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1 /*
2 * This software was developed by the Software and Component Technologies
3 * group of Trimble Navigation, Ltd.
4 *
5 * Copyright (c) 1997, 1998, 1999, 2000 Trimble Navigation Ltd.
6 * All rights reserved.
7 *
8 * Redistribution and use in source and binary forms, with or without
9 * modification, are permitted provided that the following conditions
10 * are met:
11 * 1. Redistributions of source code must retain the above copyright
12 * notice, this list of conditions and the following disclaimer.
13 * 2. Redistributions in binary form must reproduce the above copyright
14 * notice, this list of conditions and the following disclaimer in the
15 * documentation and/or other materials provided with the distribution.
16 * 3. All advertising materials mentioning features or use of this software
17 * must display the following acknowledgement:
18 * This product includes software developed by Trimble Navigation, Ltd.
19 * 4. The name of Trimble Navigation Ltd. may not be used to endorse or
20 * promote products derived from this software without specific prior
21 * written permission.
22 *
23 * THIS SOFTWARE IS PROVIDED BY TRIMBLE NAVIGATION LTD. ``AS IS'' AND
24 * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
25 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
26 * ARE DISCLAIMED. IN NO EVENT SHALL TRIMBLE NAVIGATION LTD. BE LIABLE
27 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
28 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
29 * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
30 * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
31 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
32 * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
33 * SUCH DAMAGE.
34 */
35
36 /*
37 * refclock_palisade - clock driver for the Trimble Palisade GPS
38 * timing receiver
39 *
40 * For detailed information on this program, please refer to the html
41 * Refclock 29 page accompanying the NTP distribution.
42 *
43 * for questions / bugs / comments, contact:
44 * sven_dietrich@trimble.com
45 *
46 * Sven-Thorsten Dietrich
47 * 645 North Mary Avenue
48 * Post Office Box 3642
49 * Sunnyvale, CA 94088-3642
50 *
51 * Version 2.45; July 14, 1999
52 *
53 *
54 *
55 * 31/03/06: Added support for Thunderbolt GPS Disciplined Clock.
56 * Contact: Fernando Pablo Hauscarriaga
57 * E-mail: fernandoph@iar.unlp.edu.ar
58 * Home page: www.iar.unlp.edu.ar/~fernandoph
59 * Instituto Argentino de Radioastronomia
60 * www.iar.unlp.edu.ar
61 *
62 * 14/01/07: Conditinal compilation for Thunderbolt support no longer needed
63 * now we use mode 2 for decode thunderbolt packets.
64 * Fernando P. Hauscarriaga
65 *
66 * 30/08/09: Added support for Trimble Acutime Gold Receiver.
67 * Fernando P. Hauscarriaga (fernandoph@iar.unlp.edu.ar)
68 *
69 * 21/04/18: Added support for Resolution devices.
70 *
71 * 03/09/19: Added support for ACE III & Copernicus II.
72 */
73
74 #ifdef HAVE_CONFIG_H
75 # include "config.h"
76 #endif
77
78 #if defined(REFCLOCK) && defined(CLOCK_PALISADE)
79
80 #ifdef SYS_WINNT
81 extern int async_write(int, const void *, unsigned int);
82 #undef write
83 #define write(fd, data, octets) async_write(fd, data, octets)
