contrib/ntp/libparse/clk_trimtsip.c

   1 /*
   2  * /src/NTP/ntp4-dev/libparse/clk_trimtsip.c,v 4.17 2005/04/16 17:32:10 kardel RELEASE_20050508_A
   3  *
   4  * clk_trimtsip.c,v 4.17 2005/04/16 17:32:10 kardel RELEASE_20050508_A
   5  *
   6  * Trimble TSIP support
   7  * Thanks to Sven Dietrich for providing test hardware
   8  *
   9  * Copyright (c) 1995-2005 by Frank Kardel <kardel <AT> ntp.org>
  10  * Copyright (c) 1989-1994 by Frank Kardel, Friedrich-Alexander Universität Erlangen-Nürnberg, Germany
  11  *
  12  * Redistribution and use in source and binary forms, with or without
  13  * modification, are permitted provided that the following conditions
  14  * are met:
  15  * 1. Redistributions of source code must retain the above copyright
  16  *    notice, this list of conditions and the following disclaimer.
  17  * 2. Redistributions in binary form must reproduce the above copyright
  18  *    notice, this list of conditions and the following disclaimer in the
  19  *    documentation and/or other materials provided with the distribution.
  20  * 3. Neither the name of the author nor the names of its contributors
  21  *    may be used to endorse or promote products derived from this software
  22  *    without specific prior written permission.
  23  *
  24  * THIS SOFTWARE IS PROVIDED BY THE AUTHOR AND CONTRIBUTORS ``AS IS'' AND
  25  * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
  26  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
  27  * ARE DISCLAIMED.  IN NO EVENT SHALL THE AUTHOR OR CONTRIBUTORS BE LIABLE
  28  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
  29  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
  30  * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
  31  * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
  32  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
  33  * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
  34  * SUCH DAMAGE.
  35  *
  36  */
  37
  38 #ifdef HAVE_CONFIG_H
  39 # include <config.h>
  40 #endif
  41
  42 #if defined(REFCLOCK) && defined(CLOCK_PARSE) && defined(CLOCK_TRIMTSIP)
  43
  44 #include "ntp_syslog.h"
  45 #include "ntp_types.h"
  46 #include "ntp_fp.h"
  47 #include "ntp_unixtime.h"
  48 #include "ntp_calendar.h"
  49 #include "ntp_machine.h"
  50 #include "ntp_stdlib.h"
  51
  52 #include "parse.h"
  53
  54 #ifndef PARSESTREAM
  55 # include <stdio.h>
  56 #else
  57 # include "sys/parsestreams.h"
  58 #endif
  59
  60 #include "ascii.h"
  61 #include "binio.h"
  62 #include "ieee754io.h"
  63 #include "trimble.h"
  64
  65 /*
  66  * Trimble low level TSIP parser / time converter
  67  *
  68  * The receiver uses a serial message protocol called Trimble Standard
  69  * Interface Protocol (it can support others but this driver only supports
  70  * TSIP). Messages in this protocol have the following form:
  71  *
  72  * <DLE><id> ... <data> ... <DLE><ETX>
  73  *
  74  * Any bytes within the <data> portion of value 10 hex (<DLE>) are doubled
  75  * on transmission and compressed back to one on reception. Otherwise
  76  * the values of data bytes can be anything. The serial interface is RS-422
  77  * asynchronous using 9600 baud, 8 data bits with odd party (**note** 9 bits
  78  * in total!), and 1 stop bit. The protocol supports byte, integer, single,
  79  * and double datatypes. Integers are two bytes, sent most significant first.
  80  * Singles are IEEE754 single precision floating point numbers (4 byte) sent
  81  * sign & exponent first. Doubles are IEEE754 double precision floating point
  82  * numbers (8 byte) sent sign & exponent first.
  83  * The receiver supports a large set of messages, only a very small subset of
  84  * which is used here.
  85  *
  86  * From this module the following are recognised:
  87  *
  88  *  ID    Description
  89  *
  90  *  41    GPS Time
  91  *  46    Receiver health
  92  *  4F    UTC correction data (used to get leap second warnings)
  93  *
  94  * All others are accepted but ignored for time conversion - they are passed up to higher layers.
