108

Unix/Linux 网络时间协议版本3 Network Time Protocol Version 3 (NTP) distribution for Unix systems

+ 	up->log_time    = current_time + SLEEPTIME;
+ 
  	/*
  	 * "001" Initialization/Mode Control, Part B
  	 * Put receiver in fully-constrained 2d nav mode
***************
*** 549,557 ****
--- 574,614 ----
  	    alt,	/* height */
  	    1);		/* Altitude Reference 1=MSL */
  
+ 
+ 	/*
+ 	 * "007" Control Port Configuration
+ 	 * Stop outputting "022" DOPs
+ 	 */
+ 	mx4200_send(peer, "%s,%03d,%03d,%d,%d,,,,,", pmvxg,
+ 	    PMVXG_S_PORTCONF,
+ 	    PMVXG_D_DOPS, /* control port output block Label */
+ 	    0,		/* clear current output control list (0=no) */
+ 	    0);		/* add/delete sentences from list (0=delete) */
+ 			/* must be null */
+ 	    		/* sentence output rate (sec) */
+ 	    		/* precision for position output */
+ 			/* nmea version for cga & gll output */
+ 			/* pass-through control */
+ 
+ 	/*
+ 	 * "007" Control Port Configuration
+ 	 * Stop outputting "021" position, height, velocity reports
+ 	 */
+ 	mx4200_send(peer, "%s,%03d,%03d,%d,%d,,%d,,,", pmvxg,
+ 	    PMVXG_S_PORTCONF,
+ 	    PMVXG_D_PHV, /* control port output block Label */
+ 	    0,		/* clear current output control list (0=no) */
+ 	    0);		/* add/delete sentences from list (0=delete) */
+ 			/* must be null */
+ 	    		/* sentence output rate (sec) */
+ 	    		/* precision for position output */
+ 			/* nmea version for cga & gll output */
+ 			/* pass-through control */
+ 
  	msyslog(LOG_DEBUG,
  	    "mx4200_ref: reconfig to fixed location: %s %c, %s %c, %.2f m MSL",
  	    lats, nsc, lons, ewc, alt );
+ 
  }
  
  /*
***************
*** 597,602 ****
--- 654,673 ----
  	 */
  	up->polled = 1;
  	pp->polls++;
+ 
+ 	/*
+ 	 * Output receiver status information.
+ 	 */
+ 	if ((up->log_time > 0) && (current_time > up->log_time)) {
+ 		up->log_time = 0;
+ 		/*
+ 		 * Output the following messages once, for debugging.
+ 		 *    "004" Mode Data
+ 		 *    "523" Time Recovery Parameters
+ 		 */
+ 		mx4200_send(peer, "%s,%03d", "CDGPQ", PMVXG_D_MODEDATA);
+ 		mx4200_send(peer, "%s,%03d", "CDGPQ", PMVXG_D_TRECOVUSEAGE);
+ 	}
  }
  
  static char char2hex[] = "0123456789ABCDEF";
***************
*** 623,628 ****
--- 694,712 ----
  	up = (struct mx4200unit *)pp->unitptr;
  
  	/*
+ 	 * If operating mode has been changed, then reinitialize the receiver
+ 	 * before doing anything else.
+ 	 */
+ 	if ((pp->sloppyclockflag & CLK_FLAG2) !=
+ 	    (up->sloppyclockflag & CLK_FLAG2)) {
+ 		up->sloppyclockflag = pp->sloppyclockflag;
+ 		mx4200_debug(peer, "mx4200_receive: mode switch: reset receiver\n", cp);
+ 		mx4200_config(peer);
+ 		return;
+ 	}
+ 	up->sloppyclockflag = pp->sloppyclockflag;
+ 
+ 	/*
  	 * Read clock output.  Automatically handles STREAMS, CLKLDISC.
  	 */
  	pp->lencode = refclock_gtlin(rbufp, pp->lastcode, BMAX, &pp->lastrec);
***************
*** 705,710 ****
--- 789,798 ----
  		 * indicates the reciever needs to be initialized; thus, it is
  		 * not necessary to decode the status message.
  		 */
+ 		if ((cp = mx4200_parse_s(peer)) != NULL) {
+ 			mx4200_debug(peer,
+ 				"mx4200_receive: status: %s\n", cp);
+ 		}
  		mx4200_debug(peer, "mx4200_receive: reset receiver\n", cp);
  		mx4200_config(peer);
  		return;
***************
*** 755,765 ****
  	}
  