84 #endif
85
86 #include "refclock_palisade.h"
87
88 #ifdef DEBUG
89 const char * Tracking_Status[15][15] = {
90 { "Doing Fixes\0" }, { "Good 1SV\0" }, { "Approx. 1SV\0" },
91 {"Need Time\0" }, { "Need INIT\0" }, { "PDOP too High\0" },
92 { "Bad 1SV\0" }, { "0SV Usable\0" }, { "1SV Usable\0" },
93 { "2SV Usable\0" }, { "3SV Usable\0" }, { "No Integrity\0" },
94 { "Diff Corr\0" }, { "Overdet Clock\0" }, { "Invalid\0" } };
95 #endif
96
97 /*
98 * Transfer vector
99 */
100 struct refclock refclock_palisade = {
101 palisade_start, /* start up driver */
102 palisade_shutdown, /* shut down driver */
103 palisade_poll, /* transmit poll message */
104 noentry, /* not used */
105 noentry, /* initialize driver (not used) */
106 noentry, /* not used */
107 NOFLAGS /* not used */
108 };
109
110 static int decode_date(struct refclockproc *pp, const char *cp);
111
112 /* Extract the clock type from the mode setting */
113 #define CLK_TYPE(x) ((int)(((x)->ttl) & 0x7F))
114
115 /* Supported clock types */
116 #define CLK_TRIMBLE 0 /* Trimble Palisade */
117 #define CLK_PRAECIS 1 /* Endrun Technologies Praecis */
118 #define CLK_THUNDERBOLT 2 /* Trimble Thunderbolt GPS Receiver */
119 #define CLK_ACUTIME 3 /* Trimble Acutime Gold */
120 #define CLK_ACUTIMEB 4 /* Trimble Actutime Gold Port B */
121 #define CLK_RESOLUTION 5 /* Trimble Resolution Receivers */
122 #define CLK_ACE 6 /* Trimble ACE III */
123 #define CLK_COPERNICUS 7 /* Trimble Copernicus II */
124
125 int praecis_msg;
126 static void praecis_parse(struct recvbuf *rbufp, struct peer *peer);
127
128 /* These routines are for sending packets to the Thunderbolt receiver
129 * They are taken from Markus Prosch
130 */
131
132 /*
133 * sendcmd - Build data packet for sending
134 */
135 static void
136 sendcmd (
137 struct packettx *buffer,
138 int c
139 )
140 {
141 *buffer->data = DLE;
142 *(buffer->data + 1) = (unsigned char)c;
143 buffer->size = 2;
144 }
145
146 /*
147 * sendsupercmd - Build super data packet for sending
148 */
149 static void
150 sendsupercmd (
151 struct packettx *buffer,
152 int c1,
153 int c2
154 )
155 {
156 *buffer->data = DLE;
157 *(buffer->data + 1) = (unsigned char)c1;
158 *(buffer->data + 2) = (unsigned char)c2;
159 buffer->size = 3;
160 }
161
162 /*
163 * sendbyte -
164 */
165 static void
166 sendbyte (
167 struct packettx *buffer,
168 int b
169 )
170 {
171 if (b == DLE)
172 *(buffer->data+buffer->size++) = DLE;
173 *(buffer->data+buffer->size++) = (unsigned char)b;
174 }
175
176 /*
177 * sendint -
178 */
179 static void
180 sendint (
181 struct packettx *buffer,
182 int a
183 )
184 {
185 sendbyte(buffer, (unsigned char)((a>>8) & 0xff));
186 sendbyte(buffer, (unsigned char)(a & 0xff));
187 }
188
189 /*
190 * sendetx - Send packet or super packet to the device
191 */
192 static int
193 sendetx (
194 struct packettx *buffer,
195 int fd
196 )
197 {
198 int result;
199
200 *(buffer->data+buffer->size++) = DLE;
201 *(buffer->data+buffer->size++) = ETX;
202 result = write(fd, buffer->data, (unsigned long)buffer->size);
203
204 if (result != -1)
205 return (result);
206 else
207 return (-1);
208 }
209
210 /*
211 * init_thunderbolt - Prepares Thunderbolt receiver to be used with
212 * NTP (also taken from Markus Prosch).
