2 * This software was developed by the Software and Component Technologies
3 * group of Trimble Navigation, Ltd.
5 * Copyright (c) 1997, 1998, 1999, 2000 Trimble Navigation Ltd.
8 * Redistribution and use in source and binary forms, with or without
9 * modification, are permitted provided that the following conditions
11 * 1. Redistributions of source code must retain the above copyright
12 * notice, this list of conditions and the following disclaimer.
13 * 2. Redistributions in binary form must reproduce the above copyright
14 * notice, this list of conditions and the following disclaimer in the
15 * documentation and/or other materials provided with the distribution.
16 * 3. All advertising materials mentioning features or use of this software
17 * must display the following acknowledgement:
18 * This product includes software developed by Trimble Navigation, Ltd.
19 * 4. The name of Trimble Navigation Ltd. may not be used to endorse or
20 * promote products derived from this software without specific prior
23 * THIS SOFTWARE IS PROVIDED BY TRIMBLE NAVIGATION LTD. ``AS IS'' AND
24 * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
25 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
26 * ARE DISCLAIMED. IN NO EVENT SHALL TRIMBLE NAVIGATION LTD. BE LIABLE
27 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
28 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
29 * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
30 * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
31 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
32 * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
37 * refclock_palisade - clock driver for the Trimble Palisade GPS
40 * For detailed information on this program, please refer to the html
41 * Refclock 29 page accompanying the NTP distribution.
43 * for questions / bugs / comments, contact:
44 * sven_dietrich@trimble.com
46 * Sven-Thorsten Dietrich
47 * 645 North Mary Avenue
48 * Post Office Box 3642
49 * Sunnyvale, CA 94088-3642
53 #ifndef _REFCLOCK_PALISADE_H
54 #define _REFCLOCK_PALISADE_H
60 #if defined HAVE_SYS_MODEM_H
61 #include <sys/modem.h>
63 #define TIOCMSET MCSETA
64 #define TIOCMGET MCGETA
65 #define TIOCM_RTS MRTS
70 # ifdef TERMIOS_NEEDS__SVID3
74 # ifdef TERMIOS_NEEDS__SVID3
79 #ifdef HAVE_SYS_IOCTL_H
80 #include <sys/ioctl.h>
85 #include "ntp_control.h"
86 #include "ntp_refclock.h"
87 #include "ntp_unixtime.h"
88 #include "ntp_stdlib.h"
93 #define DESCRIPTION "Trimble Palisade GPS" /* Long name */
94 #define PRECISION (-20) /* precision assumed (about 1 us) */
95 #define REFID "GPS\0" /* reference ID */
96 #define TRMB_MINPOLL 4 /* 16 seconds */
97 #define TRMB_MAXPOLL 5 /* 32 seconds */
102 #define DEVICE "/dev/palisade%d" /* device name and unit */
103 #define SPEED232 B9600 /* uart speed (9600 baud) */
106 * TSIP Report Definitions
108 #define LENCODE_8F0B 74 /* Length of TSIP 8F-0B Packet & header */
109 #define LENCODE_NTP 22 /* Length of Palisade NTP Packet */
111 /* Allowed Sub-Packet ID's */
112 #define PACKET_8F0B 0x0B
113 #define PACKET_NTP 0xAD
119 #define TSIP_PARSED_EMPTY 0
120 #define TSIP_PARSED_FULL 1
121 #define TSIP_PARSED_DLE_1 2
122 #define TSIP_PARSED_DATA 3
123 #define TSIP_PARSED_DLE_2 4
126 * Leap-Insert and Leap-Delete are encoded as follows:
127 * PALISADE_UTC_TIME set and PALISADE_LEAP_PENDING set: INSERT leap
130 #define PALISADE_LEAP_INPROGRESS 0x08 /* This is the leap flag */
131 #define PALISADE_LEAP_WARNING 0x04 /* GPS Leap Warning (see ICD-200) */
132 #define PALISADE_LEAP_PENDING 0x02 /* Leap Pending (24 hours) */
133 #define PALISADE_UTC_TIME 0x01 /* UTC time available */
135 #define mb(_X_) (up->rpt_buf[(_X_ + 1)]) /* shortcut for buffer access */
137 /* Conversion Definitions */
138 #define GPS_PI (3.1415926535898)
139 #define R2D (180.0/GPS_PI)
142 * Palisade unit control structure.
144 struct palisade_unit {
145 short unit; /* NTP refclock unit number */
146 int polled; /* flag to detect noreplies */
147 char leap_status; /* leap second flag */
148 char rpt_status; /* TSIP Parser State */
149 short rpt_cnt; /* TSIP packet length so far */
150 char rpt_buf[BMAX]; /* packet assembly buffer */
151 int type; /* Clock mode type */
155 * Function prototypes
158 static int palisade_start P((int, struct peer *));
159 static void palisade_shutdown P((int, struct peer *));
160 static void palisade_receive P((struct peer *));
161 static void palisade_poll P((int, struct peer *));
162 static void palisade_io P((struct recvbuf *));
163 int palisade_configure P((int, struct peer *));
164 int TSIP_decode P((struct peer *));
165 long HW_poll P((struct refclockproc *));
166 float getfloat P((u_char *));
167 double getdbl P((u_char *));
168 short getint P((u_char *));
170 #endif /* PALISADE_H */