/*
* refclock_true - clock driver for the Kinemetrics Truetime receivers
* Receiver Version 3.0C - tested plain, with CLKLDISC
* Developement work being done:
* - Properly handle varying satellite positions (more acurately)
* - Integrate GPSTM and/or OMEGA and/or TRAK and/or ??? drivers
*/
#ifdef HAVE_CONFIG_H
#include <config.h>
#endif
#if defined(REFCLOCK) && defined(CLOCK_TRUETIME)
#include "ntpd.h"
#include "ntp_io.h"
#include "ntp_refclock.h"
#include "ntp_unixtime.h"
#include "ntp_stdlib.h"
#include <stdio.h>
#include <ctype.h>
#ifdef SYS_WINNT
extern int async_write(int, const void *, unsigned int);
#undef write
#define write(fd, data, octets) async_write(fd, data, octets)
#endif
/* This should be an atom clock but those are very hard to build.
*
* The PCL720 from P C Labs has an Intel 8253 lookalike, as well as a bunch
* of TTL input and output pins, all brought out to the back panel. If you
* wire a PPS signal (such as the TTL PPS coming out of a GOES or other
* Kinemetrics/Truetime clock) to the 8253's GATE0, and then also wire the
* 8253's OUT0 to the PCL720's INPUT3.BIT0, then we can read CTR0 to get the
* number of uSecs since the last PPS upward swing, mediated by reading OUT0
* to find out if the counter has wrapped around (this happens if more than
* 65535us (65ms) elapses between the PPS event and our being called.)
*/
#ifdef CLOCK_PPS720
# undef min /* XXX */
# undef max /* XXX */
# include <machine/inline.h>
# include <sys/pcl720.h>
# include <sys/i8253.h>
# define PCL720_IOB 0x2a0 /* XXX */
# define PCL720_CTR 0 /* XXX */
#endif
/*
* Support for Kinemetrics Truetime Receivers
* GOES
* GPS/TM-TMD
* XL-DC (a 151-602-210, reported by the driver as a GPS/TM-TMD)
* GPS-800 TCU (an 805-957 with the RS232 Talker/Listener module)
* OM-DC: getting stale ("OMEGA")
*
* Most of this code is originally from refclock_wwvb.c with thanks.
* It has been so mangled that wwvb is not a recognizable ancestor.
*
* Timcode format: ADDD:HH:MM:SSQCL
* A - control A (this is stripped before we see it)
* Q - Quality indication (see below)
* C - Carriage return
* L - Line feed
*
* Quality codes indicate possible error of
* 468-DC GOES Receiver:
* GPS-TM/TMD Receiver: (default quality codes for XL-DC)
* ? +/- 1 milliseconds # +/- 100 microseconds
* * +/- 10 microseconds . +/- 1 microsecond
* space less than 1 microsecond
* OM-DC OMEGA Receiver: (default quality codes for OMEGA)
* WARNING OMEGA navigation system is no longer existent
* > >+- 5 seconds
* ? >+/- 500 milliseconds # >+/- 50 milliseconds
* * >+/- 5 milliseconds . >+/- 1 millisecond
* A-H less than 1 millisecond. Character indicates which station
* is being received as follows:
* A = Norway, B = Liberia, C = Hawaii, D = North Dakota,
* E = La Reunion, F = Argentina, G = Australia, H = Japan.
*
* The carriage return start bit begins on 0 seconds and extends to 1 bit time.
*
* Notes on 468-DC and OMEGA receiver:
*
* Send the clock a 'R' or 'C' and once per second a timestamp will
* appear. Send a 'P' to get the satellite position once (GOES only.)
*
* Notes on the 468-DC receiver:
*
* Since the old east/west satellite locations are only historical, you can't
* set your clock propagation delay settings correctly and still use
* automatic mode. The manual says to use a compromise when setting the
* switches. This results in significant errors. The solution; use fudge
* time1 and time2 to incorporate corrections. If your clock is set for
* 50 and it should be 58 for using the west and 46 for using the east,
* use the line
*
* fudge 127.127.5.0 time1 +0.008 time2 -0.004
*
* This corrects the 4 milliseconds advance and 8 milliseconds retard
* needed. The software will ask the clock which satellite it sees.
