dist/ntp/libparse/clk_trimtsip.c

   1 /*      $NetBSD: clk_trimtsip.c,v 1.2 2003/12/04 16:23:37 drochner Exp $        */
   2
   3 /*
   4  * /src/NTP/ntp4-dev/libparse/clk_trimtsip.c,v 4.17 2005/04/16 17:32:10 kardel RELEASE_20050508_A
   5  *
   6  * clk_trimtsip.c,v 4.17 2005/04/16 17:32:10 kardel RELEASE_20050508_A
   7  *
   8  * Trimble TSIP support
   9  * Thanks to Sven Dietrich for providing test hardware
  10  *
  11  * Copyright (c) 1995-2005 by Frank Kardel <kardel <AT> ntp.org>
  12  * Copyright (c) 1989-1994 by Frank Kardel, Friedrich-Alexander Universität Erlangen-Nürnberg, Germany
  13  *
  14  * Redistribution and use in source and binary forms, with or without
  15  * modification, are permitted provided that the following conditions
  16  * are met:
  17  * 1. Redistributions of source code must retain the above copyright
  18  *    notice, this list of conditions and the following disclaimer.
  19  * 2. Redistributions in binary form must reproduce the above copyright
  20  *    notice, this list of conditions and the following disclaimer in the
  21  *    documentation and/or other materials provided with the distribution.
  22  * 3. Neither the name of the author nor the names of its contributors
  23  *    may be used to endorse or promote products derived from this software
  24  *    without specific prior written permission.
  25  *
  26  * THIS SOFTWARE IS PROVIDED BY THE AUTHOR AND CONTRIBUTORS ``AS IS'' AND
  27  * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
  28  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
  29  * ARE DISCLAIMED.  IN NO EVENT SHALL THE AUTHOR OR CONTRIBUTORS BE LIABLE
  30  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
  31  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
  32  * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
  33  * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
  34  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
  35  * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
  36  * SUCH DAMAGE.
  37  *
  38  */
  39
  40 #ifdef HAVE_CONFIG_H
  41 # include <config.h>
  42 #endif
  43
  44 #if defined(REFCLOCK) && defined(CLOCK_PARSE) && defined(CLOCK_TRIMTSIP)
  45
  46 #include "ntp_syslog.h"
  47 #include "ntp_types.h"
  48 #include "ntp_fp.h"
  49 #include "ntp_unixtime.h"
  50 #include "ntp_calendar.h"
  51 #include "ntp_machine.h"
  52 #include "ntp_stdlib.h"
  53
  54 #include "parse.h"
  55
  56 #ifndef PARSESTREAM
  57 # include <stdio.h>
  58 #else
  59 # include "sys/parsestreams.h"
  60 #endif
  61
  62 #include "ascii.h"
  63 #include "binio.h"
  64 #include "ieee754io.h"
  65 #include "trimble.h"
  66
  67 /*
  68  * Trimble low level TSIP parser / time converter
  69  *
  70  * The receiver uses a serial message protocol called Trimble Standard
  71  * Interface Protocol (it can support others but this driver only supports
  72  * TSIP). Messages in this protocol have the following form:
  73  *
  74  * <DLE><id> ... <data> ... <DLE><ETX>
  75  *
  76  * Any bytes within the <data> portion of value 10 hex (<DLE>) are doubled
  77  * on transmission and compressed back to one on reception. Otherwise
  78  * the values of data bytes can be anything. The serial interface is RS-422
  79  * asynchronous using 9600 baud, 8 data bits with odd party (**note** 9 bits
  80  * in total!), and 1 stop bit. The protocol supports byte, integer, single,
  81  * and double datatypes. Integers are two bytes, sent most significant first.
  82  * Singles are IEEE754 single precision floating point numbers (4 byte) sent
  83  * sign & exponent first. Doubles are IEEE754 double precision floating point
  84  * numbers (8 byte) sent sign & exponent first.
