refclock_oncore.c

网络时间协议NTP 源码 版本v4.2.0b 该源码用于linux平台下

/*
 * ----------------------------------------------------------------------------
 * "THE BEER-WARE LICENSE" (Revision 42):
 * <[e-mail]> wrote this file.  As long as you retain this notice you
 * can do whatever you want with this stuff. If we meet some day, and you think
 * this stuff is worth it, you can buy me a beer in return.   Poul-Henning Kamp
 * ----------------------------------------------------------------------------
 *
 * refclock_oncore.c
 *
 * Driver for some of the various the Motorola Oncore GPS receivers.
 *   should work with Basic, PVT6, VP, UT, UT+, GT, GT+, SL, M12, M12+T
 *	The receivers with TRAIM (VP, UT, UT+, M12+T), will be more accurate
 *	than the others.
 *	The receivers without position hold (GT, GT+) will be less accurate.
 *
 * Tested with:
 *
 *		(UT)				   (VP)
 *   COPYRIGHT 1991-1997 MOTOROLA INC.	COPYRIGHT 1991-1996 MOTOROLA INC.
 *   SFTW P/N #     98-P36848P		SFTW P/N # 98-P36830P
 *   SOFTWARE VER # 2			SOFTWARE VER # 8
 *   SOFTWARE REV # 2			SOFTWARE REV # 8
 *   SOFTWARE DATE  APR 24 1998 	SOFTWARE DATE  06 Aug 1996
 *   MODEL #	R1121N1114		MODEL #    B4121P1155
 *   HWDR P/N # 1			HDWR P/N # _
 *   SERIAL #	R0010A			SERIAL #   SSG0226478
 *   MANUFACTUR DATE 6H07		MANUFACTUR DATE 7E02
 *					OPTIONS LIST	IB
 *
 *	      (Basic)				   (M12)
 *   COPYRIGHT 1991-1994 MOTOROLA INC.	COPYRIGHT 1991-2000 MOTOROLA INC.
 *   SFTW P/N # 98-P39949M		SFTW P/N # 61-G10002A
 *   SOFTWARE VER # 5			SOFTWARE VER # 1
 *   SOFTWARE REV # 0			SOFTWARE REV # 3
 *   SOFTWARE DATE  20 JAN 1994 	SOFTWARE DATE  Mar 13 2000
 *   MODEL #	A11121P116		MODEL #    P143T12NR1
 *   HDWR P/N # _			HWDR P/N # 1
 *   SERIAL #	SSG0049809		SERIAL #   P003UD
 *   MANUFACTUR DATE 417AMA199		MANUFACTUR DATE 0C27
 *   OPTIONS LIST    AB
 *
 * --------------------------------------------------------------------------
 * Reg.Clemens (Mar 2004)
 * Support for interfaces other than PPSAPI removed, for Solaris, SunOS,
 * SCO, you now need to use one of the timepps.h files in the root dir.
 * this driver will 'grab' it for you if you dont have one in /usr/include
 * --------------------------------------------------------------------------
 * This code uses the two devices
 *	/dev/oncore.serial.n
 *	/dev/oncore.pps.n
 * which may be linked to the same device.
 * and can read initialization data from the file
 *	/etc/ntp.oncoreN, /etc/ntp.oncore.N, or /etc/ntp.oncore, where
 *	n or N are the unit number, viz 127.127.30.N.
 * --------------------------------------------------------------------------
 * Reg.Clemens <[e-mail]> Sep98.
 *  Original code written for FreeBSD.
 *  With these mods it works on FreeBSD, SunOS, Solaris and Linux
 *    (SunOS 4.1.3 + ppsclock)
 *    (Solaris7 + MU4)
 *    (RedHat 5.1 2.0.35 + PPSKit, 2.1.126 + or later).
 *
 *  Lat,Long,Ht, cable-delay, offset, and the ReceiverID (along with the
 *  state machine state) are printed to CLOCKSTATS if that file is enabled
 *  in /etc/ntp.conf.
 *
 * --------------------------------------------------------------------------
 *
 * According to the ONCORE manual (TRM0003, Rev 3.2, June 1998, page 3.13)
 * doing an average of 10000 valid 2D and 3D fixes is what the automatic
 * site survey mode does.  Looking at the output from the receiver
 * it seems like it is only using 3D fixes.
 * When we do it ourselves, take 10000 3D fixes.
 */