*
* Ntp.conf parameters:
* time1 - offset applied to samples when reading WEST satellite (default = 0)
* time2 - offset applied to samples when reading EAST satellite (default = 0)
* val1 - stratum to assign to this clock (default = 0)
* val2 - refid assigned to this clock (default = "TRUE", see below)
* flag1 - will silence the clock side of ntpd, just reading the clock
* without trying to write to it. (default = 0)
* flag2 - generate a debug file /tmp/true%d.
* flag3 - enable ppsclock streams module
* flag4 - use the PCL-720 (BSD/OS only)
*/
/*
* Definitions
*/
#define DEVICE "/dev/true%d"
#define SPEED232 B9600 /* 9600 baud */
/*
* Radio interface parameters
*/
#define PRECISION (-10) /* precision assumed (about 1 ms) */
#define REFID "TRUE" /* reference id */
#define DESCRIPTION "Kinemetrics/TrueTime Receiver"
/*
* Tags which station (satellite) we see
*/
#define GOES_WEST 0 /* Default to WEST satellite and apply time1 */
#define GOES_EAST 1 /* until you discover otherwise */
/*
* used by the state machine
*/
enum true_event {e_Init, e_Huh, e_F18, e_F50, e_F51, e_Satellite,
e_Poll, e_Location, e_TS, e_Max};
const char *events[] = {"Init", "Huh", "F18", "F50", "F51", "Satellite",
"Poll", "Location", "TS"};
#define eventStr(x) (((int)x<(int)e_Max) ? events[(int)x] : "?")
enum true_state {s_Base, s_InqTM, s_InqTCU, s_InqOmega, s_InqGOES,
s_Init, s_F18, s_F50, s_Start, s_Auto, s_Max};
const char *states[] = {"Base", "InqTM", "InqTCU", "InqOmega", "InqGOES",
"Init", "F18", "F50", "Start", "Auto"};
#define stateStr(x) (((int)x<(int)s_Max) ? states[(int)x] : "?")
enum true_type {t_unknown, t_goes, t_tm, t_tcu, t_omega, t_Max};
const char *types[] = {"unknown", "goes", "tm", "tcu", "omega"};
#define typeStr(x) (((int)x<(int)t_Max) ? types[(int)x] : "?")
/*
* unit control structure
*/
struct true_unit {
unsigned int pollcnt; /* poll message counter */
unsigned int station; /* which station we are on */
unsigned int polled; /* Hand in a time sample? */
enum true_state state; /* state machine */
enum true_type type; /* what kind of clock is it? */
int unit; /* save an extra copy of this */
FILE *debug; /* debug logging file */
#ifdef CLOCK_PPS720
int pcl720init; /* init flag for PCL 720 */
#endif
};
/*
* Function prototypes
*/
static int true_start (int, struct peer *);
static void true_shutdown (int, struct peer *);
static void true_receive (struct recvbuf *);
static void true_poll (int, struct peer *);
static void true_send (struct peer *, const char *);
static void true_doevent (struct peer *, enum true_event);
#ifdef CLOCK_PPS720
static u_long true_sample720 (void);
#endif
/*
* Transfer vector
*/
struct refclock refclock_true = {
true_start, /* start up driver */
true_shutdown, /* shut down driver */
true_poll, /* transmit poll message */
noentry, /* not used (old true_control) */
noentry, /* initialize driver (not used) */
noentry, /* not used (old true_buginfo) */
NOFLAGS /* not used */
};
#if !defined(__STDC__)
# define true_debug (void)
#else
static void
true_debug(struct peer *peer, const char *fmt, ...)