  85  * The receiver supports a large set of messages, only a very small subset of
  86  * which is used here.
  87  *
  88  * From this module the following are recognised:
  89  *
  90  *  ID    Description
  91  *
  92  *  41    GPS Time
  93  *  46    Receiver health
  94  *  4F    UTC correction data (used to get leap second warnings)
  95  *
  96  * All others are accepted but ignored for time conversion - they are passed up to higher layers.
  97  *
  98  */
  99
 100 static offsets_t trim_offsets = { 0, 1, 2, 3, 4, 5, 6, 7 };
 101
 102 struct trimble
 103 {
 104         u_char  t_in_pkt;       /* first DLE received */
 105         u_char  t_dle;          /* subsequent DLE received */
 106         u_short t_week;         /* GPS week */
 107         u_short t_weekleap;     /* GPS week of next/last week */
 108         u_short t_dayleap;      /* day in week */
 109         u_short t_gpsutc;       /* GPS - UTC offset */
 110         u_short t_gpsutcleap;   /* offset at next/last leap */
 111         u_char  t_operable;     /* receiver feels OK */
 112         u_char  t_mode;         /* actual operating mode */
 113         u_char  t_leap;         /* possible leap warning */
 114         u_char  t_utcknown;     /* utc offset known */
 115 };
 116
 117 #define STATUS_BAD    0         /* BAD or UNINITIALIZED receiver status */
 118 #define STATUS_UNSAFE 1         /* not enough receivers for full precision */
 119 #define STATUS_SYNC   2         /* enough information for good operation */
 120
 121 static unsigned long inp_tsip P((parse_t *, unsigned int, timestamp_t *));
 122 static unsigned long cvt_trimtsip P((unsigned char *, int, struct format *, clocktime_t *, void *));
 123
 124 struct clockformat clock_trimtsip =
 125 {
 126         inp_tsip,               /* Trimble TSIP input handler */
 127         cvt_trimtsip,           /* Trimble TSIP conversion */
 128         pps_one,                /* easy PPS monitoring */
 129         0,                      /* no configuration data */
 130         "Trimble TSIP",
 131         400,                    /* input buffer */
 132         sizeof(struct trimble)  /* private data */
 133 };
 134
 135 #define ADDSECOND       0x01
 136 #define DELSECOND       0x02
 137
 138 static unsigned long
 139 inp_tsip(
 140          parse_t      *parseio,
 141          unsigned int ch,
 142          timestamp_t  *tstamp
 143         )
 144 {
 145         struct trimble *t = (struct trimble *)parseio->parse_pdata;
 146
 147         if (!t)
 148             return PARSE_INP_SKIP;              /* local data not allocated - sigh! */
 149
 150         if (!t->t_in_pkt && ch != DLE) {
 151                 /* wait for start of packet */
 152                 return PARSE_INP_SKIP;
 153         }
 154
 155         if ((parseio->parse_index >= (parseio->parse_dsize - 2)) ||
 156             (parseio->parse_dtime.parse_msglen >= (sizeof(parseio->parse_dtime.parse_msg) - 2)))
 157                 {               /* OVERFLOW - DROP! */
 158                         t->t_in_pkt = t->t_dle = 0;
 159                         parseio->parse_index = 0;
 160                         parseio->parse_dtime.parse_msglen = 0;
 161                 return PARSE_INP_SKIP;
 162         }
 163
 164         switch (ch) {
 165             case DLE:
 166                 if (!t->t_in_pkt) {
 167                         t->t_dle = 0;
 168                         t->t_in_pkt = 1;
 169                         parseio->parse_index = 0;
 170                         parseio->parse_data[parseio->parse_index++] = ch;
 171                         parseio->parse_dtime.parse_msglen = 0;
 172                         parseio->parse_dtime.parse_msg[parseio->parse_dtime.parse_msglen++] = ch;
 173                         parseio->parse_dtime.parse_stime = *tstamp; /* pick up time stamp at packet start */
 174                 } else if (t->t_dle) {
 175                         /* Double DLE -> insert a DLE */
 176                         t->t_dle = 0;
 177                         parseio->parse_data[parseio->parse_index++] = DLE;
