1 /* $NetBSD: clk_trimtsip.c,v 1.8 2024/08/18 20:47:17 christos Exp $ */
2
3 /*
4 * /src/NTP/REPOSITORY/ntp4-dev/libparse/clk_trimtsip.c,v 4.19 2009/11/01 10:47:49 kardel RELEASE_20091101_A
5 *
6 * clk_trimtsip.c,v 4.19 2009/11/01 10:47:49 kardel RELEASE_20091101_A
7 *
8 * Trimble TSIP support
9 * Thanks to Sven Dietrich for providing test hardware
10 *
11 * Copyright (c) 1995-2009 by Frank Kardel <kardel <AT> ntp.org>
12 * Copyright (c) 1989-1994 by Frank Kardel, Friedrich-Alexander Universitaet Erlangen-Nuernberg, 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 "timevalops.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 (parse_t *, char, timestamp_t *);
122 static unsigned long cvt_trimtsip (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
inp_tsip(parse_t * parseio,char ch,timestamp_t * tstamp)139 inp_tsip(
140 parse_t *parseio,
141 char 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 = (u_short) (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 /*FALLTHROUGH*/
196
197 default: /* collect data */
198 t->t_dle = 0;
199 parseio->parse_data[parseio->parse_index++] = ch;
200 parseio->parse_dtime.parse_msg[parseio->parse_dtime.parse_msglen++] = ch;
201 }
202
203 return PARSE_INP_SKIP;
204 }
205
206 static short
getshort(unsigned char * p)207 getshort(
208 unsigned char *p
209 )
210 {
211 return (short) get_msb_short(&p);
212 }
213
214 /*
215 * cvt_trimtsip
216 *
217 * convert TSIP type format
218 */
219 static unsigned long
cvt_trimtsip(unsigned char * buffer,int size,struct format * format,clocktime_t * clock_time,void * local)220 cvt_trimtsip(
221 unsigned char *buffer,
222 int size,
223 struct format *format,
224 clocktime_t *clock_time,
225 void *local
226 )
227 {
228 register struct trimble *t = (struct trimble *)local; /* get local data space */
229 #define mb(_X_) (buffer[2+(_X_)]) /* shortcut for buffer access */
230 register u_char cmd;
231
232 clock_time->flags = 0;
233
234 if (!t) {
235 return CVT_NONE; /* local data not allocated - sigh! */
236 }
237
238 if ((size < 4) ||
239 (buffer[0] != DLE) ||
240 (buffer[size-1] != ETX) ||
241 (buffer[size-2] != DLE))
242 {
243 printf("TRIMBLE BAD packet, size %d:\n", size);
244 return CVT_NONE;
245 }
246 else
247 {
248 unsigned char *bp;
249 cmd = buffer[1];
250
251 switch(cmd)
252 {
253 case CMD_RCURTIME:
254 { /* GPS time */
255 l_fp secs;
256 u_int week = getshort((unsigned char *)&mb(4));
257 l_fp utcoffset;
258 l_fp gpstime;
259
260 bp = &mb(0);
261 if (fetch_ieee754(&bp, IEEE_SINGLE, &secs, trim_offsets) != IEEE_OK)
262 return CVT_FAIL|CVT_BADFMT;
263
264 if ((secs.l_i <= 0) ||
265 (t->t_utcknown == 0))
266 {
267 clock_time->flags = PARSEB_POWERUP;
268 return CVT_OK;
269 }
270 week = basedate_expand_gpsweek(week);
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 = basedate_expand_gpsweek(
355 (u_short) getshort((unsigned char *)&mb(20))); /* week no of leap correction */
356
357 t->t_dayleap = (u_short) getshort((unsigned char *)&mb(22)); /* day in week of leap correction */
