t->t_dayleap = getint(&mb(22)); /* day in week of leap correction */
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int tlsf = t->t_gpsutcleap = getint(&mb(24)); /* new leap correction */
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U_LONG now, leaptime;
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t->t_week = getint(&mb(18)); /* current week no */
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/* this stuff hasn't been tested yet... */
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now = clock->utctime + JAN_1970; /* now in GPS seconds */
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leaptime = (wnlsf*7 + dn)*86400; /* time of leap in GPS seconds */
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if ((leaptime > now) && ((leaptime-now) < 86400*28))
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{
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/* generate a leap warning */
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if (tlsf > tls)
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t->t_leap = ADDSECOND;
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else
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t->t_leap = DELSECOND;
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}
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else
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{
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t->t_leap = 0;
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}
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}
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break;
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default:
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/* it's validly formed, but we don't care about it! */
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break;
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}
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}
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return CVT_SKIP;
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}
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/*
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* getflt, getdbl, getint convert fields in the incoming data into the
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* appropriate type of item
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*
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* CAVEAT: these routines are currently definitely byte order dependent
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* and assume Representation(float) == IEEE754
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* These functions MUST be converted to portable versions (especially
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* converting the float representation into ntp_fp formats in order
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* to avoid floating point operations at all!
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*/
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static float
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getflt(bp)
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u_char *bp;
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{
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uval.bd[0] = *bp++;
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uval.bd[1] = *bp++;
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uval.bd[2] = *bp++;
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uval.bd[3] = *bp;
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return uval.fv;
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}
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static double
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getdbl(bp)
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u_char *bp;
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{
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uval.bd[0] = *bp++;
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uval.bd[1] = *bp++;
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uval.bd[2] = *bp++;
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uval.bd[3] = *bp++;
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uval.bd[4] = *bp++;
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uval.bd[5] = *bp++;
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uval.bd[6] = *bp++;
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uval.bd[7] = *bp;
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return uval.dv;
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}
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static int
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getint(bp)
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u_char *bp;
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{
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uval.bd[2] = *bp++;
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uval.bd[3] = *bp;
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if (uval.bd[2] & 0x80) /* sign-extend */
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uval.bd[0] = uval.bd[1] = 0xff;
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else
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uval.bd[0] = uval.bd[1] = 0;
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return uval.iv;
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}
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#endif /* defined(PARSE) && defined(CLOCK_TRIMTSIP) */
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/*
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* History:
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*
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* $Log: clk_trimble.c,v $
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*/
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