{
va_list ap;
int want_debugging, now_debugging;
struct refclockproc *pp;
struct true_unit *up;
va_start(ap, fmt);
pp = peer->procptr;
up = (struct true_unit *)pp->unitptr;
want_debugging = (pp->sloppyclockflag & CLK_FLAG2) != 0;
now_debugging = (up->debug != NULL);
if (want_debugging != now_debugging)
{
if (want_debugging) {
char filename[40];
int fd;
snprintf(filename, sizeof(filename), "/tmp/true%d.debug", up->unit);
fd = open(filename, O_CREAT | O_WRONLY | O_EXCL, 0600);
if (fd >= 0 && (up->debug = fdopen(fd, "r+"))) {
#ifdef HAVE_SETVBUF
static char buf[BUFSIZ];
setvbuf(up->debug, buf, _IOLBF, BUFSIZ);
#else
setlinebuf(up->debug);
#endif
}
} else {
fclose(up->debug);
up->debug = NULL;
}
}
if (up->debug) {
fprintf(up->debug, "true%d: ", up->unit);
vfprintf(up->debug, fmt, ap);
}
va_end(ap);
}
#endif /*STDC*/
/*
* true_start - open the devices and initialize data for processing
*/
static int
true_start(
int unit,
struct peer *peer
)
{
register struct true_unit *up;
struct refclockproc *pp;
char device[40];
int fd;
/*
* Open serial port
*/
(void)snprintf(device, sizeof(device), DEVICE, unit);
if (!(fd = refclock_open(device, SPEED232, LDISC_CLK)))
return (0);
/*
* Allocate and initialize unit structure
*/
if (!(up = (struct true_unit *)
emalloc(sizeof(struct true_unit)))) {
(void) close(fd);
return (0);
}
memset((char *)up, 0, sizeof(struct true_unit));
pp = peer->procptr;
pp->io.clock_recv = true_receive;
pp->io.srcclock = (caddr_t)peer;
pp->io.datalen = 0;
pp->io.fd = fd;
if (!io_addclock(&pp->io)) {
(void) close(fd);
free(up);
return (0);
}
pp->unitptr = (caddr_t)up;
/*
* Initialize miscellaneous variables
*/
peer->precision = PRECISION;
pp->clockdesc = DESCRIPTION;
memcpy((char *)&pp->refid, REFID, 4);
up->pollcnt = 2;
up->type = t_unknown;
up->state = s_Base;
/*
* Send a CTRL-C character at the start,
* just in case the clock is already
* sending timecodes
*/
true_send(peer, "\03\r");
true_doevent(peer, e_Init);
return (1);
}
/*
* true_shutdown - shut down the clock
*/
static void
true_shutdown(
int unit,
struct peer *peer
)
{
register struct true_unit *up;
struct refclockproc *pp;
pp = peer->procptr;
up = (struct true_unit *)pp->unitptr;
io_closeclock(&pp->io);
free(up);
}
/*
* true_receive - receive data from the serial interface on a clock
*/
static void
true_receive(
struct recvbuf *rbufp
)
{
register struct true_unit *up;
struct refclockproc *pp;
struct peer *peer;
u_short new_station;
char synced;
int i;
int lat, lon, off; /* GOES Satellite position */
/* Use these variable to hold data until we decide its worth keeping */
char rd_lastcode[BMAX];
l_fp rd_tmp;
u_short rd_lencode;
/*
* Get the clock this applies to and pointers to the data.
*/
peer = (struct peer *)rbufp->recv_srcclock;
pp = peer->procptr;
up = (struct true_unit *)pp->unitptr;
/*
* Read clock output. Automatically handles STREAMS, CLKLDISC.
*/
rd_lencode = refclock_gtlin(rbufp, rd_lastcode, BMAX, &rd_tmp);
rd_lastcode[rd_lencode] = '\0';
/*
* There is a case where <cr><lf> generates 2 timestamps.
*/
if (rd_lencode == 0)
return;
pp->lencode = rd_lencode;
strcpy(pp->a_lastcode, rd_lastcode);
pp->lastrec = rd_tmp;
true_debug(peer, "receive(%s) [%d]\n", pp->a_lastcode, pp->lencode);
up->pollcnt = 2;
record_clock_stats(&peer->srcadr, pp->a_lastcode);
/*
* We get down to business, check the timecode format and decode
* its contents. This code decodes a multitude of different
* clock messages. Timecodes are processed if needed. All replies
* will be run through the state machine to tweak driver options
* and program the clock.
*/
/*
* Clock misunderstood our last command?
