contrib/ntp/libparse/clk_trimtsip.c

   1 /*
   2  * /src/NTP/REPOSITORY/ntp4-dev/libparse/clk_trimtsip.c,v 4.19 2009/11/01 10:47:49 kardel RELEASE_20091101_A
   3  *
   4  * clk_trimtsip.c,v 4.19 2009/11/01 10:47:49 kardel RELEASE_20091101_A
   5  *
   6  * Trimble TSIP support
   7  * Thanks to Sven Dietrich for providing test hardware
   8  *
   9  * Copyright (c) 1995-2009 by Frank Kardel <kardel <AT> ntp.org>
  10  * Copyright (c) 1989-1994 by Frank Kardel, Friedrich-Alexander Universitaet Erlangen-Nuernberg, 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 "timevalops.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 (parse_t *, char, timestamp_t *);
 120 static unsigned long cvt_trimtsip (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          char         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 = (u_short) (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                 /*FALLTHROUGH*/
 194
 195             default:            /* collect data */
 196                 t->t_dle = 0;
 197                 parseio->parse_data[parseio->parse_index++] = ch;
 198                 parseio->parse_dtime.parse_msg[parseio->parse_dtime.parse_msglen++] = ch;
 199         }
 200
 201   return PARSE_INP_SKIP;
 202 }
 203
 204 static short
 205 getshort(
 206          unsigned char *p
 207          )
 208 {
 209         return (short) get_msb_short(&p);
 210 }
 211
 212 /*
 213  * cvt_trimtsip
 214  *
 215  * convert TSIP type format
 216  */
 217 static unsigned long
 218 cvt_trimtsip(
 219              unsigned char *buffer,
 220              int            size,
 221              struct format *format,
 222              clocktime_t   *clock_time,
 223              void          *local
 224              )
 225 {
 226         register struct trimble *t = (struct trimble *)local; /* get local data space */
 227 #define mb(_X_) (buffer[2+(_X_)]) /* shortcut for buffer access */
 228         register u_char cmd;
 229
 230         clock_time->flags = 0;
 231
 232         if (!t) {
 233                 return CVT_NONE;                /* local data not allocated - sigh! */
 234         }
 235
 236         if ((size < 4) ||
 237             (buffer[0]      != DLE) ||
 238             (buffer[size-1] != ETX) ||
 239             (buffer[size-2] != DLE))
 240         {
 241                 printf("TRIMBLE BAD packet, size %d:\n", size);
 242                 return CVT_NONE;
 243         }
 244         else
 245         {
 246                 unsigned char *bp;
 247                 cmd = buffer[1];
 248
 249                     switch(cmd)
 250                     {
 251                     case CMD_RCURTIME:
 252                             {                   /* GPS time */
 253                                     l_fp secs;
 254                                     int   week = getshort((unsigned char *)&mb(4));
 255                                     l_fp utcoffset;
 256                                     l_fp gpstime;
 257
 258                                     bp = &mb(0);
 259                                     if (fetch_ieee754(&bp, IEEE_SINGLE, &secs, trim_offsets) != IEEE_OK)
 260                                             return CVT_FAIL|CVT_BADFMT;
 261
 262                                     if ((secs.l_i <= 0) ||
 263                                         (t->t_utcknown == 0))
 264                                     {
 265                                             clock_time->flags = PARSEB_POWERUP;
 266                                             return CVT_OK;
 267                                     }
 268                                     if (week < GPSWRAP) {
 269                                             week += GPSWEEKS;
 270                                     }
 271
 272                                     /* time OK */
 273
 274                                     /* fetch UTC offset */
 275                                     bp = &mb(6);
 276                                     if (fetch_ieee754(&bp, IEEE_SINGLE, &utcoffset, trim_offsets) != IEEE_OK)
 277                                             return CVT_FAIL|CVT_BADFMT;
 278