  95  *
  96  */
  97
  98 static offsets_t trim_offsets = { 0, 1, 2, 3, 4, 5, 6, 7 };
  99
 100 struct trimble
 101 {
 102         u_char  t_in_pkt;       /* first DLE received */
 103         u_char  t_dle;          /* subsequent DLE received */
 104         u_short t_week;         /* GPS week */
 105         u_short t_weekleap;     /* GPS week of next/last week */
 106         u_short t_dayleap;      /* day in week */
 107         u_short t_gpsutc;       /* GPS - UTC offset */
 108         u_short t_gpsutcleap;   /* offset at next/last leap */
 109         u_char  t_operable;     /* receiver feels OK */
 110         u_char  t_mode;         /* actual operating mode */
 111         u_char  t_leap;         /* possible leap warning */
 112         u_char  t_utcknown;     /* utc offset known */
 113 };
 114
 115 #define STATUS_BAD    0         /* BAD or UNINITIALIZED receiver status */
 116 #define STATUS_UNSAFE 1         /* not enough receivers for full precision */
 117 #define STATUS_SYNC   2         /* enough information for good operation */
 118
 119 static unsigned long inp_tsip P((parse_t *, unsigned int, timestamp_t *));
 120 static unsigned long cvt_trimtsip P((unsigned char *, int, struct format *, clocktime_t *, void *));
 121
 122 struct clockformat clock_trimtsip =
 123 {
 124         inp_tsip,               /* Trimble TSIP input handler */
 125         cvt_trimtsip,           /* Trimble TSIP conversion */
 126         pps_one,                /* easy PPS monitoring */
 127         0,                      /* no configuration data */
 128         "Trimble TSIP",
 129         400,                    /* input buffer */
 130         sizeof(struct trimble)  /* private data */
 131 };
 132
 133 #define ADDSECOND       0x01
 134 #define DELSECOND       0x02
 135
 136 static unsigned long
 137 inp_tsip(
 138          parse_t      *parseio,
 139          unsigned int ch,
 140          timestamp_t  *tstamp
 141         )
 142 {
 143         struct trimble *t = (struct trimble *)parseio->parse_pdata;
 144
 145         if (!t)
 146             return PARSE_INP_SKIP;              /* local data not allocated - sigh! */
 147
 148         if (!t->t_in_pkt && ch != DLE) {
 149                 /* wait for start of packet */
 150                 return PARSE_INP_SKIP;
 151         }
 152
 153         if ((parseio->parse_index >= (parseio->parse_dsize - 2)) ||
 154             (parseio->parse_dtime.parse_msglen >= (sizeof(parseio->parse_dtime.parse_msg) - 2)))
 155                 {               /* OVERFLOW - DROP! */
 156                         t->t_in_pkt = t->t_dle = 0;
 157                         parseio->parse_index = 0;
 158                         parseio->parse_dtime.parse_msglen = 0;
 159                 return PARSE_INP_SKIP;
 160         }
 161
 162         switch (ch) {
 163             case DLE:
 164                 if (!t->t_in_pkt) {
 165                         t->t_dle = 0;
 166                         t->t_in_pkt = 1;
 167                         parseio->parse_index = 0;
 168                         parseio->parse_data[parseio->parse_index++] = ch;
 169                         parseio->parse_dtime.parse_msglen = 0;
 170                         parseio->parse_dtime.parse_msg[parseio->parse_dtime.parse_msglen++] = ch;
 171                         parseio->parse_dtime.parse_stime = *tstamp; /* pick up time stamp at packet start */
 172                 } else if (t->t_dle) {
 173                         /* Double DLE -> insert a DLE */
 174                         t->t_dle = 0;
 175                         parseio->parse_data[parseio->parse_index++] = DLE;
 176                         parseio->parse_dtime.parse_msg[parseio->parse_dtime.parse_msglen++] = DLE;
 177                 } else
 178                     t->t_dle = 1;
 179                 break;
 180
 181             case ETX:
 182                 if (t->t_dle) {
 183                         /* DLE,ETX -> end of packet */
 184                         parseio->parse_data[parseio->parse_index++] = DLE;
 185                         parseio->parse_data[parseio->parse_index] = ch;
 186                         parseio->parse_ldsize = parseio->parse_index+1;
 187                         memcpy(parseio->parse_ldata, parseio->parse_data, parseio->parse_ldsize);
 188                         parseio->parse_dtime.parse_msg[parseio->parse_dtime.parse_msglen++] = DLE;
 189                         parseio->parse_dtime.parse_msg[parseio->parse_dtime.parse_msglen++] = ch;
 190                         t->t_in_pkt = t->t_dle = 0;
 191                         return PARSE_INP_TIME|PARSE_INP_DATA;
 192                 }
 193
 194             default:            /* collect data */
 195                 t->t_dle = 0;
 196                 parseio->parse_data[parseio->parse_index++] = ch;
 197                 parseio->parse_dtime.parse_msg[parseio->parse_dtime.parse_msglen++] = ch;
 198         }
 199
 200   return PARSE_INP_SKIP;
 201 }
 202
 203 static int
 204 getshort(
 205          unsigned char *p
 206          )
 207 {
 208         return get_msb_short(&p);
 209 }
 210
 211 /*
 212  * cvt_trimtsip
 213  *
 214  * convert TSIP type format
 215  */
 216 static unsigned long
 217 cvt_trimtsip(
 218              unsigned char *buffer,
 219              int            size,
 220              struct format *format,