213 */
214 static void
215 init_thunderbolt (
216 int fd
217 )
218 {
219 struct packettx tx;
220
221 tx.size = 0;
222 tx.data = (u_char *) emalloc(100);
223
224 /* set UTC time */
225 sendsupercmd (&tx, 0x8E, 0xA2);
226 sendbyte (&tx, 0x3);
227 sendetx (&tx, fd);
228
229 /* activate packets 0x8F-AB and 0x8F-AC */
230 sendsupercmd (&tx, 0x8E, 0xA5);
231 sendint (&tx, 0x5);
232 sendetx (&tx, fd);
233
234 free(tx.data);
235 }
236
237 /*
238 * init_acutime - Prepares Acutime Receiver to be used with NTP
239 */
240 static void
241 init_acutime (
242 int fd
243 )
244 {
245 /* Disable all outputs, Enable Event-Polling on PortA so
246 we can ask for time packets */
247 struct packettx tx;
248
249 tx.size = 0;
250 tx.data = (u_char *) emalloc(100);
251
252 sendsupercmd(&tx, 0x8E, 0xA5);
253 sendbyte(&tx, 0x02);
254 sendbyte(&tx, 0x00);
255 sendbyte(&tx, 0x00);
256 sendbyte(&tx, 0x00);
257 sendetx(&tx, fd);
258
259 free(tx.data);
260 }
261
262 /*
263 * init_resolution - Prepares Resolution receiver to be used with NTP
264 */
265 static void
266 init_resolution (
267 int fd
268 )
269 {
270 struct packettx tx;
271
272 tx.size = 0;
273 tx.data = (u_char *) emalloc(100);
274
275 /* set UTC time */
276 sendsupercmd (&tx, 0x8E, 0xA2);
277 sendbyte (&tx, 0x3);
278 sendetx (&tx, fd);
279
280 /* squelch PPS output unless locked to at least one satellite */
281 sendsupercmd (&tx, 0x8E, 0x4E);
282 sendbyte (&tx, 0x3);
283 sendetx (&tx, fd);
284
285 /* activate packets 0x8F-AB and 0x8F-AC */
286 sendsupercmd (&tx, 0x8E, 0xA5);
287 sendint (&tx, 0x5);
288 sendetx (&tx, fd);
289
290 free(tx.data);
291 }
292
293 /*
294 * palisade_start - open the devices and initialize data for processing
295 */
296 static int
297 palisade_start (
298 int unit,
299 struct peer *peer
300 )
301 {
302 struct palisade_unit *up;
303 struct refclockproc *pp;
304 int fd;
305 char gpsdev[20];
306 struct termios tio;
307 u_int speed;
308
309 snprintf(gpsdev, sizeof(gpsdev), DEVICE, unit);
310
311 /*
312 * Open serial port.
313 */
314 speed = (CLK_TYPE(peer) == CLK_COPERNICUS) ? SPEED232COP : SPEED232;
315 fd = refclock_open(gpsdev, speed, LDISC_RAW);
316 if (fd <= 0) {
317 #ifdef DEBUG
318 printf("Palisade(%d) start: open %s failed\n", unit, gpsdev);
319 #endif
320 return 0;
321 }
322
323 msyslog(LOG_NOTICE, "Palisade(%d) fd: %d dev: %s", unit, fd,
324 gpsdev);
325
326 if (tcgetattr(fd, &tio) < 0) {
327 msyslog(LOG_ERR,
328 "Palisade(%d) tcgetattr(fd, &tio): %m",unit);
329 #ifdef DEBUG
330 printf("Palisade(%d) tcgetattr(fd, &tio)\n",unit);
331 #endif
332 close(fd);
333 return (0);
334 }
335
336 tio.c_cflag |= (PARENB|PARODD);
337 tio.c_iflag &= ~ICRNL;
338
339 /*
340 * Allocate and initialize unit structure
341 */
342 up = emalloc_zero(sizeof(*up));
343
344 up->type = CLK_TYPE(peer);
345 switch (up->type) {
346 case CLK_TRIMBLE:
347 /* Normal mode, do nothing */
348 break;
349 case CLK_PRAECIS:
350 msyslog(LOG_NOTICE, "Palisade(%d) Praecis mode enabled"
351 ,unit);
352 break;
353 case CLK_THUNDERBOLT:
354 msyslog(LOG_NOTICE, "Palisade(%d) Thunderbolt mode enabled"
355 ,unit);
356 tio.c_cflag = (CS8|CLOCAL|CREAD);
357 break;
358 case CLK_ACUTIME:
359 msyslog(LOG_NOTICE, "Palisade(%d) Acutime Gold mode enabled"
360 ,unit);
361 break;
362 case CLK_RESOLUTION:
363 msyslog(LOG_NOTICE, "Palisade(%d) Resolution mode enabled"
364 ,unit);
365 tio.c_cflag = (CS8|CLOCAL|CREAD|PARENB|PARODD);
366 break;
367 case CLK_ACE:
368 msyslog(LOG_NOTICE, "Palisade(%d) ACE III mode enabled"
369 ,unit);
370 tio.c_cflag = (CS8|CLOCAL|CREAD|PARENB|PARODD);