#define POS_HOLD_AVERAGE	10000	/* nb, 10000s ~= 2h45m */

/*
 * ONCORE_SHMEM_STATUS will create a mmap(2)'ed file named according to a
 * "STATUS" line in the oncore config file, which contains the most recent
 * copy of all types of messages we recognize.	This file can be mmap(2)'ed
 * by monitoring and statistics programs.
 *
 * See separate HTML documentation for this option.
 */

#ifdef HAVE_CONFIG_H
#include <config.h>
#endif

#if defined(REFCLOCK) && defined(CLOCK_ONCORE)

#include "ntpd.h"
#include "ntp_io.h"
#include "ntp_unixtime.h"
#include "ntp_refclock.h"
#include "ntp_stdlib.h"

#include <stdio.h>
#include <ctype.h>
#include <sys/stat.h>
#ifdef ONCORE_SHMEM_STATUS
# ifdef HAVE_SYS_MMAN_H
#  include <sys/mman.h>
#  ifndef MAP_FAILED
#   define MAP_FAILED ((u_char *) -1)
#  endif  /* MAP_FAILED */
# endif /* HAVE_SYS_MMAN_H */
#endif /* ONCORE_SHMEM_STATUS */

#ifdef HAVE_PPSAPI
# include "ppsapi_timepps.h"
#endif

#ifdef HAVE_SYS_SIO_H
# include <sys/sio.h>
#endif

#ifdef HAVE_SYS_TERMIOS_H
# include <sys/termios.h>
#endif

enum receive_state {
	ONCORE_NO_IDEA,
	ONCORE_CHECK_ID,
	ONCORE_CHECK_CHAN,
	ONCORE_HAVE_CHAN,
	ONCORE_RESET_SENT,
	ONCORE_TEST_SENT,
	ONCORE_INIT,
	ONCORE_ALMANAC,
	ONCORE_RUN
};

enum site_survey_state {
	ONCORE_SS_UNKNOWN,
	ONCORE_SS_TESTING,
	ONCORE_SS_HW,
	ONCORE_SS_SW,
	ONCORE_SS_DONE
};

enum antenna_state {
      ONCORE_ANTENNA_UNKNOWN = -1,
      ONCORE_ANTENNA_OK      =	0,
      ONCORE_ANTENNA_OC      =	1,
      ONCORE_ANTENNA_UC      =	2,
      ONCORE_ANTENNA_NV      =	3
};

/* Model Name, derived from the @@Cj message.
 * Used to initialize some variables.
 */

enum oncore_model {
	ONCORE_BASIC,
	ONCORE_PVT6,
	ONCORE_VP,
	ONCORE_UT,
	ONCORE_UTPLUS,
	ONCORE_GT,
	ONCORE_GTPLUS,
	ONCORE_SL,
	ONCORE_M12,
	ONCORE_UNKNOWN
};

/* the bits that describe these properties are in the same place
 * on the VP/UT, but have moved on the M12.  As such we extract
 * them, and use them from this struct.
 *
 */

struct RSM {
	u_char	posn0D;
	u_char	posn2D;
	u_char	posn3D;
	u_char	bad_almanac;
	u_char	bad_fix;
};

/* It is possible to test the VP/UT each cycle (@@Ea or equivalent) to
 * see what mode it is in.  The bits on the M12 are multiplexed with
 * other messages, so we have to 'keep' the last known mode here.
 */

enum posn_mode {
	MODE_UNKNOWN,
	MODE_0D,
	MODE_2D,
	MODE_3D
};

struct instance {
	int	unit;		/* 127.127.30.unit */
	struct	refclockproc *pp;
	struct	peer *peer;

	int	ttyfd;		/* TTY file descriptor */
	int	ppsfd;		/* PPS file descriptor */
	int	shmemfd;	/* Status shm descriptor */
	pps_handle_t pps_h;
	pps_params_t pps_p;
	enum receive_state o_state;		/* Receive state */
	enum posn_mode mode;			/* 0D, 2D, 3D */
	enum site_survey_state site_survey;	/* Site Survey state */
	enum antenna_state ant_state;		/* antenna state */

	int	Bj_day;

	u_long	delay;		/* ns */
	long	offset; 	/* ns */

	u_char	*shmem;
	char	*shmem_fname;
	u_int	shmem_Cb;
	u_int	shmem_Ba;
	u_int	shmem_Ea;
	u_int	shmem_Ha;
	u_char	shmem_reset;
	u_char	shmem_Posn;
	u_char	shmem_bad_Ea;
	u_char	almanac_from_shmem;

