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
56 #if defined HAVE_SYS_MODEM_H
57 #include <sys/modem.h>
59 #define TIOCMSET MCSETA
60 #define TIOCMGET MCGETA
61 #define TIOCM_RTS MRTS
66 # ifdef TERMIOS_NEEDS__SVID3
70 # include <sys/stat.h>
71 # ifdef TERMIOS_NEEDS__SVID3
76 #ifdef HAVE_SYS_IOCTL_H
77 #include <sys/ioctl.h>
82 #include "ntp_control.h"
83 #include "ntp_refclock.h"
84 #include "ntp_unixtime.h"
85 #include "ntp_stdlib.h"
90 #define DESCRIPTION "Trimble Palisade GPS" /* Long name */
91 #define PRECISION (-20) /* precision assumed (about 1 us) */
92 #define REFID "GPS\0" /* reference ID */
93 #define TRMB_MINPOLL 4 /* 16 seconds */
94 #define TRMB_MAXPOLL 5 /* 32 seconds */
99 #define DEVICE "/dev/palisade%d" /* device name and unit */
100 #define SPEED232 B9600 /* uart speed (9600 baud) */
103 * TSIP Report Definitions
105 #define LENCODE_8F0B 74 /* Length of TSIP 8F-0B Packet & header */
106 #define LENCODE_NTP 22 /* Length of Palisade NTP Packet */
108 #define LENCODE_8FAC 68 /* Length of Thunderbolt 8F-AC Position Packet*/
109 #define LENCODE_8FAB 17 /* Length of Thunderbolt Primary Timing Packet*/
111 /* Allowed Sub-Packet ID's */
112 #define PACKET_8F0B 0x0B
113 #define PACKET_NTP 0xAD
115 /* Thunderbolt Packets */
116 #define PACKET_8FAC 0xAC /* Supplementary Thunderbolt Time Packet */
117 #define PACKET_8FAB 0xAB /* Primary Thunderbolt Time Packet */
118 #define PACKET_6D 0x6D /* Supplementary Thunderbolt Tracking Stats */
119 #define PACKET_41 0x41 /* Thunderbolt I dont know what this packet is, it's not documented on my manual*/
121 /* Acutime Packets */
122 #define PACKET_41A 0x41 /* GPS time */
123 #define PACKET_46 0x46 /* Receiver Health */
129 #define TSIP_PARSED_EMPTY 0
130 #define TSIP_PARSED_FULL 1
131 #define TSIP_PARSED_DLE_1 2
132 #define TSIP_PARSED_DATA 3
133 #define TSIP_PARSED_DLE_2 4
136 * Leap-Insert and Leap-Delete are encoded as follows:
137 * PALISADE_UTC_TIME set and PALISADE_LEAP_PENDING set: INSERT leap
140 #define PALISADE_LEAP_INPROGRESS 0x08 /* This is the leap flag */
141 #define PALISADE_LEAP_WARNING 0x04 /* GPS Leap Warning (see ICD-200) */
142 #define PALISADE_LEAP_PENDING 0x02 /* Leap Pending (24 hours) */
143 #define PALISADE_UTC_TIME 0x01 /* UTC time available */
145 #define mb(_X_) (up->rpt_buf[(_X_ + 1)]) /* shortcut for buffer access */
147 /* Conversion Definitions */
148 #define GPS_PI (3.1415926535898)
149 #define R2D (180.0/GPS_PI)
152 * Structure for build data packets for send (thunderbolt uses it only)
153 * taken from Markus Prosch
162 * Palisade unit control structure.
164 struct palisade_unit {
165 short unit; /* NTP refclock unit number */
166 int polled; /* flag to detect noreplies */
167 char leap_status; /* leap second flag */
168 char rpt_status; /* TSIP Parser State */
169 short rpt_cnt; /* TSIP packet length so far */
170 char rpt_buf[BMAX]; /* packet assembly buffer */
171 int type; /* Clock mode type */
172 int month; /* for LEAP filter */
176 * Function prototypes
179 static int palisade_start (int, struct peer *);
180 static void palisade_shutdown (int, struct peer *);
181 static void palisade_receive (struct peer *);
182 static void palisade_poll (int, struct peer *);
183 static void palisade_io (struct recvbuf *);
184 int palisade_configure (int, struct peer *);
185 int TSIP_decode (struct peer *);
186 long HW_poll (struct refclockproc *);
187 static double getdbl (u_char *);
188 static short getint (u_char *);
189 static int32 getlong (u_char *);
192 #ifdef PALISADE_SENDCMD_RESURRECTED
193 static void sendcmd (struct packettx *buffer, int c);
195 static void sendsupercmd (struct packettx *buffer, int c1, int c2);
196 static void sendbyte (struct packettx *buffer, int b);
197 static void sendint (struct packettx *buffer, int a);
198 static int sendetx (struct packettx *buffer, int fd);
199 static void init_thunderbolt (int fd);
200 static void init_acutime (int fd);
202 #endif /* REFCLOCK_PALISADE_H */