*/
if (pp->a_lastcode[0] == '?' ||
strcmp(pp->a_lastcode, "ERROR 05 NO SUCH FUNCTION") == 0) {
true_doevent(peer, e_Huh);
return;
}
/*
* Timecode: "nnnnn+nnn-nnn"
* (from GOES clock when asked about satellite position)
*/
if ((pp->a_lastcode[5] == '+' || pp->a_lastcode[5] == '-') &&
(pp->a_lastcode[9] == '+' || pp->a_lastcode[9] == '-') &&
sscanf(pp->a_lastcode, "%5d%*c%3d%*c%3d", &lon, &lat, &off) == 3
) {
const char *label = "Botch!";
/*
* This is less than perfect. Call the (satellite)
* either EAST or WEST and adjust slop accodingly
* Perfectionists would recalculate the exact delay
* and adjust accordingly...
*/
if (lon > 7000 && lon < 14000) {
if (lon < 10000) {
new_station = GOES_EAST;
label = "EAST";
} else {
new_station = GOES_WEST;
label = "WEST";
}
if (new_station != up->station) {
double dtemp;
dtemp = pp->fudgetime1;
pp->fudgetime1 = pp->fudgetime2;
pp->fudgetime2 = dtemp;
up->station = new_station;
}
}
else {
/*refclock_report(peer, CEVNT_BADREPLY);*/
label = "UNKNOWN";
}
true_debug(peer, "GOES: station %s\n", label);
true_doevent(peer, e_Satellite);
return;
}
/*
* Timecode: "Fnn"
* (from TM/TMD clock when it wants to tell us what it's up to.)
*/
if (sscanf(pp->a_lastcode, "F%2d", &i) == 1 && i > 0 && i < 80) {
switch (i) {
case 50:
true_doevent(peer, e_F50);
break;
case 51:
true_doevent(peer, e_F51);
break;
default:
true_debug(peer, "got F%02d - ignoring\n", i);
break;
}
return;
}
/*
* Timecode: " TRUETIME Mk III" or " TRUETIME XL"
* (from a TM/TMD/XL clock during initialization.)
*/
if (strcmp(pp->a_lastcode, " TRUETIME Mk III") == 0 ||
strncmp(pp->a_lastcode, " TRUETIME XL", 12) == 0) {
true_doevent(peer, e_F18);
NLOG(NLOG_CLOCKSTATUS) {
msyslog(LOG_INFO, "TM/TMD/XL: %s", pp->a_lastcode);
}
return;
}
/*
* Timecode: "N03726428W12209421+000033"
* 1 2
* 0123456789012345678901234
* (from a TCU during initialization)
*/
if ((pp->a_lastcode[0] == 'N' || pp->a_lastcode[0] == 'S') &&
(pp->a_lastcode[9] == 'W' || pp->a_lastcode[9] == 'E') &&
pp->a_lastcode[18] == '+') {
true_doevent(peer, e_Location);
NLOG(NLOG_CLOCKSTATUS) {
msyslog(LOG_INFO, "TCU-800: %s", pp->a_lastcode);
}
return;
}
/*
* Timecode: "ddd:hh:mm:ssQ"
* (from all clocks supported by this driver.)
*/
if (pp->a_lastcode[3] == ':' &&
pp->a_lastcode[6] == ':' &&
pp->a_lastcode[9] == ':' &&
sscanf(pp->a_lastcode, "%3d:%2d:%2d:%2d%c",
&pp->day, &pp->hour, &pp->minute,
&pp->second, &synced) == 5) {
/*
* Adjust the synchronize indicator according to timecode
* say were OK, and then say not if we really are not OK
*/
if (synced == '>' || synced == '#' || synced == '?'
|| synced == 'X')
pp->leap = LEAP_NOTINSYNC;
else
pp->leap = LEAP_NOWARNING;
true_doevent(peer, e_TS);
#ifdef CLOCK_PPS720
/* If it's taken more than 65ms to get here, we'll lose. */
if ((pp->sloppyclockflag & CLK_FLAG4) && up->pcl720init) {
l_fp off;
#ifdef CLOCK_ATOM
/*
* find out what time it really is. Include
* the count from the PCL720
*/
if (!clocktime(pp->day, pp->hour, pp->minute,
pp->second, GMT, pp->lastrec.l_ui,
&pp->yearstart, &off.l_ui)) {
refclock_report(peer, CEVNT_BADTIME);
return;
}
off.l_uf = 0;
#endif
pp->usec = true_sample720();
#ifdef CLOCK_ATOM
TVUTOTSF(pp->usec, off.l_uf);
#endif
/*
* Stomp all over the timestamp that was pulled out
* of the input stream. It's irrelevant since we've
* adjusted the input time to reflect now (via pp->usec)
* rather than when the data was collected.