 279                                     L_SUB(&secs, &utcoffset); /* adjust GPS time to UTC time */
 280
 281                                     gpstolfp((unsigned short)week, (unsigned short)0,
 282                                              secs.l_ui, &gpstime);
 283
 284                                     gpstime.l_uf = secs.l_uf;
 285
 286                                     clock_time->utctime = gpstime.l_ui - JAN_1970;
 287
 288                                     TSFTOTVU(gpstime.l_uf, clock_time->usecond);
 289
 290                                     if (t->t_leap == ADDSECOND)
 291                                         clock_time->flags |= PARSEB_LEAPADD;
 292
 293                                     if (t->t_leap == DELSECOND)
 294                                         clock_time->flags |= PARSEB_LEAPDEL;
 295
 296                                     switch (t->t_operable)
 297                                       {
 298                                       case STATUS_SYNC:
 299                                         clock_time->flags &= ~(PARSEB_POWERUP|PARSEB_NOSYNC);
 300                                         break;
 301
 302                                       case STATUS_UNSAFE:
 303                                         clock_time->flags |= PARSEB_NOSYNC;
 304                                         break;
 305
 306                                       case STATUS_BAD:
 307                                         clock_time->flags |= PARSEB_NOSYNC|PARSEB_POWERUP;
 308                                         break;
 309                                       }
 310
 311                                     if (t->t_mode == 0)
 312                                             clock_time->flags |= PARSEB_POSITION;
 313
 314                                     clock_time->flags |= PARSEB_S_LEAP|PARSEB_S_POSITION;
 315
 316                                     return CVT_OK;
 317
 318                             } /* case 0x41 */
 319
 320                     case CMD_RRECVHEALTH:
 321                             {
 322                                     /* TRIMBLE health */
 323                                     u_char status = mb(0);
 324
 325                                     switch (status)
 326                                     {
 327                                       case 0x00: /* position fixes */
 328                                         t->t_operable = STATUS_SYNC;
 329                                         break;
 330
 331                                       case 0x09: /* 1 satellite */
 332                                       case 0x0A: /* 2 satellites */
 333                                       case 0x0B: /* 3 satellites */
 334                                         t->t_operable = STATUS_UNSAFE;
 335                                         break;
 336
 337                                       default:
 338                                         t->t_operable = STATUS_BAD;
 339                                         break;
 340                                     }
 341                                     t->t_mode = status;
 342                             }
 343                             break;
 344
 345                     case CMD_RUTCPARAM:
 346                             {
 347                                     l_fp t0t;
 348                                     unsigned char *lbp;
 349
 350                                     /* UTC correction data - derive a leap warning */
 351                                     int tls   = t->t_gpsutc     = (u_short) getshort((unsigned char *)&mb(12)); /* current leap correction (GPS-UTC) */
 352                                     int tlsf  = t->t_gpsutcleap = (u_short) getshort((unsigned char *)&mb(24)); /* new leap correction */
 353
 354                                     t->t_weekleap   = (u_short) getshort((unsigned char *)&mb(20)); /* week no of leap correction */
 355                                     if (t->t_weekleap < GPSWRAP)
 356                                       t->t_weekleap = (u_short)(t->t_weekleap + GPSWEEKS);
 357
 358                                     t->t_dayleap    = (u_short) getshort((unsigned char *)&mb(22)); /* day in week of leap correction */
