173

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

X	u_short driftsd[2];
X	u_short dsum;			/* checksum */
X};
X#define JUPITER_O_GPOS_NAV_NOALT	0x01	/* altitude used */
X#define JUPITER_O_GPOS_NAV_NODGPS	0x02	/* no differential GPS */
X#define JUPITER_O_GPOS_NAV_NOSAT	0x04	/* not enough satellites */
X#define JUPITER_O_GPOS_NAV_MAXH		0x08	/* exceeded max EHPE */
X#define JUPITER_O_GPOS_NAV_MAXV		0x10	/* exceeded max EVPE */
X
X/* JUPITER_O_CHAN (1002) */
Xstruct jchan {
X	u_short stime[2];		/* set time (10 ms ticks) */
X	u_short seq;			/* sequence number */
X	u_short sseq;			/* sat measurement sequence number */
X	u_short gweek;			/* GPS week number */
X	u_short sweek[2];		/* GPS seconds into week */
X	u_short gpsns[2];		/* GPS nanoseconds from epoch */
X	struct jchan2 {
X		u_short flags;		/* flags */
X		u_short prn;		/* satellite PRN */
X		u_short chan;		/* channel number */
X	} sat[12];
X	u_short dsum;
X};
X
X/* JUPITER_O_VIS (1003) */
Xstruct jvis {
X	u_short stime[2];		/* set time (10 ms ticks) */
X	u_short seq;			/* sequence number */
X	u_short gdop;			/* best possible GDOP */
X	u_short pdop;			/* best possible PDOP */
X	u_short hdop;			/* best possible HDOP */
X	u_short vdop;			/* best possible VDOP */
X	u_short tdop;			/* best possible TDOP */
X	u_short nvis;			/* number of visible satellites */
X	struct jvis2 {
X		u_short prn;		/* satellite PRN */
X		u_short azi;		/* satellite azimuth (radians) */
X		u_short elev;		/* satellite elevation (radians) */
X	} sat[12];
X	u_short dsum;			/* checksum */
X};
X
X/* JUPITER_O_ID (1011) */
Xstruct jid {
X	u_short stime[2];		/* set time (10 ms ticks) */
X	u_short seq;			/* sequence number */
X	char chans[20];			/* number of channels (ascii) */
X	char vers[20];			/* software version (ascii) */
X	char date[20];			/* software date (ascii) */
X	char opts[20];			/* software options (ascii) */
X	char reserved[20];
X	u_short dsum;			/* checksum */
X};
X
X/* JUPITER_O_USER (1012) */
Xstruct juser {
X	u_short stime[2];		/* set time (10 ms ticks) */
X	u_short seq;			/* sequence number */
X	u_short status;			/* operatinoal status */
X	u_short coldtmo;		/* cold start time-out */
X	u_short dgpstmo;		/* DGPS correction time-out*/
X	u_short emask;			/* elevation mask */
X	u_short selcand[2];		/* selected candidate */
X	u_short solflags;		/* solution validity criteria */
X	u_short nsat;			/* number of satellites in track */
X	u_short herr[2];		/* minimum expected horizontal error */
X	u_short verr[2];		/* minimum expected vertical error */
X	u_short platform;		/* application platform */
X	u_short dsum;			/* checksum */
X};
X
X/* JUPITER_O_PULSE (1108) */
Xstruct jpulse {
X	u_short stime[2];		/* set time (10 ms ticks) */
X	u_short seq;			/* sequence number */
X	u_short reserved[5];
X	u_short sweek[2];		/* GPS seconds into week */
X	short offs;			/* GPS to UTC time offset (seconds) */
X	u_short offns[2];		/* GPS to UTC offset (nanoseconds) */
X	u_short flags;			/* flags */
X	u_short dsum;			/* checksum */
X};
X#define JUPITER_O_PULSE_VALID		0x1	/* time mark validity */
X#define JUPITER_O_PULSE_UTC		0x2	/* GPS/UTC sync */
X
X/* JUPITER_O_EUP (1135) */
Xstruct jeup {
X	u_short stime[2];		/* set time (10 ms ticks) */
X	u_short seq;			/* sequence number */
X	u_char dataid;			/* data id */
X	u_char prn;			/* satellite PRN */
X	u_short dsum;			/* checksum */
X};
X
X/* JUPITER_I_RESTART (1303) */
Xstruct jrestart {
X	u_short seq;			/* sequence number */
X	u_short flags;
X	u_short dsum;			/* checksum */
X};