	double	ss_lat;
	double	ss_long;
	double	ss_ht;
	double	dH;
	int	ss_count;
	u_char	posn_set;

	enum oncore_model model;
	u_int	version;
	u_int	revision;

	u_char	chan;		/* 6 for PVT6 or BASIC, 8 for UT/VP, 12 for m12, 0 if unknown */
	s_char	traim;		/* do we have traim? yes UT/VP, M12+T, no BASIC, GT, M12, -1 unknown, 0 no, +1 yes */
				/* the following 7 are all timing counters */
	u_char	traim_delay;	/* seconds counter, waiting for reply */
	u_char	count;		/* cycles thru Ea before starting */
	u_char	count1; 	/* cycles thru Ea after SS_TESTING, waiting for SS_HW */
	u_char	count2; 	/* cycles thru Ea after count, to check for @@Ea */
	u_char	count3; 	/* cycles thru Ea checking for # channels */
	u_char	count4; 	/* cycles thru leap after Gj to issue Bj */
	u_char	pollcnt;
	u_char	timeout;	/* count to retry Cj after Fa self-test */

	struct	RSM rsm;	/* bits extracted from Receiver Status Msg in @@Ea */
	u_char	printed;
	u_char	polled;
	u_long	ev_serial;
	int	Rcvptr;
	u_char	Rcvbuf[500];
	u_char	BEHa[160];	/* Ba, Ea or Ha */
	u_char	BEHn[80];	/* Bn , En , or Hn */
	u_char	Cj[300];
	u_char	Ag;		/* Satellite mask angle */
	u_char	saw_At;
	u_char	saw_Ay;
	u_char	saw_Az;
	s_char	saw_Gj;
	u_char	have_dH;
	u_char	init_type;
	s_char	saw_tooth;
	s_char	chan_in;	/* chan number from INPUT, will always use it */
	u_char	chan_id;	/* chan number determined from part number */
	u_char	chan_ck;	/* chan number determined by sending commands to hardware */
	s_char	traim_in;	/* TRAIM from INPUT, will always use ON/OFF specified */
	s_char	traim_id;	/* TRAIM determined from part number */
	u_char	traim_ck;	/* TRAIM determined by sending commands to hardware */
	u_char	once;		/* one pass code at top of BaEaHa */
	s_char	assert;
	u_char	hardpps;
};

#define rcvbuf	instance->Rcvbuf
#define rcvptr	instance->Rcvptr

static	int	oncore_start	      P((int, struct peer *));
static	void	oncore_poll	      P((int, struct peer *));
static	void	oncore_shutdown       P((int, struct peer *));
static	void	oncore_consume	      P((struct instance *));
static	void	oncore_read_config    P((struct instance *));
static	void	oncore_receive	      P((struct recvbuf *));
static	int	oncore_ppsapi	      P((struct instance *));
static	void	oncore_get_timestamp  P((struct instance *, long, long));
static	void	oncore_init_shmem     P((struct instance *));

static	void	oncore_antenna_report P((struct instance *, enum antenna_state));
static	void	oncore_chan_test      P((struct instance *));
static	void	oncore_check_almanac  P((struct instance *));
static	void	oncore_check_antenna  P((struct instance *));
static	void	oncore_check_leap_sec P((struct instance *));
static	int	oncore_checksum_ok    P((u_char *, int));
static	void	oncore_compute_dH     P((struct instance *));
static	void	oncore_load_almanac   P((struct instance *));
static	void	oncore_print_Cb       P((struct instance *, u_char *));
/* static  void    oncore_print_array	 P((u_char *, int));	*/
static	void	oncore_print_posn     P((struct instance *));
static	void	oncore_sendmsg	      P((int, u_char *, size_t));
static	void	oncore_set_posn       P((struct instance *));
static	void	oncore_set_traim      P((struct instance *));
static	void	oncore_shmem_get_3D   P((struct instance *));
static	void	oncore_ss	      P((struct instance *));
static	int	oncore_wait_almanac   P((struct instance *));