371 break;
372 case CLK_COPERNICUS:
373 msyslog(LOG_NOTICE, "Palisade(%d) Copernicus II mode enabled"
374 ,unit);
375 /* Must use ORing/ANDing to set/clear c_cflag bits otherwise
376 CBAUD gets set back to 0. This ought to be an issue for
377 the other modes above but it seems that the baud rate
378 defaults to 9600 if CBAUD gets set to 0. */
379 tio.c_cflag &= ~(PARENB|PARODD);
380 break;
381 default:
382 msyslog(LOG_NOTICE, "Palisade(%d) mode unknown",unit);
383 break;
384 }
385 if (tcsetattr(fd, TCSANOW, &tio) == -1) {
386 msyslog(LOG_ERR, "Palisade(%d) tcsetattr(fd, &tio): %m",unit);
387 #ifdef DEBUG
388 printf("Palisade(%d) tcsetattr(fd, &tio)\n",unit);
389 #endif
390 close(fd);
391 free(up);
392 return 0;
393 }
394
395 pp = peer->procptr;
396 pp->io.clock_recv = palisade_io;
397 pp->io.srcclock = peer;
398 pp->io.datalen = 0;
399 pp->io.fd = fd;
400 if (!io_addclock(&pp->io)) {
401 #ifdef DEBUG
402 printf("Palisade(%d) io_addclock\n",unit);
403 #endif
404 close(fd);
405 pp->io.fd = -1;
406 free(up);
407 return (0);
408 }
409
410 /*
411 * Initialize miscellaneous variables
412 */
413 pp->unitptr = up;
414 pp->clockdesc = DESCRIPTION;
415
416 peer->precision = PRECISION;
417 peer->sstclktype = CTL_SST_TS_UHF;
418 peer->minpoll = TRMB_MINPOLL;
419 peer->maxpoll = TRMB_MAXPOLL;
420 memcpy((char *)&pp->refid, REFID, 4);
421
422 up->leap_status = 0;
423 up->unit = (short) unit;
424 up->rpt_status = TSIP_PARSED_EMPTY;
425 up->rpt_cnt = 0;
426
427 if (up->type == CLK_THUNDERBOLT)
428 init_thunderbolt(fd);
429 if (up->type == CLK_ACUTIME)
430 init_acutime(fd);
431 if (up->type == CLK_RESOLUTION)
432 init_resolution(fd);
433
434 return 1;
435 }
436
437
438 /*
439 * palisade_shutdown - shut down the clock
440 */
441 static void
442 palisade_shutdown (
443 int unit,
444 struct peer *peer
445 )
446 {
447 struct palisade_unit *up;
448 struct refclockproc *pp;
449 pp = peer->procptr;
450 up = pp->unitptr;
451 if (-1 != pp->io.fd)
452 io_closeclock(&pp->io);
453 if (NULL != up)
454 free(up);
455 }
456
457
458 /*
459 * unpack helpers
460 */
461
462 static inline uint8_t
463 get_u8(
464 const char *cp)
465 {
466 return ((const u_char*)cp)[0];
467 }
468
469 static inline uint16_t
470 get_u16(
471 const char *cp)
472 {
473 return ((uint16_t)get_u8(cp) << 8) | get_u8(cp + 1);
474 }
475
476 /*
477 * unpack & fix date (the receiver provides a valid time for 1024 weeks
478 * after 1997-12-14 and therefore folds back in 2017, 2037,...)
479 *
480 * Returns -1 on error, day-of-month + (month * 32) othertwise.
481 */
482 int
483 decode_date(
484 struct refclockproc *pp,
485 const char *cp)
486 {
487 static int32_t s_baseday = 0;
488
489 struct calendar jd;
490 int32_t rd;
491
492 if (0 == s_baseday) {
493 if (!ntpcal_get_build_date(&jd)) {
494 jd.year = 2015;
495 jd.month = 1;
496 jd.monthday = 1;
497 }
498 s_baseday = ntpcal_date_to_rd(&jd);
499 }
500
501 /* get date fields and convert to RDN */
502 jd.monthday = get_u8 ( cp );
503 jd.month = get_u8 (cp + 1);
504 jd.year = get_u16(cp + 2);
505 rd = ntpcal_date_to_rd(&jd);
506
507 /* for the paranoid: do reverse calculation and cross-check */
508 ntpcal_rd_to_date(&jd, rd);
509 if ((jd.monthday != get_u8 ( cp )) ||
510 (jd.month != get_u8 (cp + 1)) ||
511 (jd.year != get_u16(cp + 2)) )
512 return - 1;
513
514 /* calculate cycle shift to base day and calculate re-folded
515 * date
516 *
517 * One could do a proper modulo calculation here, but a counting
518 * loop is probably faster for the next few rollovers...