 178                         parseio->parse_dtime.parse_msg[parseio->parse_dtime.parse_msglen++] = DLE;
 179                 } else
 180                     t->t_dle = 1;
 181                 break;
 182
 183             case ETX:
 184                 if (t->t_dle) {
 185                         /* DLE,ETX -> end of packet */
 186                         parseio->parse_data[parseio->parse_index++] = DLE;
 187                         parseio->parse_data[parseio->parse_index] = ch;
 188                         parseio->parse_ldsize = parseio->parse_index+1;
 189                         memcpy(parseio->parse_ldata, parseio->parse_data, parseio->parse_ldsize);
 190                         parseio->parse_dtime.parse_msg[parseio->parse_dtime.parse_msglen++] = DLE;
 191                         parseio->parse_dtime.parse_msg[parseio->parse_dtime.parse_msglen++] = ch;
 192                         t->t_in_pkt = t->t_dle = 0;
 193                         return PARSE_INP_TIME|PARSE_INP_DATA;
 194                 }
 195
 196             default:            /* collect data */
 197                 t->t_dle = 0;
 198                 parseio->parse_data[parseio->parse_index++] = ch;
 199                 parseio->parse_dtime.parse_msg[parseio->parse_dtime.parse_msglen++] = ch;
 200         }
 201
 202   return PARSE_INP_SKIP;
 203 }
 204
 205 static int
 206 getshort(
 207          unsigned char *p
 208          )
 209 {
 210         return get_msb_short(&p);
 211 }
 212
 213 /*
 214  * cvt_trimtsip
 215  *
 216  * convert TSIP type format
 217  */
 218 static unsigned long
 219 cvt_trimtsip(
 220              unsigned char *buffer,
 221              int            size,
 222              struct format *format,
 223              clocktime_t   *clock_time,
 224              void          *local
 225              )
 226 {
 227         register struct trimble *t = (struct trimble *)local; /* get local data space */
 228 #define mb(_X_) (buffer[2+(_X_)]) /* shortcut for buffer access */
 229         register u_char cmd;
 230
 231         clock_time->flags = 0;
 232
 233         if (!t) {
 234                 return CVT_NONE;                /* local data not allocated - sigh! */
 235         }
 236
 237         if ((size < 4) ||
 238             (buffer[0]      != DLE) ||
 239             (buffer[size-1] != ETX) ||
 240             (buffer[size-2] != DLE))
 241         {
 242                 printf("TRIMBLE BAD packet, size %d:\n", size);
 243                 return CVT_NONE;
 244         }
 245         else
 246         {
 247                 unsigned char *bp;
 248                 cmd = buffer[1];
 249
 250                     switch(cmd)
 251                     {
 252                     case CMD_RCURTIME:
 253                             {                   /* GPS time */
 254                                     l_fp secs;
 255                                     int   week = getshort((unsigned char *)&mb(4));
 256                                     l_fp utcoffset;
 257                                     l_fp gpstime;
 258
 259                                     bp = &mb(0);
 260                                     if (fetch_ieee754(&bp, IEEE_SINGLE, &secs, trim_offsets) != IEEE_OK)
 261                                             return CVT_FAIL|CVT_BADFMT;
 262
 263                                     if ((secs.l_i <= 0) ||
 264                                         (t->t_utcknown == 0))
 265                                     {
 266                                             clock_time->flags = PARSEB_POWERUP;
 267                                             return CVT_OK;
 268                                     }
 269                                     if (week < 990) {
 270                                             week += 1024;
 271                                     }
 272
 273                                     /* time OK */
 274
 275                                     /* fetch UTC offset */
 276                                     bp = &mb(6);
 277                                     if (fetch_ieee754(&bp, IEEE_SINGLE, &utcoffset, trim_offsets) != IEEE_OK)