static	void	oncore_msg_any	   P((struct instance *, u_char *, size_t, int));
static	void	oncore_msg_Adef    P((struct instance *, u_char *, size_t));
static	void	oncore_msg_Ag	   P((struct instance *, u_char *, size_t));
static	void	oncore_msg_As	   P((struct instance *, u_char *, size_t));
static	void	oncore_msg_At	   P((struct instance *, u_char *, size_t));
static	void	oncore_msg_Ay	   P((struct instance *, u_char *, size_t));
static	void	oncore_msg_Az	   P((struct instance *, u_char *, size_t));
static	void	oncore_msg_BaEaHa  P((struct instance *, u_char *, size_t));
static	void	oncore_msg_Bd	   P((struct instance *, u_char *, size_t));
static	void	oncore_msg_Bj	   P((struct instance *, u_char *, size_t));
static	void	oncore_msg_BnEnHn  P((struct instance *, u_char *, size_t));
static	void	oncore_msg_CaFaIa  P((struct instance *, u_char *, size_t));
static	void	oncore_msg_Cb	   P((struct instance *, u_char *, size_t));
static	void	oncore_msg_Cf	   P((struct instance *, u_char *, size_t));
static	void	oncore_msg_Cj	   P((struct instance *, u_char *, size_t));
static	void	oncore_msg_Cj_id   P((struct instance *, u_char *, size_t));
static	void	oncore_msg_Cj_init P((struct instance *, u_char *, size_t));
static	void	oncore_msg_Ga	   P((struct instance *, u_char *, size_t));
static	void	oncore_msg_Gb	   P((struct instance *, u_char *, size_t));
static	void	oncore_msg_Gj	   P((struct instance *, u_char *, size_t));
static	void	oncore_msg_Sz	   P((struct instance *, u_char *, size_t));

struct	refclock refclock_oncore = {
	oncore_start,		/* start up driver */
	oncore_shutdown,	/* shut down driver */
	oncore_poll,		/* transmit poll message */
	noentry,		/* not used */
	noentry,		/* not used */
	noentry,		/* not used */
	NOFLAGS 		/* not used */
};

/*
 * Understanding the next bit here is not easy unless you have a manual
 * for the the various Oncore Models.
 */

static struct msg_desc {
	const char	flag[3];
	const int	len;
	void		(*handler) P((struct instance *, u_char *, size_t));
	const char	*fmt;
	int		shmem;
} oncore_messages[] = {
			/* Ea and En first since they're most common */
	{ "Ea",  76,    oncore_msg_BaEaHa, "mdyyhmsffffaaaaoooohhhhmmmmvvhhddtntimsdimsdimsdimsdimsdimsdimsdimsdsC" },
	{ "Ba",  68,    oncore_msg_BaEaHa, "mdyyhmsffffaaaaoooohhhhmmmmvvhhddtntimsdimsdimsdimsdimsdimsdsC" },
	{ "Ha", 154,    oncore_msg_BaEaHa, "mdyyhmsffffaaaaoooohhhhmmmmaaaaoooohhhhmmmmVVvvhhddntimsiddimsiddimsiddimsiddimsiddimsiddimsiddimsiddimsiddimsiddimsiddimsiddssrrccooooTTushmvvvvvvC" },
	{ "Bn",  59,    oncore_msg_BnEnHn, "otaapxxxxxxxxxxpysreensffffsffffsffffsffffsffffsffffC" },
	{ "En",  69,    oncore_msg_BnEnHn, "otaapxxxxxxxxxxpysreensffffsffffsffffsffffsffffsffffsffffsffffC" },
	{ "Hn",  78,    oncore_msg_BnEnHn, "" },
	{ "Ab",  10,    0,                 "" },
	{ "Ac",  11,    0,                 "" },
	{ "Ad",  11,    oncore_msg_Adef,   "" },
	{ "Ae",  11,    oncore_msg_Adef,   "" },
	{ "Af",  15,    oncore_msg_Adef,   "" },
	{ "Ag",   8,    oncore_msg_Ag,     "" }, /* Satellite mask angle */
	{ "As",  20,    oncore_msg_As,     "" },
	{ "At",   8,    oncore_msg_At,     "" },
	{ "Au",  12,    0,                 "" },
	{ "Av",   8,    0,                 "" },
	{ "Aw",   8,    0,                 "" },
	{ "Ay",  11,    oncore_msg_Ay,     "" },
	{ "Az",  11,    oncore_msg_Az,     "" },
	{ "AB",   8,    0,                 "" },
	{ "Bb",  92,    0,                 "" },
	{ "Bd",  23,    oncore_msg_Bd,     "" },
	{ "Bj",   8,    oncore_msg_Bj,     "" },
	{ "Ca",   9,    oncore_msg_CaFaIa, "" },
	{ "Cb",  33,    oncore_msg_Cb,     "" },
	{ "Cf",   7,    oncore_msg_Cf,     "" },
	{ "Cg",   8,    0,                 "" },
	{ "Ch",   9,    0,                 "" },
	{ "Cj", 294,    oncore_msg_Cj,     "" },
	{ "Ek",  71,    0,                 "" },
	{ "Fa",   9,    oncore_msg_CaFaIa, "" },
	{ "Ga",  20,    oncore_msg_Ga,     "" },
	{ "Gb",  17,    oncore_msg_Gb,     "" },
	{ "Gc",   8,    0,                 "" },
	{ "Gd",   8,    0,                 "" },
	{ "Ge",   8,    0,                 "" },
	{ "Gj",  21,    oncore_msg_Gj,     "" },
	{ "Ia",  10,    oncore_msg_CaFaIa, "" },
	{ "Sz",   8,    oncore_msg_Sz,     "" },
	{ {0},	  7,	0,		   "" }
};


