refclock_ripencc.c

网络时间协议NTP 源码 版本v4.2.0b 该源码用于linux平台下

/*
 * $Id: refclock_ripencc.c,v 1.13 2002/06/18 14:20:55 marks Exp marks $
 *
 * Copyright (c) 2002  RIPE NCC
 *
 * All Rights Reserved
 *
 * Permission to use, copy, modify, and distribute this software and its
 * documentation for any purpose and without fee is hereby granted,
 * provided that the above copyright notice appear in all copies and that
 * both that copyright notice and this permission notice appear in
 * supporting documentation, and that the name of the author not be
 * used in advertising or publicity pertaining to distribution of the
 * software without specific, written prior permission.
 *
 * THE AUTHOR DISCLAIMS ALL WARRANTIES WITH REGARD TO THIS SOFTWARE, INCLUDING
 * ALL IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS; IN NO EVENT SHALL
 * AUTHOR BE LIABLE FOR ANY SPECIAL, INDIRECT OR CONSEQUENTIAL DAMAGES OR ANY
 * DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN
 * AN ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
 * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
 *
 *
 *
 * This driver was developed for use with the RIPE NCC TTM project.
 *
 *
 * The initial driver was developed by Daniel Karrenberg <[e-mail]> 
 * using the code made available by Trimble. This was for xntpd-3.x.x
 *
 * Rewrite of the driver for ntpd-4.x.x by Mark Santcroos <[e-mail]>
 *
 */

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

#if defined(REFCLOCK) && defined(CLOCK_RIPENCC)

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

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

/*
 * Definitions
 */

/* we are on little endian */
#define BYTESWAP

/* 
 * DEBUG statements: uncomment if necessary
 */
/* #define DEBUG_NCC */ /* general debug statements */
/* #define DEBUG_PPS */ /* debug pps */
/* #define DEBUG_RAW */ /* print raw packets */

#define TRIMBLE_OUTPUT_FUNC
#define TSIP_VERNUM "7.12a"

#ifndef FALSE
#define FALSE 	(0)
#define TRUE 	(!FALSE)
#endif /* FALSE */

#define GPS_PI 	(3.1415926535898)
#define GPS_C 		(299792458.)
#define	D2R		(GPS_PI/180.0)
#define	R2D		(180.0/GPS_PI)
#define WEEK 	(604800.)
#define MAXCHAN  (8)

/* control characters for TSIP packets */
#define DLE 	(0x10)
#define ETX 	(0x03)

#define MAX_RPTBUF (256)

/* values of TSIPPKT.status */
#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

#define UTCF_UTC_AVAIL  (unsigned char) (1)             /* UTC available */
#define UTCF_LEAP_SCHD  (unsigned char) (1<<4)  /* Leap scheduled */
#define UTCF_LEAP_PNDG  (unsigned char) (1<<5)  /* Leap pending, will occur at end of day */

#define DEVICE  "/dev/gps%d"	/* name of radio device */
#define PRECISION       (-9)    /* precision assumed (about 2 ms) */
#define PPS_PRECISION   (-20)	/* precision assumed (about 1 us) */
#define REFID           "GPS\0" /* reference id */
#define REFID_LEN	4
#define DESCRIPTION     "RIPE NCC GPS (Palisade)"	/* Description */
#define SPEED232        B9600   /* 9600 baud */

#define NSAMPLES        3       /* stages of median filter */

/* Structures */

/* TSIP packets have the following structure, whether report or command. */
typedef struct {
	short 
		counter, 	/* counter */
		len;		/* size of buf; < MAX_RPTBUF unsigned chars */
	unsigned char
		status,		/* TSIP packet format/parse status */
		code,		/* TSIP code */
		buf[MAX_RPTBUF];/* report or command string */
} TSIPPKT;

/* TSIP binary data structures */
typedef struct {
	unsigned char
		t_oa_raw, SV_health;
	float
		e, t_oa, i_0, OMEGADOT, sqrt_A,
		OMEGA_0, omega, M_0, a_f0, a_f1,
		Axis, n, OMEGA_n, ODOT_n, t_zc;
	short
		weeknum, wn_oa;
} ALM_INFO;

typedef struct {     /*  Almanac health page (25) parameters  */
	unsigned char
		WN_a, SV_health[32], t_oa;
} ALH_PARMS;

typedef struct {     /*  Universal Coordinated Time (UTC) parms */
	double
		A_0;
	float
		A_1;
	short
		delta_t_LS;
	float
		t_ot;
	short
		WN_t, WN_LSF, DN, delta_t_LSF;
} UTC_INFO;

