/* * This software was developed by the Software and Component Technologies * group of Trimble Navigation, Ltd. * * Copyright (c) 1997, 1998, 1999, 2000 Trimble Navigation Ltd. * All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions * are met: * 1. Redistributions of source code must retain the above copyright * notice, this list of conditions and the following disclaimer. * 2. Redistributions in binary form must reproduce the above copyright * notice, this list of conditions and the following disclaimer in the * documentation and/or other materials provided with the distribution. * 3. All advertising materials mentioning features or use of this software * must display the following acknowledgement: * This product includes software developed by Trimble Navigation, Ltd. * 4. The name of Trimble Navigation Ltd. may not be used to endorse or * promote products derived from this software without specific prior * written permission. * * THIS SOFTWARE IS PROVIDED BY TRIMBLE NAVIGATION LTD. ``AS IS'' AND * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE * ARE DISCLAIMED. IN NO EVENT SHALL TRIMBLE NAVIGATION LTD. BE LIABLE * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF * SUCH DAMAGE. */ /* * refclock_palisade - clock driver for the Trimble Palisade GPS * timing receiver * * For detailed information on this program, please refer to the html * Refclock 29 page accompanying the NTP distribution. * * for questions / bugs / comments, contact: * sven_dietrich@trimble.com * * Sven-Thorsten Dietrich * 645 North Mary Avenue * Post Office Box 3642 * Sunnyvale, CA 94088-3642 * */ #ifndef _REFCLOCK_PALISADE_H #define _REFCLOCK_PALISADE_H #ifdef HAVE_CONFIG_H #include "config.h" #endif #if defined HAVE_SYS_MODEM_H #include <sys/modem.h> #ifndef __QNXNTO__ #define TIOCMSET MCSETA #define TIOCMGET MCGETA #define TIOCM_RTS MRTS #endif #endif #ifdef HAVE_TERMIOS_H # ifdef TERMIOS_NEEDS__SVID3 # define _SVID3 # endif # include <termios.h> # include <sys/stat.h> # ifdef TERMIOS_NEEDS__SVID3 # undef _SVID3 # endif #endif #ifdef HAVE_SYS_IOCTL_H #include <sys/ioctl.h> #endif #include "ntpd.h" #include "ntp_io.h" #include "ntp_control.h" #include "ntp_refclock.h" #include "ntp_unixtime.h" #include "ntp_stdlib.h" /* * GPS Definitions */ #define DESCRIPTION "Trimble Palisade GPS" /* Long name */ #define PRECISION (-20) /* precision assumed (about 1 us) */ #define REFID "GPS\0" /* reference ID */ #define TRMB_MINPOLL 4 /* 16 seconds */ #define TRMB_MAXPOLL 5 /* 32 seconds */ /* * I/O Definitions */ #define DEVICE "/dev/palisade%d" /* device name and unit */ #define SPEED232 B9600 /* uart speed (9600 baud) */ /* * TSIP Report Definitions */ #define LENCODE_8F0B 74 /* Length of TSIP 8F-0B Packet & header */ #define LENCODE_NTP 22 /* Length of Palisade NTP Packet */ #define LENCODE_8FAC 68 /* Length of Thunderbolt 8F-AC Position Packet*/ #define LENCODE_8FAB 17 /* Length of Thunderbolt Primary Timing Packet*/ /* Allowed Sub-Packet ID's */ #define PACKET_8F0B 0x0B #define PACKET_NTP 0xAD /* Thunderbolt Packets */ #define PACKET_8FAC 0xAC /* Supplementary Thunderbolt Time Packet */ #define PACKET_8FAB 0xAB /* Primary Thunderbolt Time Packet */ #define PACKET_6D 0x6D /* Supplementary Thunderbolt Tracking Stats */ #define PACKET_41 0x41 /* Thunderbolt I dont know what this packet is, it's not documented on my manual*/ /* Acutime Packets */ #define PACKET_41A 0x41 /* GPS time */ #define PACKET_46 0x46 /* Receiver Health */ #define DLE 0x10 #define ETX 0x03 /* parse states */ #define TSIP_PARSED_EMPTY 0 #define TSIP_PARSED_FULL 1 #define TSIP_PARSED_DLE_1 2 #define TSIP_PARSED_DATA 3 #define TSIP_PARSED_DLE_2 4 /* * Leap-Insert and Leap-Delete are encoded as follows: * PALISADE_UTC_TIME set and PALISADE_LEAP_PENDING set: INSERT leap */ #define PALISADE_LEAP_INPROGRESS 0x08 /* This is the leap flag */ #define PALISADE_LEAP_WARNING 0x04 /* GPS Leap Warning (see ICD-200) */ #define PALISADE_LEAP_PENDING 0x02 /* Leap Pending (24 hours) */ #define PALISADE_UTC_TIME 0x01 /* UTC time available */ #define mb(_X_) (up->rpt_buf[(_X_ + 1)]) /* shortcut for buffer access */ /* Conversion Definitions */ #define GPS_PI (3.1415926535898) #define R2D (180.0/GPS_PI) /* * Structure for build data packets for send (thunderbolt uses it only) * taken from Markus Prosch */ struct packettx { short size; u_char *data; }; /* * Palisade unit control structure. */ struct palisade_unit { short unit; /* NTP refclock unit number */ int polled; /* flag to detect noreplies */ char leap_status; /* leap second flag */ char rpt_status; /* TSIP Parser State */ short rpt_cnt; /* TSIP packet length so far */ char rpt_buf[BMAX]; /* packet assembly buffer */ int type; /* Clock mode type */ }; /* * Function prototypes */ static int palisade_start (int, struct peer *); static void palisade_shutdown (int, struct peer *); static void palisade_receive (struct peer *); static void palisade_poll (int, struct peer *); static void palisade_io (struct recvbuf *); int palisade_configure (int, struct peer *); int TSIP_decode (struct peer *); long HW_poll (struct refclockproc *); float getfloat (u_char *); double getdbl (u_char *); short getint (u_char *); long getlong (u_char *); #ifdef PALISADE_SENDCMD_RESURRECTED static void sendcmd (struct packettx *buffer, int c); #endif static void sendsupercmd (struct packettx *buffer, int c1, int c2); static void sendbyte (struct packettx *buffer, int b); static void sendint (struct packettx *buffer, int a); static int sendetx (struct packettx *buffer, int fd); static void init_thunderbolt (int fd); static void init_acutime (int fd); #endif /* PALISADE_H */