 221              clocktime_t   *clock_time,
 222              void          *local
 223              )
 224 {
 225         register struct trimble *t = (struct trimble *)local; /* get local data space */
 226 #define mb(_X_) (buffer[2+(_X_)]) /* shortcut for buffer access */
 227         register u_char cmd;
 228
 229         clock_time->flags = 0;
 230
 231         if (!t) {
 232                 return CVT_NONE;                /* local data not allocated - sigh! */
 233         }
 234
 235         if ((size < 4) ||
 236             (buffer[0]      != DLE) ||
 237             (buffer[size-1] != ETX) ||
 238             (buffer[size-2] != DLE))
 239         {
 240                 printf("TRIMBLE BAD packet, size %d:\n", size);
 241                 return CVT_NONE;
 242         }
 243         else
 244         {
 245                 unsigned char *bp;
 246                 cmd = buffer[1];
 247
 248                     switch(cmd)
 249                     {
 250                     case CMD_RCURTIME:
 251                             {                   /* GPS time */
 252                                     l_fp secs;
 253                                     int   week = getshort((unsigned char *)&mb(4));
 254                                     l_fp utcoffset;
 255                                     l_fp gpstime;
 256
 257                                     bp = &mb(0);
 258                                     if (fetch_ieee754(&bp, IEEE_SINGLE, &secs, trim_offsets) != IEEE_OK)
 259                                             return CVT_FAIL|CVT_BADFMT;
 260
 261                                     if ((secs.l_i <= 0) ||
 262                                         (t->t_utcknown == 0))
 263                                     {
 264                                             clock_time->flags = PARSEB_POWERUP;
 265                                             return CVT_OK;
 266                                     }
 267                                     if (week < 990) {
 268                                             week += 1024;
 269                                     }
 270
 271                                     /* time OK */
 272
 273                                     /* fetch UTC offset */
 274                                     bp = &mb(6);
 275                                     if (fetch_ieee754(&bp, IEEE_SINGLE, &utcoffset, trim_offsets) != IEEE_OK)
 276                                             return CVT_FAIL|CVT_BADFMT;
 277
 278                                     L_SUB(&secs, &utcoffset); /* adjust GPS time to UTC time */
 279
 280                                     gpstolfp((unsigned short)week, (unsigned short)0,
 281                                              secs.l_ui, &gpstime);
 282
 283                                     gpstime.l_uf = secs.l_uf;
 284
 285                                     clock_time->utctime = gpstime.l_ui - JAN_1970;
 286
 287                                     TSFTOTVU(gpstime.l_uf, clock_time->usecond);
 288
 289                                     if (t->t_leap == ADDSECOND)
 290                                         clock_time->flags |= PARSEB_LEAPADD;
 291
 292                                     if (t->t_leap == DELSECOND)
 293                                         clock_time->flags |= PARSEB_LEAPDEL;
 294
 295                                     switch (t->t_operable)
 296                                       {
 297                                       case STATUS_SYNC:
 298                                         clock_time->flags &= ~(PARSEB_POWERUP|PARSEB_NOSYNC);
 299                                         break;
 300
 301                                       case STATUS_UNSAFE:
 302                                         clock_time->flags |= PARSEB_NOSYNC;
 303                                         break;
 304
 305                                       case STATUS_BAD:
 306                                         clock_time->flags |= PARSEB_NOSYNC|PARSEB_POWERUP;
 307                                         break;
 308                                       }
 309
 310                                     if (t->t_mode == 0)
 311                                             clock_time->flags |= PARSEB_POSITION;
 312
 313                                     clock_time->flags |= PARSEB_S_LEAP|PARSEB_S_POSITION;
 314
 315                                     return CVT_OK;
 316
 317                             } /* case 0x41 */
 318
 319                     case CMD_RRECVHEALTH:
 320                             {
 321                                     /* TRIMBLE health */
 322                                     u_char status = mb(0);
 323
 324                                     switch (status)
 325                                     {
 326                                       case 0x00: /* position fixes */
 327                                         t->t_operable = STATUS_SYNC;
 328                                         break;
 329
 330                                       case 0x09: /* 1 satellite */
 331                                       case 0x0A: /* 2 satellites */
 332                                       case 0x0B: /* 3 satellites */
 333                                         t->t_operable = STATUS_UNSAFE;