static u_char oncore_cmd_Aa[]  = { 'A', 'a', 0, 0, 0 }; 			    /* 6/8	Time of Day				*/
static u_char oncore_cmd_Ab[]  = { 'A', 'b', 0, 0, 0 }; 			    /* 6/8	GMT Correction				*/
static u_char oncore_cmd_AB[]  = { 'A', 'B', 4 };				    /* VP	Application Type: Static		*/
static u_char oncore_cmd_Ac[]  = { 'A', 'c', 0, 0, 0, 0 };			    /* 6/8	Date					*/
static u_char oncore_cmd_Ad[]  = { 'A', 'd', 0,0,0,0 }; 			    /* 6/8	Latitude				*/
static u_char oncore_cmd_Ae[]  = { 'A', 'e', 0,0,0,0 }; 			    /* 6/8	Longitude				*/
static u_char oncore_cmd_Af[]  = { 'A', 'f', 0,0,0,0, 0 };			    /* 6/8	Height					*/
static u_char oncore_cmd_Ag[]  = { 'A', 'g', 0 };				    /* 6/8/12	Satellite Mask Angle			*/
static u_char oncore_cmd_Agx[] = { 'A', 'g', 0xff };				    /* 6/8/12	Satellite Mask Angle: read		*/
static u_char oncore_cmd_As[]  = { 'A', 's', 0,0,0,0, 0,0,0,0, 0,0,0,0, 0 };	    /* 6/8/12	Posn Hold Parameters			*/
static u_char oncore_cmd_Asx[] = { 'A', 's', 0x7f,0xff,0xff,0xff,		    /* 6/8/12	Posn Hold Readback			*/
					     0x7f,0xff,0xff,0xff,		    /*		 on UT+ this doesnt work with 0xff	*/
					     0x7f,0xff,0xff,0xff, 0xff };	    /*		 but does work with 0x7f (sigh).	*/
static u_char oncore_cmd_At0[] = { 'A', 't', 0 };				    /* 6/8	Posn Hold: off				*/
static u_char oncore_cmd_At1[] = { 'A', 't', 1 };				    /* 6/8	Posn Hold: on				*/
static u_char oncore_cmd_At2[] = { 'A', 't', 2 };				    /* 6/8	Posn Hold: Start Site Survey		*/
static u_char oncore_cmd_Atx[] = { 'A', 't', 0xff };				    /* 6/8	Posn Hold: Read Back			*/
static u_char oncore_cmd_Au[]  = { 'A', 'u', 0,0,0,0, 0 };			    /* GT/M12	Altitude Hold Ht.			*/
static u_char oncore_cmd_Av0[] = { 'A', 'v', 0 };				    /* VP/GT	Altitude Hold: off			*/
static u_char oncore_cmd_Av1[] = { 'A', 'v', 1 };				    /* VP/GT	Altitude Hold: on			*/
static u_char oncore_cmd_Aw[]  = { 'A', 'w', 1 };				    /* 6/8/12	UTC/GPS time selection			*/
static u_char oncore_cmd_Ay[]  = { 'A', 'y', 0, 0, 0, 0 };			    /* Timing	1PPS time offset: set			*/
static u_char oncore_cmd_Ayx[] = { 'A', 'y', 0xff, 0xff, 0xff, 0xff };		    /* Timing	1PPS time offset: Read			*/