X#define JUPITER_I_RESTART_INVRAM	0x01
X#define JUPITER_I_RESTART_INVEEPROM	0x02
X#define JUPITER_I_RESTART_INVRTC	0x04
X#define JUPITER_I_RESTART_COLD		0x80
X
X/* JUPITER_I_PVTINIT (1200) */
Xstruct jpvtinit {
X	u_short flags;
X	u_short gweek;			/* GPS week number */
X	u_short sweek[2];		/* GPS seconds into week */
X	u_short utcday;			/* 1 to 31 */
X	u_short utcmon;			/* 1 to 12 */
X	u_short utcyear;		/* 1980 to 2079 */
X	u_short utchour;		/* 0 to 23 */
X	u_short utcmin;			/* 0 to 59 */
X	u_short utcsec;			/* 0 to 59 */
X	u_short lat[2];			/* latitude (radians) */
X	u_short lon[2];			/* longitude (radians) */
X	u_short height[2];		/* height (meters) */
X	u_short speed[2];		/* ground speed (meters/sec) */
X	u_short course;			/* true course (radians) */
X	u_short climb;
X	u_short dsum;
X};
X#define JUPITER_I_PVTINIT_FORCE		0x01
X#define JUPITER_I_PVTINIT_GPSVAL	0x02
X#define JUPITER_I_PVTINIT_UTCVAL	0x04
X#define JUPITER_I_PVTINIT_POSVAL	0x08
X#define JUPITER_I_PVTINIT_ALTVAL	0x10
X#define JUPITER_I_PVTINIT_SPDVAL	0x12
X#define JUPITER_I_PVTINIT_MAGVAL	0x14
X#define JUPITER_I_PVTINIT_CLIMBVAL	0x18
X
X/* JUPITER_I_PLAT (1220) */
Xstruct jplat {
X	u_short seq;			/* sequence number */
X	u_short platform;		/* application platform */
X	u_short dsum;
X};
X#define JUPITER_I_PLAT_DEFAULT		0	/* default dynamics */
X#define JUPITER_I_PLAT_LOW		2	/* pedestrian */
X#define JUPITER_I_PLAT_MED		5	/* land (e.g. automobile) */
X#define JUPITER_I_PLAT_HIGH		6	/* air */
SHAR_EOF
if test 9321 -ne "`wc -c < 'jupiter.h'`"
then
	echo shar: error transmitting "'jupiter.h'" '(should have been 9321 characters)'
fi
fi # end of overwriting check
echo shar: extracting "'refclock_jupiter.c'" '(33681 characters)'
if test -f 'refclock_jupiter.c'
then
	echo shar: will not over-write existing file "'refclock_jupiter.c'"
else
sed 's/^X//' << \SHAR_EOF > 'refclock_jupiter.c'
X/*
X * Copyright (c) 1997, 1998
X *	The Regents of the University of California.  All rights reserved.
X *
X * Redistribution and use in source and binary forms, with or without
X * modification, are permitted provided that the following conditions
X * are met:
X * 1. Redistributions of source code must retain the above copyright
X *    notice, this list of conditions and the following disclaimer.
X * 2. Redistributions in binary form must reproduce the above copyright
X *    notice, this list of conditions and the following disclaimer in the
X *    documentation and/or other materials provided with the distribution.
X * 3. All advertising materials mentioning features or use of this software
X *    must display the following acknowledgement:
X *	This product includes software developed by the University of
X *	California, Lawrence Berkeley Laboratory.
X * 4. The name of the University may not be used to endorse or promote
X *    products derived from this software without specific prior
X *    written permission.
X *
X * THIS SOFTWARE IS PROVIDED BY THE REGENTS AND CONTRIBUTORS ``AS IS'' AND
X * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
X * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
X * ARE DISCLAIMED.  IN NO EVENT SHALL THE REGENTS OR CONTRIBUTORS BE LIABLE
X * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
X * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
X * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
X * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
X * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
X * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
X * SUCH DAMAGE.