  	/*
  	 * "030" Software Configuration
  	 */
! 	if (sentence_type == PMVXG_D_SOFTCONF && !up->known) {
  		if ((cp = mx4200_parse_s(peer)) != NULL) {
! 			mx4200_debug(peer, "mx4200_receive: sw conf: %s\n", cp);
  			return;
  		}
  		return;
--- 843,859 ----
  	}
  
  	/*
+ 	 * Print to the syslog:
+ 	 * "004" Mode Data
  	 * "030" Software Configuration
+ 	 * "523" Time Recovery Parameters Currently in Use
  	 */
! 	if (sentence_type == PMVXG_D_MODEDATA ||
! 	    sentence_type == PMVXG_D_SOFTCONF ||
! 	    sentence_type == PMVXG_D_TRECOVUSEAGE ) {
  		if ((cp = mx4200_parse_s(peer)) != NULL) {
! 			mx4200_debug(peer,
! 				"mx4200_receive: multi-record: %s\n", cp);
  			return;
  		}
  		return;
***************
*** 972,982 ****
  	}
  
  	/*
! 	 * Now compute the offset estimate.  If the sloppy clock
! 	 * flag 1 is set, average the remainder, otherwise pick the
  	 * median.
  	 */
! 	if (pp->sloppyclockflag && CLK_FLAG1) {
  		L_CLR(&lftmp);
  		while (i < n) {
  			L_ADD(&lftmp, &off[i]);
--- 1066,1076 ----
  	}
  
  	/*
! 	 * Now compute the offset estimate.  If fudge flag 1
! 	 * is set, average the remainder, otherwise pick the
  	 * median.
  	 */
! 	if (pp->sloppyclockflag & CLK_FLAG1) {
  		L_CLR(&lftmp);
  		while (i < n) {
  			L_ADD(&lftmp, &off[i]);
***************
*** 1182,1193 ****
  		refclock_report(peer, CEVNT_BADTIME);
  		return ("bad time");
  	}
  
  	/*
  	 * Check for insane date
  	 */
  	if (monthday > 31 || month > 12 ||
! 	    monthday <  1 || month <  1 || year < 1996) {
  		mx4200_debug(peer,
  			"mx4200_parse_t: bad date (%4d-%02d-%02d)\n",
  			year, month, monthday);
--- 1276,1292 ----
  		refclock_report(peer, CEVNT_BADTIME);
  		return ("bad time");
  	}
+ 	if ( second == 60 ) {
+ 		msyslog(LOG_DEBUG, "mx4200_parse_t: leap second! %02d:%02d:%02d",
+ 			 hour, minute, second);
+ 	}
  
  	/*
  	 * Check for insane date
+ 	 * (Certainly can't be a year before this code was last altered!)
  	 */
  	if (monthday > 31 || month > 12 ||
! 	    monthday <  1 || month <  1 || year < 1997) {
  		mx4200_debug(peer,
  			"mx4200_parse_t: bad date (%4d-%02d-%02d)\n",
  			year, month, monthday);
***************
*** 1243,1248 ****
--- 1342,1357 ----
  		pp->leap = LEAP_NOTINSYNC;	/* shouldn't happen */
  
  	/*
+ 	 * Any change to the leap second warning status?
+ 	 */
+ 	if (leapsec != up->last_leap ) {
+ 		msyslog(LOG_DEBUG,
+ 			"mx4200_parse_t: leap second warning: %d to %d (%d)",
+ 			up->last_leap, leapsec, pp->leap);
+ 	}
+ 	up->last_leap = leapsec;
+ 
+ 	/*
  	 * Copy time data for billboard monitoring.
  	 */
  
***************
*** 1397,1402 ****
--- 1506,1514 ----
  	pp = peer->procptr;
  	up = (struct mx4200unit *)pp->unitptr;
  
+ 	/* Should never happen! */
+ 	if (up->moving) return ("mobile platform - no pos!");
+ 
  	cp = pp->lastcode;
  
  	if ((cp = strchr(cp, ',')) == NULL)
***************
*** 1513,1524 ****
  	up->filt_alt += weight;
  	up->avg_alt = up->avg_alt / up->filt_alt;
  