 278                                             return CVT_FAIL|CVT_BADFMT;
 279
 280                                     L_SUB(&secs, &utcoffset); /* adjust GPS time to UTC time */
 281
 282                                     gpstolfp((unsigned short)week, (unsigned short)0,
 283                                              secs.l_ui, &gpstime);
 284
 285                                     gpstime.l_uf = secs.l_uf;
 286
 287                                     clock_time->utctime = gpstime.l_ui - JAN_1970;
 288
 289                                     TSFTOTVU(gpstime.l_uf, clock_time->usecond);
 290
 291                                     if (t->t_leap == ADDSECOND)
 292                                         clock_time->flags |= PARSEB_LEAPADD;
 293
 294                                     if (t->t_leap == DELSECOND)
 295                                         clock_time->flags |= PARSEB_LEAPDEL;
 296
 297                                     switch (t->t_operable)
 298                                       {
 299                                       case STATUS_SYNC:
 300                                         clock_time->flags &= ~(PARSEB_POWERUP|PARSEB_NOSYNC);
 301                                         break;
 302
 303                                       case STATUS_UNSAFE:
 304                                         clock_time->flags |= PARSEB_NOSYNC;
 305                                         break;
 306
 307                                       case STATUS_BAD:
 308                                         clock_time->flags |= PARSEB_NOSYNC|PARSEB_POWERUP;
 309                                         break;
 310                                       }
 311
 312                                     if (t->t_mode == 0)
 313                                             clock_time->flags |= PARSEB_POSITION;
 314
 315                                     clock_time->flags |= PARSEB_S_LEAP|PARSEB_S_POSITION;
 316
 317                                     return CVT_OK;
 318
 319                             } /* case 0x41 */
 320
 321                     case CMD_RRECVHEALTH:
 322                             {
 323                                     /* TRIMBLE health */
 324                                     u_char status = mb(0);
 325
 326                                     switch (status)
 327                                     {
 328                                       case 0x00: /* position fixes */
 329                                         t->t_operable = STATUS_SYNC;
 330                                         break;
 331
 332                                       case 0x09: /* 1 satellite */
 333                                       case 0x0A: /* 2 satellites */
 334                                       case 0x0B: /* 3 satellites */
 335                                         t->t_operable = STATUS_UNSAFE;
 336                                         break;
 337
 338                                       default:
 339                                         t->t_operable = STATUS_BAD;
 340                                         break;
 341                                     }
 342                                     t->t_mode = status;
 343                             }
 344                             break;
 345
 346                     case CMD_RUTCPARAM:
 347                             {
 348                                     l_fp t0t;
 349                                     unsigned char *lbp;
 350
 351                                     /* UTC correction data - derive a leap warning */
 352                                     int tls   = t->t_gpsutc     = getshort((unsigned char *)&mb(12)); /* current leap correction (GPS-UTC) */
 353                                     int tlsf  = t->t_gpsutcleap = getshort((unsigned char *)&mb(24)); /* new leap correction */
 354
 355                                     t->t_weekleap   = getshort((unsigned char *)&mb(20)); /* week no of leap correction */
 356                                     if (t->t_weekleap < 990)
 357                                       t->t_weekleap += 1024;