X */
X
X#ifdef HAVE_CONFIG_H
X# include <config.h>
X#endif
X
X#if defined(REFCLOCK) && defined(JUPITER) && defined(PPS)
X
X#include <stdio.h>
X#include <ctype.h>
X#include <sys/time.h>
X#include <errno.h>
X
X#include "ntpd.h"
X#include "ntp_io.h"
X#include "ntp_refclock.h"
X#include "ntp_unixtime.h"
X#include "ntp_stdlib.h"
X#include "ntp_calendar.h"
X
X#include "jupiter.h"
X
X#if __STDC__
X#include <stdarg.h>
X#else
X#include <varargs.h>
X#endif /* __STDC__ */
X
X#include <sys/ppsclock.h>
X
X#ifdef XNTP_BIG_ENDIAN
X#define getshort(s) ((((s) & 0xff) << 8) | (((s) >> 8) & 0xff))
X#define putshort(s) ((((s) & 0xff) << 8) | (((s) >> 8) & 0xff))
X#else
X#define getshort(s) (s)
X#define putshort(s) (s)
X#endif
X
X/* XXX */
X#ifdef sun
Xchar *strerror(int);
X#endif
X
X/*
X * This driver supports the Rockwell Jupiter GPS Receiver board
X * adapted to precision timing applications.  It requires the
X * ppsclock line discipline or streams module described in the
X * Line Disciplines and Streams Drivers page. It also requires a
X * gadget box and 1-PPS level converter, such as described in the
X * Pulse-per-second (PPS) Signal Interfacing page.
X *
X * It may work (with minor modifications) with other Rockwell GPS
X * receivers such as the CityTracker.
X */
X
X/*
X * GPS Definitions
X */
X#define	DEVICE		"/dev/gps%d"	/* device name and unit */
X#define	SPEED232	B9600		/* baud */
X
X/*
X * The number of raw samples which we acquire to derive a single estimate.
X * NSAMPLES ideally should not exceed the default poll interval 64.
X * NKEEP must be a power of 2 to simplify the averaging process.
X */
X#define NSAMPLES	64
X#define NKEEP		8
X#define REFCLOCKMAXDISPERSE (FP_SECOND/4) /* max sample dispersion */
X
X/*
X * Radio interface parameters
X */
X#define	PRECISION	(-18)	/* precision assumed (about 4 us) */
X#define	REFID	"GPS\0"		/* reference id */
X#define	DESCRIPTION	"Rockwell Jupiter GPS Receiver" /* who we are */
X#define	DEFFUDGETIME	0	/* default fudge time (ms) */
X
X/* Unix timestamp for the GPS epoch: January 6, 1980 */
X#define GPS_EPOCH 315964800
X
X/* Double short to unsigned int */
X#define DS2UI(p) ((getshort((p)[1]) << 16) | getshort((p)[0]))
X
X/* Double short to signed int */
X#define DS2I(p) ((getshort((p)[1]) << 16) | getshort((p)[0]))
X
X/* One week's worth of seconds */
X#define WEEKSECS (7 * 24 * 60 * 60)
X
X/*
X * Imported from the ntp_timer module
X */
Xextern u_long current_time;	/* current time (s) */
X
X/*
X * Imported from ntpd module
X */
Xextern int debug;		/* global debug flag */
X
X/*
X * Juptier unit control structure.
X */
Xstruct jupiterunit {
X	u_int  pollcnt;			/* poll message counter */
X	u_int  polled;			/* Hand in a time sample? */
X	u_int  lastserial;		/* last pps serial number */
X	struct ppsclockev ppsev;	/* PPS control structure */
X	u_int gweek;			/* current GPS week number */
X	u_int32 lastsweek;		/* last seconds into GPS week */
X	u_int32 timecode;		/* current ntp timecode */
X	u_int32 stime;			/* used to detect firmware bug */
X	int wantid;			/* don't reconfig on channel id msg */
X	u_int  moving;			/* mobile platform? */
X	u_long sloppyclockflag;		/* fudge flags */
X	u_int  known;			/* position known yet? */
X	int    coderecv;		/* total received samples */
X	int    nkeep;			/* number of samples to preserve */
X	int    rshift;			/* number of rshifts for division */
X	l_fp   filter[NSAMPLES];	/* offset filter */
X	l_fp   lastref;			/* last reference timestamp */
X	u_short sbuf[512];		/* local input buffer */
X	int ssize;			/* space used in sbuf */
X};
X
X/*
X * Function prototypes
X */
Xstatic	void	jupiter_canmsg(struct peer *, u_int);
Xstatic	u_short	jupiter_cksum(u_short *, u_int);
X#ifdef QSORT_USES_VOID_P
X	int	jupiter_cmpl_fp	P((const void *, const void *));
X#else
X	int	jupiter_cmpl_fp	P((const l_fp *, const l_fp *));
X#endif /* not QSORT_USES_VOID_P */
Xstatic	void	jupiter_config	P((struct peer *));
Xstatic	void	jupiter_debug	P((struct peer *, char *, ...))