519 */
520 while (rd < s_baseday)
521 rd += 7*1024;
522 ntpcal_rd_to_date(&jd, rd);
523
524 /* fill refclock structure & indicate success */
525 pp->day = jd.yearday;
526 pp->year = jd.year;
527 return ((int)jd.month << 5) | jd.monthday;
528 }
529
530
531 /*
532 * TSIP_decode - decode the TSIP data packets
533 */
534 int
535 TSIP_decode (
536 struct peer *peer
537 )
538 {
539 int st;
540 long secint;
541 double secs;
542 double secfrac;
543 unsigned short event = 0;
544 int mmday;
545 long tow;
546 uint16_t wn;
547 int GPS_UTC_Offset;
548
549 struct palisade_unit *up;
550 struct refclockproc *pp;
551
552 pp = peer->procptr;
553 up = pp->unitptr;
554
555 /*
556 * Check the time packet, decode its contents.
557 * If the timecode has invalid length or is not in
558 * proper format, declare bad format and exit.
559 */
560
561 if ((up->type != CLK_THUNDERBOLT) &&
562 (up->type != CLK_ACUTIME ) &&
563 (up->type != CLK_RESOLUTION ) &&
564 (up->type != CLK_ACE ) &&
565 (up->type != CLK_COPERNICUS ) )
566 {
567 if ((up->rpt_buf[0] == (char) 0x41) ||
568 (up->rpt_buf[0] == (char) 0x46) ||
569 (up->rpt_buf[0] == (char) 0x54) ||
570 (up->rpt_buf[0] == (char) 0x4B) ||
571 (up->rpt_buf[0] == (char) 0x6D)) {
572
573 /* standard time packet - GPS time and GPS week number */
574 #ifdef DEBUG
575 printf("Palisade Port B packets detected. Connect to Port A\n");
576 #endif
577
578 return 0;
579 }
580 }
581
582 /*
583 * We cast both to u_char as 0x8f uses the sign bit on a char
584 */
585 if ((u_char) up->rpt_buf[0] == (u_char) 0x8f) {
586 /*
587 * Superpackets
588 */
589 event = (unsigned short) (getint((u_char *) &mb(1)) & 0xffff);
590 if (!((pp->sloppyclockflag & CLK_FLAG2) || event))
591 /* Ignore Packet */
592 return 0;
593
594 switch (mb(0) & 0xff) {
595
596 case PACKET_8F0B:
597
598 if (up->polled <= 0)
599 return 0;
600
601 if (up->rpt_cnt != LENCODE_8F0B) /* check length */
602 break;
603
604 #ifdef DEBUG
605 if (debug > 1) {
606 int ts;
607 double lat, lon, alt;
608 lat = getdbl((u_char *) &mb(42)) * R2D;
609 lon = getdbl((u_char *) &mb(50)) * R2D;
610 alt = getdbl((u_char *) &mb(58));
611
612 printf("TSIP_decode: unit %d: Latitude: %03.4f Longitude: %03.4f Alt: %05.2f m\n",
613 up->unit, lat,lon,alt);
614 printf("TSIP_decode: unit %d: Sats:",
615 up->unit);
616 for (st = 66, ts = 0; st <= 73; st++)
617 if (mb(st)) {
618 if (mb(st) > 0) ts++;
619 printf(" %02d", mb(st));
620 }
621 printf(" : Tracking %d\n", ts);
622 }
623 #endif
624
625 GPS_UTC_Offset = getint((u_char *) &mb(16));
626 if (GPS_UTC_Offset == 0) { /* Check UTC offset */
627 #ifdef DEBUG
628 printf("TSIP_decode: UTC Offset Unknown\n");
629 #endif
630 break;
631 }
632
633 secs = getdbl((u_char *) &mb(3));
634 secint = (long) secs;
635 secfrac = secs - secint; /* 0.0 <= secfrac < 1.0 */
636
637 pp->nsec = (long) (secfrac * 1000000000);
638