- 	/*
- 	 * Are we moving?
- 	 */
- 	if ((vele*vele + veln*veln) > MAX_VEL_SQUARED)
- 		up->moving++;
- 
  	return (NULL);
  }
  
--- 1625,1630 ----
***************
*** 1559,1564 ****
--- 1665,1673 ----
  	pp = peer->procptr;
  	up = (struct mx4200unit *)pp->unitptr;
  
+ 	/* Should never happen! */
+ 	if (up->moving) return ("mobile platform - no dop!");
+ 
  	cp = pp->lastcode;
  
  	if ((cp = strchr(cp, ',')) == NULL)
***************
*** 1607,1613 ****
--- 1716,1789 ----
  }
  
  /*
+  * Parse a mx4200 Status sentence
+  * Parse a mx4200 Mode Data sentence
   * Parse a mx4200 Software Configuration sentence
+  * Parse a mx4200 Time Recovery Parameters Currently in Use sentence
+  * (used only for logging raw strings)
+  *
+  * A typical message looks like this.  Checksum has already been stripped.
+  *
+  * $PMVXG,000,XXX,XX,X,HHMM,X
+  *
+  *	Field	Field Contents
+  *	-----	--------------
+  *		Block Label: $PMVXG
+  *		Sentence Type: 000=Status.
+  *			Returns status of the receiver to the controller.
+  *	1	Current Receiver Status:
+  *		ACQ = Satellite re-acquisition
+  *		ALT = Constellation selection
+  *		COR = Providing corrections (for reference stations only)
+  *		IAC = Initial acquisition
+  *		IDL = Idle, no satellites
+  *		NAV = Navigation
+  *		STS = Search the Sky (no almanac available)
+  *		TRK = Tracking
+  *	2	Number of satellites that should be visible
+  *	3	Number of satellites being tracked
+  *	4	Time since last navigation status if not currently navigating
+  *		(hours, minutes)
+  *	5	Initialization status:
+  *		0 = Waiting for initialization parameters
+  *		1 = Initialization completed
+  *
+  * A typical message looks like this.  Checksum has already been stripped.
+  *
+  * $PMVXG,004,C,R,D,H.HH,V.VV,TT,HHHH,VVVV,T
+  *
+  *	Field	Field Contents
+  *	-----	--------------
+  *		Block Label: $PMVXG
+  *		Sentence Type: 004=Software Configuration.
+  *			Defines the navigation mode and criteria for
+  *			acceptable navigation for the receiver.
+  *	1	Constrain Altitude Mode:
+  *		0 = Auto.  Constrain altitude (2-D solution) and use
+  *		    manual altitude input when 3 sats avalable.  Do
+  *		    not constrain altitude (3-D solution) when 4 sats
+  *		    available.
+  *		1 = Always constrain altitude (2-D solution).
+  *		2 = Never constrain altitude (3-D solution).
+  *		3 = Coast.  Constrain altitude (2-D solution) and use
+  *		    last GPS altitude calculation when 3 sats avalable.
+  *		    Do not constrain altitude (3-D solution) when 4 sats
+  *		    available.
+  *	2	Altitude Reference: (always 0 for MX4200)
+  *		0 = Ellipsoid
+  *		1 = Geoid (MSL)
+  *	3	Differential Navigation Control:
+  *		0 = Disabled
+  *		1 = Enabled
+  *	4	Horizontal Acceleration Constant (m/sec**2)
+  *	5	Vertical Acceleration Constant (m/sec**2) (0 for MX4200)
+  *	6	Tracking Elevation Limit (degrees)
+  *	7	HDOP Limit
+  *	8	VDOP Limit
+  *	9	Time Output Mode:
+  *		U = UTC
+  *		L = Local time
+  *	10	Local Time Offset (minutes) (absent on MX4200)
   *
   * A typical message looks like this.  Checksum has already been stripped.
   *
***************
*** 1621,1626 ****
--- 1797,1837 ----
   *			and baseband firmware version numbers.
   *	1	Nav Processor Version Number
   *	2	Baseband Firmware Version Number
+  *
+  * A typical message looks like this.  Checksum has already been stripped.
+  *
+  * $PMVXG,523,M,S,M,EEEE,BBBBBB,C,R
+  *
+  *	Field	Field Contents
+  *	-----	--------------
+  *		Block Label: $PMVXG
+  *		Sentence Type: 523=Time Recovery Parameters Currently in Use.
+  *			This sentence contains the configuration of the
+  *			time recovery feature of the receiver.
+  *	1	Time Recovery Mode:
+  *		D = Dynamic; solve for position and time while moving
+  *		S = Static; solve for position and time while stationary
+  *		K = Known position input, solve for time only
+  *		N = No time recovery
+  *	2	Time Synchronization:
+  *		U = UTC time
+  *		G = GPS time
+  *	3	Time Mark Mode:
+  *		A = Always output a time pulse
+  *		V = Only output time pulse if time is valid (as determined
+  *		    by Maximum Time Error)
+  *	4	Maximum Time Error - the maximum error (in nanoseconds) for
+  *		which a time mark will be considered valid.
+  *	5	User Time Bias - external bias in nanoseconds
+  *	6	Time Message Control:
+  *		0 = Do not output the time recovery message
+  *		1 = Output the time recovery message (record 830) to
+  *		    Control port
+  *		2 = Output the time recovery message (record 830) to
+  *		    Equipment port
+  *	7	Reserved
+  *	8	Position Known PRN (absent on MX 4200)
+  *
   */
  static char *
  mx4200_parse_s(peer)
***************
*** 1642,1655 ****
  