*/
get_systime(&pp->lastrec);
#ifdef CLOCK_ATOM
/*
* Create a true offset for feeding to pps_sample()
*/
L_SUB(&off, &pp->lastrec);
pps_sample(peer, &off);
#endif
true_debug(peer, "true_sample720: %luus\n", pp->usec);
}
#endif
/*
* The clock will blurt a timecode every second but we only
* want one when polled. If we havn't been polled, bail out.
*/
if (!up->polled)
return;
true_doevent(peer, e_Poll);
if (!refclock_process(pp)) {
refclock_report(peer, CEVNT_BADTIME);
return;
}
/*
* If clock is good we send a NOMINAL message so that
* any previous BAD messages are nullified
*/
pp->lastref = pp->lastrec;
refclock_receive(peer);
refclock_report(peer, CEVNT_NOMINAL);
/*
* We have succedded in answering the poll.
* Turn off the flag and return
*/
up->polled = 0;
return;
}
/*
* No match to known timecodes, report failure and return
*/
refclock_report(peer, CEVNT_BADREPLY);
return;
}
/*
* true_send - time to send the clock a signal to cough up a time sample
*/
static void
true_send(
struct peer *peer,
const char *cmd
)
{
struct refclockproc *pp;
pp = peer->procptr;
if (!(pp->sloppyclockflag & CLK_FLAG1)) {
register int len = strlen(cmd);
true_debug(peer, "Send '%s'\n", cmd);
if (write(pp->io.fd, cmd, (unsigned)len) != len)
refclock_report(peer, CEVNT_FAULT);
else
pp->polls++;
}
}
/*
* state machine for initializing and controlling a clock
*/
static void
true_doevent(
struct peer *peer,
enum true_event event
)
{
struct true_unit *up;
struct refclockproc *pp;
pp = peer->procptr;
up = (struct true_unit *)pp->unitptr;
if (event != e_TS) {
NLOG(NLOG_CLOCKSTATUS) {
msyslog(LOG_INFO, "TRUE: clock %s, state %s, event %s",
typeStr(up->type),
stateStr(up->state),
eventStr(event));
}
}
true_debug(peer, "clock %s, state %s, event %s\n",
typeStr(up->type), stateStr(up->state), eventStr(event));
switch (up->type) {
case t_goes:
switch (event) {
case e_Init: /* FALLTHROUGH */
case e_Satellite:
/*
* Switch back to on-second time codes and return.
*/
true_send(peer, "C");
up->state = s_Start;
break;
case e_Poll:
/*
* After each poll, check the station (satellite).