typedef struct {      /*  Ionospheric info (float)  */
	float
		alpha_0, alpha_1, alpha_2, alpha_3,
		beta_0, beta_1, beta_2, beta_3;
} ION_INFO;

typedef struct {      /*  Subframe 1 info (float)  */
	short
		weeknum;
	unsigned char
		codeL2, L2Pdata, SVacc_raw, SV_health;
	short
		IODC;
	float
		T_GD, t_oc, a_f2, a_f1, a_f0, SVacc;
} EPHEM_CLOCK;

typedef	struct {     /*  Ephemeris info (float)  */
	unsigned char
		IODE, fit_interval;
	float
		C_rs, delta_n;
	double
		M_0;
	float
		C_uc;
	double
		e;
	float
		C_us;
	double
		sqrt_A;
	float
		t_oe, C_ic;
	double
		OMEGA_0;
	float
		C_is;
	double
		i_0;
	float
		C_rc;
	double
		omega;
	float
		OMEGADOT, IDOT;
	double
		Axis, n, r1me2, OMEGA_n, ODOT_n;
} EPHEM_ORBIT;

typedef struct {     /* Navigation data structure */
	short
		sv_number;     /* SV number (0 = no entry) */
	float
		t_ephem;       /* time of ephemeris collection */
	EPHEM_CLOCK
		ephclk;        /* subframe 1 data */
	EPHEM_ORBIT
		ephorb;        /* ephemeris data */
} NAV_INFO;

typedef struct {
	unsigned char
		bSubcode,
		operating_mode,
		dgps_mode,
		dyn_code,
		trackmode;
	float
		elev_mask,
		cno_mask,
		dop_mask,
		dop_switch;
	unsigned char
		dgps_age_limit;
} TSIP_RCVR_CFG;


#ifdef TRIMBLE_OUTPUT_FUNC
static char
	*dayname[7] = { "Sun", "Mon", "Tue", "Wed", "Thu", "Fri", "Sat"},
	old_baudnum[] = {0, 1, 4, 5, 6, 8, 9, 11, 28, 12},
        *st_baud_text_app [] = {"", "", "  300", "  600", " 1200", " 2400", 
		" 4800", " 9600", "19200", "38400"},
	*old_parity_text[] = {"EVEN", "ODD", "", "", "NONE"},
	*parity_text [] = {"NONE", "ODD", "EVEN"},
	*old_input_ch[] = { "TSIP", "RTCM (6 of 8 bits)"},
	*old_output_ch[] = { "TSIP", "No output", "", "", "", "NMEA 0183"},
	*protocols_in_text[] = { "", "TSIP", "", ""},
	*protocols_out_text[] =	{ "", "TSIP", "NMEA"},
	*rcvr_port_text [] = { "Port A      ", "Port B      ", "Current Port"},
	*dyn_text [] = {"Unchanged", "Land", "Sea", "Air", "Static"},
	*NavModeText0xBB[] = {"automatic", "time only (0-D)", "", "2-D",
		"3-D", "", "", "OverDetermined Time"},
	*PPSTimeBaseText[] = {"GPS", "UTC", "USER"},
	*PPSPolarityText[] = {"Positive", "Negative"},
  	*MaskText[] = { "Almanac  ", "Ephemeris", "UTC      ", "Iono     ",
		"GPS Msg  ", "Alm Hlth ", "Time Fix ", "SV Select",
		"Ext Event", "Pos Fix  ", "Raw Meas "};

#endif /* TRIMBLE_OUTPUT_FUNC */

/*
 * Unit control structure
 */
struct ripencc_unit {                   
        int unit;                       /* unit number */
        int     pollcnt;                /* poll message counter */
        int     polled;                 /* Hand in a sample? */
        char leapdelta;                 /* delta of next leap event */
        unsigned char utcflags;         /* delta of next leap event */
        l_fp    tstamp;                 /* timestamp of last poll */
        
        struct timespec ts;             /* last timestamp */
        pps_params_t pps_params;        /* pps parameters */
        pps_info_t pps_info;            /* last pps data */
        pps_handle_t handle;            /* pps handlebars */

};