X    __attribute__ ((format (printf, 2, 3)));
Xstatic	char *	jupiter_offset	P((struct peer *));
Xstatic	char *	jupiter_parse_t	P((struct peer *, u_short *));
Xstatic	void	jupiter_platform(struct peer *, u_int);
Xstatic	void	jupiter_poll	P((int, struct peer *));
Xstatic	int	jupiter_pps	P((struct peer *));
Xstatic	char *	jupiter_process	P((struct peer *));
Xstatic	int	jupiter_recv(struct peer *);
Xstatic	void	jupiter_receive P ((register struct recvbuf *rbufp));
Xstatic	void	jupiter_reqmsg(struct peer *, u_int, u_int);
Xstatic	void	jupiter_reqonemsg(struct peer *, u_int);
Xstatic	char *	jupiter_send(struct peer *, struct jheader *);
Xstatic	void	jupiter_shutdown	P((int, struct peer *));
Xstatic	int	jupiter_start	P((int, struct peer *));
Xstatic	int	jupiter_ttyinit(struct peer *, int);
X
X/*
X * Transfer vector
X */
Xstruct	refclock refclock_jupiter = {
X	jupiter_start,		/* start up driver */
X	jupiter_shutdown,	/* shut down driver */
X	jupiter_poll,		/* transmit poll message */
X	noentry,		/* (clock control) */
X	noentry,		/* (clock init) */
X	noentry,		/* (clock buginfo) */
X	NOFLAGS			/* not used */
X};
X
X/*
X * jupiter_start - open the devices and initialize data for processing
X */
Xstatic int
Xjupiter_start(register int unit, register struct peer *peer)
X{
X	struct refclockproc *pp;
X	register struct jupiterunit *up;
X	register int fd;
X	char gpsdev[20];
X
X	/*
X	 * Open serial port
X	 */
X	(void)sprintf(gpsdev, DEVICE, unit);
X	fd = open(gpsdev, O_RDWR
X#ifdef O_NONBLOCK
X	    | O_NONBLOCK
X#endif
X	    , 0);
X	if (fd < 0) {
X		jupiter_debug(peer, "jupiter_start: open %s: %s\n",
X		    gpsdev, strerror(errno));
X		return (0);
X	}
X	if (!jupiter_ttyinit(peer, fd))
X		return (0);
X
X	/* Allocate unit structure */
X	if ((up = (struct jupiterunit *)
X	    emalloc(sizeof(struct jupiterunit))) == NULL) {
X		(void) close(fd);
X		return (0);
X	}
X	memset((char *)up, 0, sizeof(struct jupiterunit));
X	pp = peer->procptr;
X	pp->io.clock_recv = jupiter_receive;
X	pp->io.srcclock = (caddr_t)peer;
X	pp->io.datalen = 0;
X	pp->io.fd = fd;
X	if (!io_addclock(&pp->io)) {
X		(void) close(fd);
X		free(up);
X		return (0);
X	}
X	pp->unitptr = (caddr_t)up;
X
X	/*
X	 * Initialize miscellaneous variables
X	 */
X	peer->precision = PRECISION;
X	pp->clockdesc = DESCRIPTION;
X	memcpy((char *)&pp->refid, REFID, 4);
X
X
X	/* Ensure the receiver is properly configured */
X	jupiter_config(peer);
X
X	/* Turn on pulse gathering by requesting the first sample */
X	if (ioctl(fd, CIOGETEV, (caddr_t)&up->ppsev) < 0) {
X		jupiter_debug(peer, "jupiter_ttyinit: CIOGETEV: %s\n",
X		    strerror(errno));
X		(void) close(fd);
X		free(up);
X		return (0);
X	}
X	up->lastserial = up->ppsev.serial;
X	memset(&up->ppsev, 0, sizeof(up->ppsev));
X	return (1);
X}
X
X/*
X * jupiter_shutdown - shut down the clock
X */
Xstatic void
Xjupiter_shutdown(register int unit, register struct peer *peer)
X{
X	register struct jupiterunit *up;
X	struct refclockproc *pp;
X
X	pp = peer->procptr;
X	up = (struct jupiterunit *)pp->unitptr;
X	io_closeclock(&pp->io);
X	free(up);
X}
X
X/*
X * jupiter_config - Configure the receiver
X */
Xstatic void
Xjupiter_config(register struct peer *peer)
X{
X	register int i;
X	register struct jupiterunit *up;
X	register struct refclockproc *pp;
X
X	pp = peer->procptr;
X	up = (struct jupiterunit *)pp->unitptr;
X
X	/*
X	 * Initialize the unit variables
X	 *
X	 * STRANGE BEHAVIOUR WARNING: The fudge flags are not available
X	 * at the time jupiter_start is called.  These are set later,