639 secint %= 86400; /* Only care about today */
640 pp->hour = secint / 3600;
641 secint %= 3600;
642 pp->minute = secint / 60;
643 secint %= 60;
644 pp->second = secint % 60;
645
646 mmday = decode_date(pp, &mb(11));
647 if (mmday < 0)
648 break;
649
650 #ifdef DEBUG
651 if (debug > 1)
652 printf("TSIP_decode: unit %d: %02X #%d %02d:%02d:%02d.%09ld %02d/%02d/%04d UTC %02d\n",
653 up->unit, mb(0) & 0xff, event, pp->hour, pp->minute,
654 pp->second, pp->nsec, (mmday >> 5), (mmday & 31), pp->year, GPS_UTC_Offset);
655 #endif
656 /* Only use this packet when no
657 * 8F-AD's are being received
658 */
659
660 if (up->leap_status) {
661 up->leap_status = 0;
662 return 0;
663 }
664
665 return 2;
666 break;
667
668 case PACKET_NTP:
669 /* Palisade-NTP Packet */
670
671 if (up->rpt_cnt != LENCODE_NTP) /* check length */
672 break;
673
674 up->leap_status = mb(19);
675
676 if (up->polled <= 0)
677 return 0;
678
679 /* Check Tracking Status */
680 st = mb(18);
681 if (st < 0 || st > 14)
682 st = 14;
683 if ((st >= 2 && st <= 7) || st == 11 || st == 12) {
684 #ifdef DEBUG
685 printf("TSIP_decode: Not Tracking Sats : %s\n",
686 *Tracking_Status[st]);
687 #endif
688 refclock_report(peer, CEVNT_BADTIME);
689 up->polled = -1;
690 return 0;
691 break;
692 }
693
694 mmday = decode_date(pp, &mb(14));
695 if (mmday < 0)
696 break;
697 up->month = (mmday >> 5); /* Save for LEAP check */
698
699 if ( (up->leap_status & PALISADE_LEAP_PENDING) &&
700 /* Avoid early announce: https://bugs.ntp.org/2773 */
701 (6 == up->month || 12 == up->month) ) {
702 if (up->leap_status & PALISADE_UTC_TIME)
703 pp->leap = LEAP_ADDSECOND;
704 else
705 pp->leap = LEAP_DELSECOND;
706 }
707 else if (up->leap_status)
708 pp->leap = LEAP_NOWARNING;
709
710 else { /* UTC flag is not set:
711 * Receiver may have been reset, and lost
712 * its UTC almanac data */
713 pp->leap = LEAP_NOTINSYNC;
714 #ifdef DEBUG
715 printf("TSIP_decode: UTC Almanac unavailable: %d\n",
716 mb(19));
717 #endif
718 refclock_report(peer, CEVNT_BADTIME);
719 up->polled = -1;
720 return 0;
721 }
722
723 pp->nsec = (long) (getdbl((u_char *) &mb(3))
724 * 1000000000);
725
726 pp->hour = mb(11);
727 pp->minute = mb(12);
728 pp->second = mb(13);
729
730 #ifdef DEBUG
731 if (debug > 1)
732 printf("TSIP_decode: unit %d: %02X #%d %02d:%02d:%02d.%09ld %02d/%02d/%04d UTC %02x %s\n",
733 up->unit, mb(0) & 0xff, event, pp->hour, pp->minute,
734 pp->second, pp->nsec, (mmday >> 5), (mmday & 31), pp->year,
735 mb(19), *Tracking_Status[st]);
736 #endif
737 return 1;
738 break;
739
740 case PACKET_8FAC:
741 if (up->polled <= 0)
742 return 0;
743
744 if (up->rpt_cnt != LENCODE_8FAC)/* check length */
745 break;
746
747 #ifdef DEBUG
748 if (debug > 1) {
749 double lat, lon, alt;
750 lat = getdbl((u_char *) &mb(36)) * R2D;
751 lon = getdbl((u_char *) &mb(44)) * R2D;
752 alt = getdbl((u_char *) &mb(52));