/*******************        PROTOYPES            *****************/

/*  prototypes for report parsing primitives */
short rpt_0x3D (TSIPPKT *rpt, unsigned char *tx_baud_index,
	unsigned char *rx_baud_index, unsigned char *char_format_index,
	unsigned char *stop_bits, unsigned char *tx_mode_index,
	unsigned char *rx_mode_index);
short rpt_0x40 (TSIPPKT *rpt, unsigned char *sv_prn, short *week_num,
	float *t_zc, float *eccentricity, float *t_oa, float *i_0,
	float *OMEGA_dot, float *sqrt_A, float *OMEGA_0, float *omega,
	float *M_0);
short rpt_0x41 (TSIPPKT *rpt, float *time_of_week, float *UTC_offset,
	short *week_num);
short rpt_0x42 (TSIPPKT *rpt, float ECEF_pos[3], float *time_of_fix);
short rpt_0x43 (TSIPPKT *rpt, float ECEF_vel[3], float *freq_offset,
	float *time_of_fix);
short rpt_0x45 (TSIPPKT *rpt, unsigned char *major_nav_version,
	unsigned char *minor_nav_version, unsigned char *nav_day,
	unsigned char *nav_month, unsigned char *nav_year,
	unsigned char *major_dsp_version, unsigned char *minor_dsp_version,
	unsigned char *dsp_day, unsigned char *dsp_month,
	unsigned char *dsp_year);
short rpt_0x46 (TSIPPKT *rpt, unsigned char *status1, unsigned char *status2);
short rpt_0x47 (TSIPPKT *rpt, unsigned char *nsvs, unsigned char *sv_prn,
	float *snr);
short rpt_0x48 (TSIPPKT *rpt, unsigned char *message);
short rpt_0x49 (TSIPPKT *rpt, unsigned char *sv_health);
short rpt_0x4A (TSIPPKT *rpt, float *lat, float *lon, float *alt,
	float *clock_bias, float *time_of_fix);
short rpt_0x4A_2 (TSIPPKT *rpt, float *alt, float *dummy,
	unsigned char *alt_flag);
short rpt_0x4B (TSIPPKT *rpt, unsigned char *machine_id,
	unsigned char *status3, unsigned char *status4);
short rpt_0x4C (TSIPPKT *rpt, unsigned char *dyn_code, float *el_mask,
	float *snr_mask, float *dop_mask, float *dop_switch);
short rpt_0x4D (TSIPPKT *rpt, float *osc_offset);
short rpt_0x4E (TSIPPKT *rpt, unsigned char *response);
short rpt_0x4F (TSIPPKT *rpt, double *a0, float *a1, float *time_of_data,
	short *dt_ls, short *wn_t, short *wn_lsf, short *dn, short *dt_lsf);
short rpt_0x54 (TSIPPKT *rpt, float *clock_bias, float *freq_offset,
	float *time_of_fix);
short rpt_0x55 (TSIPPKT *rpt, unsigned char *pos_code, unsigned char *vel_code,
	unsigned char *time_code, unsigned char *aux_code);
short rpt_0x56 (TSIPPKT *rpt, float vel_ENU[3], float *freq_offset,
	float *time_of_fix);
short rpt_0x57 (TSIPPKT *rpt, unsigned char *source_code,
	unsigned char *diag_code, short *week_num, float *time_of_fix);
short rpt_0x58 (TSIPPKT *rpt, unsigned char *op_code, unsigned char *data_type,
	unsigned char *sv_prn, unsigned char *data_length,
	unsigned char *data_packet);
short rpt_0x59 (TSIPPKT *rpt, unsigned char *code_type,
	unsigned char status_code[32]);
short rpt_0x5A (TSIPPKT *rpt, unsigned char *sv_prn, float *sample_length,
	float *signal_level, float *code_phase, float *Doppler,
	double *time_of_fix);
short rpt_0x5B (TSIPPKT *rpt, unsigned char *sv_prn, unsigned char *sv_health,
	unsigned char *sv_iode, unsigned char *fit_interval_flag,
	float *time_of_collection, float *time_of_eph, float *sv_accy);
short rpt_0x5C (TSIPPKT *rpt, unsigned char *sv_prn, unsigned char *slot,
	unsigned char *chan, unsigned char *acq_flag, unsigned char *eph_flag,
	float *signal_level, float *time_of_last_msmt, float *elev,
	float *azim, unsigned char *old_msmt_flag,
	unsigned char *integer_msec_flag, unsigned char *bad_data_flag,
	unsigned char *data_collect_flag);
short rpt_0x6D (TSIPPKT *rpt, unsigned char *manual_mode, unsigned char *nsvs,
	unsigned char *ndim, unsigned char sv_prn[], float *pdop,
	float *hdop, float *vdop, float *tdop);
short rpt_0x82 (TSIPPKT *rpt, unsigned char *diff_mode);
short rpt_0x83 (TSIPPKT *rpt, double ECEF_pos[3], double *clock_bias,
	float *time_of_fix);
short rpt_0x84 (TSIPPKT *rpt, double *lat, double *lon, double *alt,
	double *clock_bias, float *time_of_fix);
short rpt_Paly0xBB(TSIPPKT *rpt, TSIP_RCVR_CFG *TsipxBB);
short rpt_0xBC   (TSIPPKT *rpt, unsigned char *port_num,
	unsigned char *in_baud, unsigned char *out_baud,
	unsigned char *data_bits, unsigned char *parity,
	unsigned char *stop_bits, unsigned char *flow_control,
	unsigned char *protocols_in, unsigned char *protocols_out,
	unsigned char *reserved);