 334                                         break;
 335
 336                                       default:
 337                                         t->t_operable = STATUS_BAD;
 338                                         break;
 339                                     }
 340                                     t->t_mode = status;
 341                             }
 342                             break;
 343
 344                     case CMD_RUTCPARAM:
 345                             {
 346                                     l_fp t0t;
 347                                     unsigned char *lbp;
 348
 349                                     /* UTC correction data - derive a leap warning */
 350                                     int tls   = t->t_gpsutc     = getshort((unsigned char *)&mb(12)); /* current leap correction (GPS-UTC) */
 351                                     int tlsf  = t->t_gpsutcleap = getshort((unsigned char *)&mb(24)); /* new leap correction */
 352
 353                                     t->t_weekleap   = getshort((unsigned char *)&mb(20)); /* week no of leap correction */
 354                                     if (t->t_weekleap < 990)
 355                                       t->t_weekleap += 1024;
 356
 357                                     t->t_dayleap    = getshort((unsigned char *)&mb(22)); /* day in week of leap correction */
 358                                     t->t_week = getshort((unsigned char *)&mb(18)); /* current week no */
 359                                     if (t->t_week < 990)
 360                                       t->t_week += 1024;
 361
 362                                     lbp = (unsigned char *)&mb(14); /* last update time */
 363                                     if (fetch_ieee754(&lbp, IEEE_SINGLE, &t0t, trim_offsets) != IEEE_OK)
 364                                             return CVT_FAIL|CVT_BADFMT;
 365
 366                                     t->t_utcknown = t0t.l_ui != 0;
 367
 368                                     if ((t->t_utcknown) && /* got UTC information */
 369                                         (tlsf != tls)   && /* something will change */
 370                                         ((t->t_weekleap - t->t_week) < 5)) /* and close in the future */
 371                                     {
 372                                             /* generate a leap warning */
 373                                             if (tlsf > tls)
 374                                                 t->t_leap = ADDSECOND;
 375                                             else
 376                                                 t->t_leap = DELSECOND;
 377                                     }
 378                                     else
 379                                     {
 380                                             t->t_leap = 0;
 381                                     }
 382                             }
 383                             break;
 384
 385                     default:
 386                             /* it's validly formed, but we don't care about it! */
 387                             break;
 388                 }
 389         }
 390         return CVT_SKIP;
 391 }
 392
 393 #else /* not (REFCLOCK && CLOCK_PARSE && CLOCK_TRIMTSIP && !PARSESTREAM) */
 394 int clk_trimtsip_bs;
 395 #endif /* not (REFCLOCK && CLOCK_PARSE && CLOCK_TRIMTSIP && !PARSESTREAM) */
 396
 397 /*
 398  * History:
 399  *
 400  * clk_trimtsip.c,v
 401  * Revision 4.17  2005/04/16 17:32:10  kardel
 402  * update copyright
 403  *
 404  * Revision 4.16  2004/11/14 15:29:41  kardel
 405  * support PPSAPI, upgrade Copyright to Berkeley style
 406  *
 407  * Revision 4.13  1999/11/28 09:13:51  kardel
 408  * RECON_4_0_98F
 409  *
 410  * Revision 4.12  1999/02/28 13:00:08  kardel
 411  * *** empty log message ***
 412  *
 413  * Revision 4.11  1999/02/28 11:47:54  kardel
 414  * (struct trimble): new member t_utcknown
 415  * (cvt_trimtsip): fixed status monitoring, bad receiver states are
 416  * now recognized
 417  *
 418  * Revision 4.10  1999/02/27 15:57:15  kardel
 419  * use mmemcpy instead of bcopy
 420  *
 421  * Revision 4.9  1999/02/21 12:17:42  kardel
 422  * 4.91f reconcilation
 423  *
 424  * Revision 4.8  1998/11/15 20:27:58  kardel
 425  * Release 4.0.73e13 reconcilation
 426  *
 427  * Revision 4.7  1998/08/16 18:49:20  kardel
 428  * (cvt_trimtsip): initial kernel capable version (no more floats)
 429  * (clock_trimtsip =): new format name
 430  *
 431  * Revision 4.6  1998/08/09 22:26:05  kardel
 432  * Trimble TSIP support
 433  *
 434  * Revision 4.5  1998/08/02 10:37:05  kardel
 435  * working TSIP parser
 436  *
 437  * Revision 4.4  1998/06/28 16:50:40  kardel
 438  * (getflt): fixed ENDIAN issue
 439  * (getdbl): fixed ENDIAN issue
 440  * (getint): use get_msb_short()
 441  * (cvt_trimtsip): use gpstolfp() for conversion
 442  *
 443  * Revision 4.3  1998/06/13 12:07:31  kardel
 444  * fix SYSV clock name clash
 445  *
 446  * Revision 4.2  1998/06/12 15:22:30  kardel
 447  * fix prototypes
 448  *
 449  * Revision 4.1  1998/05/24 09:39:54  kardel
 450  * implementation of the new IO handling model
 451  *
 452  * Revision 4.0  1998/04/10 19:45:32  kardel
 453  * Start 4.0 release version numbering
 454  *
 455  * from V3 1.8 loginfo deleted 1998/04/11 kardel
 456  */