358 t->t_week = basedate_expand_gpsweek(
359 (u_short) getshort((unsigned char *)&mb(18))); /* current week no */
360
361 lbp = (unsigned char *)&mb(14); /* last update time */
362 if (fetch_ieee754(&lbp, IEEE_SINGLE, &t0t, trim_offsets) != IEEE_OK)
363 return CVT_FAIL|CVT_BADFMT;
364
365 t->t_utcknown = t0t.l_ui != 0;
366
367 if ((t->t_utcknown) && /* got UTC information */
368 (tlsf != tls) && /* something will change */
369 ((t->t_weekleap - t->t_week) < 5)) /* and close in the future */
370 {
371 /* generate a leap warning */
372 if (tlsf > tls)
373 t->t_leap = ADDSECOND;
374 else
375 t->t_leap = DELSECOND;
376 }
377 else
378 {
379 t->t_leap = 0;
380 }
381 }
382 break;
383
384 default:
385 /* it's validly formed, but we don't care about it! */
386 break;
387 }
388 }
389 return CVT_SKIP;
390 }
391
392 #else /* not (REFCLOCK && CLOCK_PARSE && CLOCK_TRIMTSIP && !PARSESTREAM) */
393 NONEMPTY_TRANSLATION_UNIT
394 #endif /* not (REFCLOCK && CLOCK_PARSE && CLOCK_TRIMTSIP && !PARSESTREAM) */
395
396 /*
397 * History:
398 *
399 * clk_trimtsip.c,v
400 * Revision 4.19 2009/11/01 10:47:49 kardel
401 * de-P()
402 *
403 * Revision 4.18 2009/11/01 08:46:46 kardel
404 * clarify case FALLTHROUGH
405 *
406 * Revision 4.17 2005/04/16 17:32:10 kardel
407 * update copyright
408 *
409 * Revision 4.16 2004/11/14 15:29:41 kardel
410 * support PPSAPI, upgrade Copyright to Berkeley style
411 *
412 * Revision 4.13 1999/11/28 09:13:51 kardel
413 * RECON_4_0_98F
414 *
415 * Revision 4.12 1999/02/28 13:00:08 kardel
416 * *** empty log message ***
417 *
418 * Revision 4.11 1999/02/28 11:47:54 kardel
419 * (struct trimble): new member t_utcknown
420 * (cvt_trimtsip): fixed status monitoring, bad receiver states are
421 * now recognized
422 *
423 * Revision 4.10 1999/02/27 15:57:15 kardel
424 * use mmemcpy instead of bcopy
425 *
426 * Revision 4.9 1999/02/21 12:17:42 kardel
427 * 4.91f reconcilation
428 *
429 * Revision 4.8 1998/11/15 20:27:58 kardel
430 * Release 4.0.73e13 reconcilation
431 *
432 * Revision 4.7 1998/08/16 18:49:20 kardel
433 * (cvt_trimtsip): initial kernel capable version (no more floats)
434 * (clock_trimtsip =): new format name
435 *
436 * Revision 4.6 1998/08/09 22:26:05 kardel
437 * Trimble TSIP support
438 *
439 * Revision 4.5 1998/08/02 10:37:05 kardel
440 * working TSIP parser
441 *
442 * Revision 4.4 1998/06/28 16:50:40 kardel
443 * (getflt): fixed ENDIAN issue
444 * (getdbl): fixed ENDIAN issue
445 * (getint): use get_msb_short()
446 * (cvt_trimtsip): use gpstolfp() for conversion
447 *
448 * Revision 4.3 1998/06/13 12:07:31 kardel
449 * fix SYSV clock name clash
450 *
451 * Revision 4.2 1998/06/12 15:22:30 kardel
452 * fix prototypes
453 *
454 * Revision 4.1 1998/05/24 09:39:54 kardel
455 * implementation of the new IO handling model
456 *
457 * Revision 4.0 1998/04/10 19:45:32 kardel
458 * Start 4.0 release version numbering
459 *
460 * from V3 1.8 loginfo deleted 1998/04/11 kardel
461 */
462