 359                                     t->t_week = (u_short) getshort((unsigned char *)&mb(18)); /* current week no */
 360                                     if (t->t_week < GPSWRAP)
 361                                       t->t_week = (u_short)(t->t_weekleap + GPSWEEKS);
 362
 363                                     lbp = (unsigned char *)&mb(14); /* last update time */
 364                                     if (fetch_ieee754(&lbp, IEEE_SINGLE, &t0t, trim_offsets) != IEEE_OK)
 365                                             return CVT_FAIL|CVT_BADFMT;
 366
 367                                     t->t_utcknown = t0t.l_ui != 0;
 368
 369                                     if ((t->t_utcknown) && /* got UTC information */
 370                                         (tlsf != tls)   && /* something will change */
 371                                         ((t->t_weekleap - t->t_week) < 5)) /* and close in the future */
 372                                     {
 373                                             /* generate a leap warning */
 374                                             if (tlsf > tls)
 375                                                 t->t_leap = ADDSECOND;
 376                                             else
 377                                                 t->t_leap = DELSECOND;
 378                                     }
 379                                     else
 380                                     {
 381                                             t->t_leap = 0;
 382                                     }
 383                             }
 384                             break;
 385
 386                     default:
 387                             /* it's validly formed, but we don't care about it! */
 388                             break;
 389                 }
 390         }
 391         return CVT_SKIP;
 392 }
 393
 394 #else /* not (REFCLOCK && CLOCK_PARSE && CLOCK_TRIMTSIP && !PARSESTREAM) */
 395 int clk_trimtsip_bs;
 396 #endif /* not (REFCLOCK && CLOCK_PARSE && CLOCK_TRIMTSIP && !PARSESTREAM) */
 397
 398 /*
 399  * History:
 400  *
 401  * clk_trimtsip.c,v
 402  * Revision 4.19  2009/11/01 10:47:49  kardel
 403  * de-P()
 404  *
 405  * Revision 4.18  2009/11/01 08:46:46  kardel
 406  * clarify case FALLTHROUGH
 407  *
 408  * Revision 4.17  2005/04/16 17:32:10  kardel
 409  * update copyright
 410  *
 411  * Revision 4.16  2004/11/14 15:29:41  kardel
 412  * support PPSAPI, upgrade Copyright to Berkeley style
 413  *
 414  * Revision 4.13  1999/11/28 09:13:51  kardel
 415  * RECON_4_0_98F
 416  *
 417  * Revision 4.12  1999/02/28 13:00:08  kardel
 418  * *** empty log message ***
 419  *
 420  * Revision 4.11  1999/02/28 11:47:54  kardel
 421  * (struct trimble): new member t_utcknown
 422  * (cvt_trimtsip): fixed status monitoring, bad receiver states are
 423  * now recognized
 424  *
 425  * Revision 4.10  1999/02/27 15:57:15  kardel
 426  * use mmemcpy instead of bcopy
 427  *
 428  * Revision 4.9  1999/02/21 12:17:42  kardel
 429  * 4.91f reconcilation
 430  *
 431  * Revision 4.8  1998/11/15 20:27:58  kardel
 432  * Release 4.0.73e13 reconcilation
 433  *
 434  * Revision 4.7  1998/08/16 18:49:20  kardel
 435  * (cvt_trimtsip): initial kernel capable version (no more floats)
 436  * (clock_trimtsip =): new format name
 437  *
 438  * Revision 4.6  1998/08/09 22:26:05  kardel
 439  * Trimble TSIP support
 440  *
 441  * Revision 4.5  1998/08/02 10:37:05  kardel
 442  * working TSIP parser
 443  *
 444  * Revision 4.4  1998/06/28 16:50:40  kardel
 445  * (getflt): fixed ENDIAN issue
 446  * (getdbl): fixed ENDIAN issue
 447  * (getint): use get_msb_short()
 448  * (cvt_trimtsip): use gpstolfp() for conversion
 449  *
 450  * Revision 4.3  1998/06/13 12:07:31  kardel
 451  * fix SYSV clock name clash
 452  *
 453  * Revision 4.2  1998/06/12 15:22:30  kardel
 454  * fix prototypes
 455  *
 456  * Revision 4.1  1998/05/24 09:39:54  kardel
 457  * implementation of the new IO handling model
 458  *
 459  * Revision 4.0  1998/04/10 19:45:32  kardel
 460  * Start 4.0 release version numbering
 461  *
 462  * from V3 1.8 loginfo deleted 1998/04/11 kardel
 463  */