*/
true_send(peer, "P");
/* No state change needed. */
break;
default:
break;
}
/* FALLTHROUGH */
case t_omega:
switch (event) {
case e_Init:
true_send(peer, "C");
up->state = s_Start;
break;
case e_TS:
if (up->state != s_Start && up->state != s_Auto) {
true_send(peer, "\03\r");
break;
}
up->state = s_Auto;
break;
default:
break;
}
break;
case t_tm:
switch (event) {
case e_Init:
true_send(peer, "F18\r");
up->state = s_Init;
break;
case e_F18:
true_send(peer, "F50\r");
up->state = s_F18;
break;
case e_F50:
true_send(peer, "F51\r");
up->state = s_F50;
break;
case e_F51:
true_send(peer, "F08\r");
up->state = s_Start;
break;
case e_TS:
if (up->state != s_Start && up->state != s_Auto) {
true_send(peer, "\03\r");
break;
}
up->state = s_Auto;
break;
default:
break;
}
break;
case t_tcu:
switch (event) {
case e_Init:
true_send(peer, "MD3\r"); /* GPS Synch'd Gen. */
true_send(peer, "TSU\r"); /* UTC, not GPS. */
true_send(peer, "AU\r"); /* Auto Timestamps. */
up->state = s_Start;
break;
case e_TS:
if (up->state != s_Start && up->state != s_Auto) {
true_send(peer, "\03\r");
break;
}
up->state = s_Auto;
break;
default:
break;
}
break;
case t_unknown:
switch (up->state) {
case s_Base:
if (event != e_Init)
abort();
true_send(peer, "P\r");
up->state = s_InqGOES;
break;
case s_InqGOES:
switch (event) {
case e_Satellite:
up->type = t_goes;
true_doevent(peer, e_Init);
break;
case e_Init: /*FALLTHROUGH*/
case e_Huh: /*FALLTHROUGH*/
case e_TS:
up->state = s_InqOmega;
true_send(peer, "C\r");
break;
default:
abort();
}
break;
case s_InqOmega:
switch (event) {
case e_TS:
up->type = t_omega;
up->state = s_Auto; /* Inq side-effect. */
break;
case e_Init: /*FALLTHROUGH*/
case e_Huh:
up->state = s_InqTM;
true_send(peer, "F18\r");
break;
default:
abort();
}
break;
case s_InqTM:
switch (event) {
case e_F18:
up->type = t_tm;
true_doevent(peer, e_Init);
break;
case e_Init: /*FALLTHROUGH*/
case e_Huh:
true_send(peer, "PO\r");
up->state = s_InqTCU;
break;
default:
abort();
}
break;
case s_InqTCU:
switch (event) {
case e_Location:
up->type = t_tcu;
true_doevent(peer, e_Init);
break;
case e_Init: /*FALLTHROUGH*/
case e_Huh:
up->state = s_Base;
sleep(1); /* XXX */
break;
default:
abort();
}
break;
/*
* An expedient hack to prevent lint complaints,
* these don't actually need to be used here...
*/
case s_Init:
case s_F18:
case s_F50:
case s_Start:
case s_Auto:
case s_Max:
msyslog(LOG_INFO, "TRUE: state %s is unexpected!", stateStr(up->state));
}
break;
default:
abort();
/* NOTREACHED */
}
#ifdef CLOCK_PPS720
if ((pp->sloppyclockflag & CLK_FLAG4) && !up->pcl720init) {
/* Make counter trigger on gate0, count down from 65535. */
pcl720_load(PCL720_IOB, PCL720_CTR, i8253_oneshot, 65535);
/*
* (These constants are OK since
* they represent hardware maximums.)
*/
NLOG(NLOG_CLOCKINFO) {
msyslog(LOG_NOTICE, "PCL-720 initialized");
}
up->pcl720init++;
}
#endif
}
/*
* true_poll - called by the transmit procedure
*/
static void
true_poll(
int unit,
struct peer *peer
)
{
struct true_unit *up;
struct refclockproc *pp;
/*
* You don't need to poll this clock. It puts out timecodes
* once per second. If asked for a timestamp, take note.
* The next time a timecode comes in, it will be fed back.
*/
pp = peer->procptr;
up = (struct true_unit *)pp->unitptr;
if (up->pollcnt > 0)
up->pollcnt--;
else {
true_doevent(peer, e_Init);
refclock_report(peer, CEVNT_TIMEOUT);
}
/*
* polled every 64 seconds. Ask true_receive to hand in a
* timestamp.
*/
up->polled = 1;
pp->polls++;
}
#ifdef CLOCK_PPS720
/*
* true_sample720 - sample the PCL-720
*/
static u_long
true_sample720(void)
{
unsigned long f;
/* We wire the PCL-720's 8253.OUT0 to bit 0 of connector 3.
* If it is not being held low now, we did not get called
* within 65535us.
*/
if (inb(pcl720_data_16_23(PCL720_IOB)) & 0x01) {
NLOG(NLOG_CLOCKINFO) {
msyslog(LOG_NOTICE, "PCL-720 out of synch");
}
return (0);
}
f = (65536 - pcl720_read(PCL720_IOB, PCL720_CTR));
#ifdef PPS720_DEBUG
msyslog(LOG_DEBUG, "PCL-720: %luus", f);
#endif
return (f);
}
#endif
#else
int refclock_true_bs;
#endif /* REFCLOCK */
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