  	/* Sentence type */
  	sentence_type = strtol(cp, &cp, 10);
! 	if (sentence_type != PMVXG_D_SOFTCONF)
  		return ("wrong rec-type");
- 
- 	/* Log the software version */
  	cp++;
! 	msyslog(LOG_DEBUG, "mx4200_parse_s: firmware configuration: %s", cp);
  
! 	return 0;
  }
  
  /*
--- 1853,1890 ----
  
  	/* Sentence type */
  	sentence_type = strtol(cp, &cp, 10);
! 	if (sentence_type != PMVXG_D_STATUS &&
! 	    sentence_type != PMVXG_D_MODEDATA &&
! 	    sentence_type != PMVXG_D_SOFTCONF &&
! 	    sentence_type != PMVXG_D_TRECOVUSEAGE )
  		return ("wrong rec-type");
  	cp++;
! 
! 	/* Log the Status */
! 	if (sentence_type == PMVXG_D_STATUS) {
! 		msyslog(LOG_DEBUG,
! 		"mx4200_parse_s: status: %s", cp);
! 	}
! 
! 	/* Log the Mode Data */
! 	if (sentence_type == PMVXG_D_MODEDATA) {
! 		msyslog(LOG_DEBUG,
! 		"mx4200_parse_s: mode data: %s", cp);
! 	}
! 
! 	/* Log the Software Version */
! 	if (sentence_type == PMVXG_D_SOFTCONF) {
! 		msyslog(LOG_DEBUG,
! 		"mx4200_parse_s: firmware configuration: %s", cp);
! 	}
! 
! 	/* Log the Time Recovery Parameters */
! 	if (sentence_type == PMVXG_D_TRECOVUSEAGE) {
! 		msyslog(LOG_DEBUG,
! 		"mx4200_parse_s: time recovery parms: %s", cp);
! 	}
  
! 	return (NULL);
  }
  
  /*
***************
*** 1816,1835 ****
  #else /* not (REFCLOCK && MX4200 && PPS) */
  int refclock_mx4200_bs;
  #endif /* not (REFCLOCK && MX4200 && PPS) */
- 
- /*
-  * History:
-  *
-  * refclock_mx4200.c
-  *
-  * Author:	Craig Leres?
-  * Revised:	Marc Brett	1.10	1996-05-08
-  * - rewrote to "new-style" xntpd driver standard.
-  * - added position-averaging/fixed-location logic.
-  * Revised:	Marc Brett	1.20	1997-02-11
-  * - updated to xntp3-5.89.5 standards.
-  *
-  * Craig Leres	([e-mail])
-  * Marc Brett	([e-mail])
-  *
-  */
--- 2051,2053 ----

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