/* prototypes for superpacket parsers */

short rpt_0x8F0B (TSIPPKT *rpt, unsigned short *event, double *tow,
   unsigned char *date, unsigned char *month, short *year,
   unsigned char *dim_mode, short *utc_offset, double *bias, double *drift,
   float *bias_unc, float *dr_unc, double *lat, double *lon, double *alt,
   char sv_id[8]);
short rpt_0x8F14 (TSIPPKT *rpt, short *datum_idx, double datum_coeffs[5]);
short rpt_0x8F15 (TSIPPKT *rpt, short *datum_idx, double datum_coeffs[5]);
short rpt_0x8F20 (TSIPPKT *rpt, unsigned char *info, double *lat,
	double *lon, double *alt, double vel_enu[], double *time_of_fix,
	short *week_num, unsigned char *nsvs, unsigned char sv_prn[], 
	short sv_IODC[], short *datum_index);
short rpt_0x8F41 (TSIPPKT *rpt, unsigned char *bSearchRange,
	unsigned char *bBoardOptions, unsigned long *iiSerialNumber,
	unsigned char *bBuildYear, unsigned char *bBuildMonth,
	unsigned char *bBuildDay, unsigned char *bBuildHour,
	float *fOscOffset, unsigned short *iTestCodeId);
short rpt_0x8F42 (TSIPPKT *rpt, unsigned char *bProdOptionsPre,
	unsigned char *bProdNumberExt, unsigned short *iCaseSerialNumberPre,
	unsigned long *iiCaseSerialNumber, unsigned long *iiProdNumber,
	unsigned short *iPremiumOptions, unsigned short *iMachineID,
	unsigned short *iKey);
short rpt_0x8F45 (TSIPPKT *rpt, unsigned char *bSegMask);
short rpt_0x8F4A_16 (TSIPPKT *rpt, unsigned char *pps_enabled,
	unsigned char *pps_timebase, unsigned char *pos_polarity,
	double *pps_offset, float *bias_unc_threshold);
short rpt_0x8F4B (TSIPPKT *rpt, unsigned long *decorr_max);
short rpt_0x8F4D (TSIPPKT *rpt, unsigned long *event_mask);
short rpt_0x8FA5 (TSIPPKT *rpt, unsigned char *spktmask);
short rpt_0x8FAD (TSIPPKT *rpt, unsigned short *COUNT, double *FracSec,
    unsigned char *Hour, unsigned char *Minute, unsigned char *Second,
    unsigned char *Day, unsigned char *Month, unsigned short *Year,
    unsigned char *Status, unsigned char *Flags);

/**/
/* prototypes for command-encode primitives with suffix convention:  */
/* c = clear, s = set, q = query, e = enable, d = disable            */
void cmd_0x1F  (TSIPPKT *cmd);
void cmd_0x26  (TSIPPKT *cmd);
void cmd_0x2F  (TSIPPKT *cmd);
void cmd_0x35s (TSIPPKT *cmd, unsigned char pos_code, unsigned char vel_code,
	unsigned char time_code, unsigned char opts_code);
void cmd_0x3C  (TSIPPKT *cmd, unsigned char sv_prn);
void cmd_0x3Ds (TSIPPKT *cmd, unsigned char baud_out, unsigned char baud_inp,
	unsigned char char_code, unsigned char stopbitcode,
	unsigned char output_mode, unsigned char input_mode);
void cmd_0xBBq (TSIPPKT *cmd, unsigned char subcode) ;

