/*
* This software was developed by the Software and Component Technologies
* group of Trimble Navigation, Ltd.
*
* Copyright (c) 1997, 1998, 1999, 2000 Trimble Navigation Ltd.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* 3. All advertising materials mentioning features or use of this software
* must display the following acknowledgement:
* This product includes software developed by Trimble Navigation, Ltd.
* 4. The name of Trimble Navigation Ltd. may not be used to endorse or
* promote products derived from this software without specific prior
* written permission.
*
* THIS SOFTWARE IS PROVIDED BY TRIMBLE NAVIGATION LTD. ``AS IS'' AND
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL TRIMBLE NAVIGATION LTD. BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
* OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
* OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
* SUCH DAMAGE.
*/
/*
* refclock_palisade - clock driver for the Trimble Palisade GPS
* timing receiver
*
* For detailed information on this program, please refer to the html
* Refclock 29 page accompanying the NTP distribution.
*
* for questions / bugs / comments, contact:
* sven_dietrich@trimble.com
*
* Sven-Thorsten Dietrich
* 645 North Mary Avenue
* Post Office Box 3642
* Sunnyvale, CA 94088-3642
*
*/
#ifndef _REFCLOCK_PALISADE_H
#define _REFCLOCK_PALISADE_H
#ifdef HAVE_CONFIG_H
#include "config.h"
#endif
#if defined HAVE_SYS_MODEM_H
#include <sys/modem.h>
#ifndef __QNXNTO__
#define TIOCMSET MCSETA
#define TIOCMGET MCGETA
#define TIOCM_RTS MRTS
#endif
#endif
#ifdef HAVE_TERMIOS_H
# ifdef TERMIOS_NEEDS__SVID3
# define _SVID3
# endif
# include <termios.h>
# include <sys/stat.h>
# ifdef TERMIOS_NEEDS__SVID3
# undef _SVID3
# endif
#endif
#ifdef HAVE_SYS_IOCTL_H
#include <sys/ioctl.h>
#endif
#include "ntpd.h"
#include "ntp_io.h"
#include "ntp_control.h"
#include "ntp_refclock.h"
#include "ntp_unixtime.h"
#include "ntp_stdlib.h"
/*
* GPS Definitions
*/
#define DESCRIPTION "Trimble Palisade GPS" /* Long name */
#define PRECISION (-20) /* precision assumed (about 1 us) */
#define REFID "GPS\0" /* reference ID */
#define TRMB_MINPOLL 4 /* 16 seconds */
#define TRMB_MAXPOLL 5 /* 32 seconds */
/*
* I/O Definitions
*/
#define DEVICE "/dev/palisade%d" /* device name and unit */
#define SPEED232 B9600 /* uart speed (9600 baud) */
/*
* TSIP Report Definitions
*/
#define LENCODE_8F0B 74 /* Length of TSIP 8F-0B Packet & header */
#define LENCODE_NTP 22 /* Length of Palisade NTP Packet */
#define LENCODE_8FAC 68 /* Length of Thunderbolt 8F-AC Position Packet*/
#define LENCODE_8FAB 17 /* Length of Thunderbolt Primary Timing Packet*/
/* Allowed Sub-Packet ID's */
#define PACKET_8F0B 0x0B
#define PACKET_NTP 0xAD
/* Thunderbolt Packets */
#define PACKET_8FAC 0xAC /* Supplementary Thunderbolt Time Packet */
#define PACKET_8FAB 0xAB /* Primary Thunderbolt Time Packet */
#define PACKET_6D 0x6D /* Supplementary Thunderbolt Tracking Stats */
#define PACKET_41 0x41 /* Thunderbolt I dont know what this packet is, it's not documented on my manual*/
/* Acutime Packets */
#define PACKET_41A 0x41 /* GPS time */
#define PACKET_46 0x46 /* Receiver Health */
#define DLE 0x10
#define ETX 0x03
/* parse states */
#define TSIP_PARSED_EMPTY 0
#define TSIP_PARSED_FULL 1
#define TSIP_PARSED_DLE_1 2
#define TSIP_PARSED_DATA 3
#define TSIP_PARSED_DLE_2 4
/*
* Leap-Insert and Leap-Delete are encoded as follows:
* PALISADE_UTC_TIME set and PALISADE_LEAP_PENDING set: INSERT leap
*/
#define PALISADE_LEAP_INPROGRESS 0x08 /* This is the leap flag */
#define PALISADE_LEAP_WARNING 0x04 /* GPS Leap Warning (see ICD-200) */
#define PALISADE_LEAP_PENDING 0x02 /* Leap Pending (24 hours) */
#define PALISADE_UTC_TIME 0x01 /* UTC time available */
#define mb(_X_) (up->rpt_buf[(_X_ + 1)]) /* shortcut for buffer access */
/* Conversion Definitions */
#define GPS_PI (3.1415926535898)
#define R2D (180.0/GPS_PI)
/*
* Structure for build data packets for send (thunderbolt uses it only)
* taken from Markus Prosch
*/
struct packettx
{
short size;
u_char *data;
};
/*
* Palisade unit control structure.
*/
struct palisade_unit {
short unit; /* NTP refclock unit number */
int polled; /* flag to detect noreplies */
char leap_status; /* leap second flag */
char rpt_status; /* TSIP Parser State */
short rpt_cnt; /* TSIP packet length so far */
char rpt_buf[BMAX]; /* packet assembly buffer */
int type; /* Clock mode type */
};
/*
* Function prototypes
*/
static int palisade_start (int, struct peer *);
static void palisade_shutdown (int, struct peer *);
static void palisade_receive (struct peer *);
static void palisade_poll (int, struct peer *);
static void palisade_io (struct recvbuf *);
int palisade_configure (int, struct peer *);
int TSIP_decode (struct peer *);
long HW_poll (struct refclockproc *);
float getfloat (u_char *);
double getdbl (u_char *);
short getint (u_char *);
long getlong (u_char *);
#ifdef PALISADE_SENDCMD_RESURRECTED
static void sendcmd (struct packettx *buffer, int c);
#endif
static void sendsupercmd (struct packettx *buffer, int c1, int c2);
static void sendbyte (struct packettx *buffer, int b);
static void sendint (struct packettx *buffer, int a);
static int sendetx (struct packettx *buffer, int fd);
static void init_thunderbolt (int fd);
static void init_acutime (int fd);
#endif /* PALISADE_H */
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