 358
 359                                     t->t_dayleap    = getshort((unsigned char *)&mb(22)); /* day in week of leap correction */
 360                                     t->t_week = getshort((unsigned char *)&mb(18)); /* current week no */
 361                                     if (t->t_week < 990)
 362                                       t->t_week += 1024;
 363
 364                                     lbp = (unsigned char *)&mb(14); /* last update time */
 365                                     if (fetch_ieee754(&lbp, IEEE_SINGLE, &t0t, trim_offsets) != IEEE_OK)
 366                                             return CVT_FAIL|CVT_BADFMT;
 367
 368                                     t->t_utcknown = t0t.l_ui != 0;
 369
 370                                     if ((t->t_utcknown) && /* got UTC information */
 371                                         (tlsf != tls)   && /* something will change */
 372                                         ((t->t_weekleap - t->t_week) < 5)) /* and close in the future */
 373                                     {
 374                                             /* generate a leap warning */
 375                                             if (tlsf > tls)
 376                                                 t->t_leap = ADDSECOND;
 377                                             else
 378                                                 t->t_leap = DELSECOND;
 379                                     }
 380                                     else
 381                                     {
 382                                             t->t_leap = 0;
 383                                     }
 384                             }
 385                             break;
 386
 387                     default:
 388                             /* it's validly formed, but we don't care about it! */
 389                             break;
 390                 }
 391         }
 392         return CVT_SKIP;
 393 }
 394
 395 #else /* not (REFCLOCK && CLOCK_PARSE && CLOCK_TRIMTSIP && !PARSESTREAM) */
 396 int clk_trimtsip_bs;
 397 #endif /* not (REFCLOCK && CLOCK_PARSE && CLOCK_TRIMTSIP && !PARSESTREAM) */
 398
 399 /*
 400  * History:
 401  *
 402  * clk_trimtsip.c,v
 403  * Revision 4.17  2005/04/16 17:32:10  kardel
 404  * update copyright
 405  *
 406  * Revision 4.16  2004/11/14 15:29:41  kardel
 407  * support PPSAPI, upgrade Copyright to Berkeley style
 408  *
 409  * Revision 4.13  1999/11/28 09:13:51  kardel
 410  * RECON_4_0_98F
 411  *
 412  * Revision 4.12  1999/02/28 13:00:08  kardel
 413  * *** empty log message ***
 414  *
 415  * Revision 4.11  1999/02/28 11:47:54  kardel
 416  * (struct trimble): new member t_utcknown
 417  * (cvt_trimtsip): fixed status monitoring, bad receiver states are
 418  * now recognized
 419  *
 420  * Revision 4.10  1999/02/27 15:57:15  kardel
 421  * use mmemcpy instead of bcopy
 422  *
 423  * Revision 4.9  1999/02/21 12:17:42  kardel
 424  * 4.91f reconcilation
 425  *
 426  * Revision 4.8  1998/11/15 20:27:58  kardel
 427  * Release 4.0.73e13 reconcilation
 428  *
 429  * Revision 4.7  1998/08/16 18:49:20  kardel
 430  * (cvt_trimtsip): initial kernel capable version (no more floats)
 431  * (clock_trimtsip =): new format name
 432  *
 433  * Revision 4.6  1998/08/09 22:26:05  kardel
 434  * Trimble TSIP support
 435  *
 436  * Revision 4.5  1998/08/02 10:37:05  kardel
 437  * working TSIP parser
 438  *
 439  * Revision 4.4  1998/06/28 16:50:40  kardel
 440  * (getflt): fixed ENDIAN issue
 441  * (getdbl): fixed ENDIAN issue
 442  * (getint): use get_msb_short()
 443  * (cvt_trimtsip): use gpstolfp() for conversion
 444  *
 445  * Revision 4.3  1998/06/13 12:07:31  kardel
 446  * fix SYSV clock name clash
 447  *
 448  * Revision 4.2  1998/06/12 15:22:30  kardel
 449  * fix prototypes
 450  *
 451  * Revision 4.1  1998/05/24 09:39:54  kardel
 452  * implementation of the new IO handling model
 453  *
 454  * Revision 4.0  1998/04/10 19:45:32  kardel
 455  * Start 4.0 release version numbering
 456  *
 457  * from V3 1.8 loginfo deleted 1998/04/11 kardel
 458  */