/* prototypes 8E commands */
void cmd_0x8E0Bq (TSIPPKT *cmd);
void cmd_0x8E41q (TSIPPKT *cmd);
void cmd_0x8E42q (TSIPPKT *cmd);
void cmd_0x8E4Aq (TSIPPKT *cmd);
void cmd_0x8E4As (TSIPPKT *cmd, unsigned char PPSOnOff, unsigned char TimeBase,
	unsigned char Polarity, double PPSOffset, float Uncertainty);
void cmd_0x8E4Bq (TSIPPKT *cmd);
void cmd_0x8E4Ds (TSIPPKT *cmd, unsigned long AutoOutputMask);
void cmd_0x8EADq (TSIPPKT *cmd);

/* header/source border XXXXXXXXXXXXXXXXXXXXXXXXXX */

/* Trimble parse functions */
static 	int	parse0x8FAD	P((TSIPPKT *, struct peer *));
static 	int	parse0x8F0B	P((TSIPPKT *, struct peer *));
#ifdef TRIMBLE_OUTPUT_FUNC
static 	int	parseany	P((TSIPPKT *, struct peer *));
static 	void	TranslateTSIPReportToText	P((TSIPPKT *, char *));
#endif /* TRIMBLE_OUTPUT_FUNC */
static 	int	parse0x5C	P((TSIPPKT *, struct peer *));
static 	int	parse0x4F	P((TSIPPKT *, struct peer *));
static	void	tsip_input_proc	P((TSIPPKT *, int));

/* Trimble helper functions */
static	void	bPutFloat 	P((float *, unsigned char *));
static	void	bPutDouble 	P((double *, unsigned char *));
static	void	bPutULong 	P((unsigned long *, unsigned char *));
static	int	print_msg_table_header	P((int rptcode, char *HdrStr, int force));
static	char *	show_time	P((float time_of_week));

/* RIPE NCC functions */
static	void	ripencc_control	P((int, struct refclockstat *, struct
				refclockstat *, struct peer *));
static	int	ripencc_ppsapi	P((struct peer *, int, int));
static	int	ripencc_get_pps_ts	P((struct ripencc_unit *, l_fp *));
static	int	ripencc_start	P((int, struct peer *));
static 	void	ripencc_shutdown	P((int, struct peer *));
static 	void	ripencc_poll	P((int, struct peer *));
static 	void	ripencc_send	P((struct peer *, TSIPPKT spt));
static 	void	ripencc_receive	P((struct recvbuf *));

/* fill in reflock structure for our clock */
struct refclock refclock_ripencc = {
	ripencc_start,		/* start up driver */
	ripencc_shutdown,	/* shut down driver */
	ripencc_poll,		/* transmit poll message */
	ripencc_control,	/* control function */
	noentry,		/* initialize driver */
	noentry,		/* debug info */
	NOFLAGS			/* clock flags */
};

/*
 *  Tables to compute the ddd of year form icky dd/mm timecode. Viva la
 *  leap.
 */
static int day1tab[] = {31, 28, 31, 30, 31, 30, 31, 31, 30, 31, 30, 31};
static int day2tab[] = {31, 29, 31, 30, 31, 30, 31, 31, 30, 31, 30, 31};


/*
 * ripencc_start - open the GPS devices and initialize data for processing
 */
static int
ripencc_start(int unit, struct peer *peer)
{
	register struct ripencc_unit *up;
	struct refclockproc *pp;
	char device[40];
	int fd;
	struct termios tio;
	TSIPPKT spt;

	/*
	 * Open serial port
	 */
	(void)snprintf(device, sizeof(device), DEVICE, unit);
	if (!(fd = refclock_open(device, SPEED232, LDISC_RAW)))
		return (0);

	/* from refclock_palisade.c */
	if (tcgetattr(fd, &tio) < 0) {
		msyslog(LOG_ERR, "Palisade(%d) tcgetattr(fd, &tio): %m",unit);
		return (0);
	}

	/*
	 * set flags
	 */
	tio.c_cflag |= (PARENB|PARODD);
	tio.c_iflag &= ~ICRNL;
	if (tcsetattr(fd, TCSANOW, &tio) == -1) {
		msyslog(LOG_ERR, "Palisade(%d) tcsetattr(fd, &tio): %m",unit);
		return (0);
	}

	/*
	 * Allocate and initialize unit structure
	 */
	if (!(up = (struct ripencc_unit *) 
				emalloc(sizeof(struct ripencc_unit)))) {
		(void) close(fd);
		return (0);
	}
	memset((char *)up, 0, sizeof(struct ripencc_unit));
	pp = peer->procptr;
	pp->io.clock_recv = ripencc_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, REFID_LEN);
	up->pollcnt = 2;