753
754 printf("TSIP_decode: unit %d: Latitude: %03.4f Longitude: %03.4f Alt: %05.2f m\n",
755 up->unit, lat,lon,alt);
756 printf("TSIP_decode: unit %d\n", up->unit);
757 }
758 #endif
759 if ( (getint((u_char *) &mb(10)) & 0x80) &&
760 /* Avoid early announce: https://bugs.ntp.org/2773 */
761 (6 == up->month || 12 == up->month) )
762 pp->leap = LEAP_ADDSECOND; /* we ASSUME addsecond */
763 else
764 pp->leap = LEAP_NOWARNING;
765
766 #ifdef DEBUG
767 if (debug > 1)
768 printf("TSIP_decode: unit %d: 0x%02x leap %d\n",
769 up->unit, mb(0) & 0xff, pp->leap);
770 if (debug > 1) {
771 printf("Receiver MODE: 0x%02X\n", (u_char)mb(1));
772 if (mb(1) == 0x00)
773 printf(" AUTOMATIC\n");
774 if (mb(1) == 0x01)
775 printf(" SINGLE SATELLITE\n");
776 if (mb(1) == 0x03)
777 printf(" HORIZONTAL(2D)\n");
778 if (mb(1) == 0x04)
779 printf(" FULL POSITION(3D)\n");
780 if (mb(1) == 0x05)
781 printf(" DGPR REFERENCE\n");
782 if (mb(1) == 0x06)
783 printf(" CLOCK HOLD(2D)\n");
784 if (mb(1) == 0x07)
785 printf(" OVERDETERMINED CLOCK\n");
786
787 printf("\n** Disciplining MODE 0x%02X:\n", (u_char)mb(2));
788 if (mb(2) == 0x00)
789 printf(" NORMAL\n");
790 if (mb(2) == 0x01)
791 printf(" POWER-UP\n");
792 if (mb(2) == 0x02)
793 printf(" AUTO HOLDOVER\n");
794 if (mb(2) == 0x03)
795 printf(" MANUAL HOLDOVER\n");
796 if (mb(2) == 0x04)
797 printf(" RECOVERY\n");
798 if (mb(2) == 0x06)
799 printf(" DISCIPLINING DISABLED\n");
800 }
801 #endif
802 return 0;
803 break;
804
805 case PACKET_8FAB:
806 /* Thunderbolt Primary Timing Packet */
807
808 if (up->rpt_cnt != LENCODE_8FAB) /* check length */
809 break;
810
811 if (up->polled <= 0)
812 return 0;
813
814 GPS_UTC_Offset = getint((u_char *) &mb(7));
815
816 if (GPS_UTC_Offset == 0){ /* Check UTC Offset */
817 #ifdef DEBUG
818 printf("TSIP_decode: UTC Offset Unknown\n");
819 #endif
820 break;
821 }
822
823
824 if ((mb(9) & 0x1d) == 0x0) {
825 /* if we know the GPS time and the UTC offset,
826 we expect UTC timing information !!! */
827
828 pp->leap = LEAP_NOTINSYNC;
829 refclock_report(peer, CEVNT_BADTIME);
830 up->polled = -1;
831 return 0;
832 }
833
834 pp->nsec = 0;
835 #ifdef DEBUG
836 printf("\nTiming Flags are:\n");
837 printf("Timing flag value is: 0x%X\n", mb(9));
838 if ((mb(9) & 0x01) != 0)
839 printf (" Getting UTC time\n");
840 else
841 printf (" Getting GPS time\n");
842 if ((mb(9) & 0x02) != 0)
843 printf (" PPS is from UTC\n");
844 else
845 printf (" PPS is from GPS\n");
846 if ((mb(9) & 0x04) != 0)
847 printf (" Time is not Set\n");
848 else
849 printf (" Time is Set\n");
850 if ((mb(9) & 0x08) != 0)
851 printf(" I dont have UTC info\n");
852 else
853 printf (" I have UTC info\n");
854 if ((mb(9) & 0x10) != 0)
855 printf (" Time is from USER\n\n");
856 else
857 printf (" Time is from GPS\n\n");
858 #endif
859
860 mmday = decode_date(pp, &mb(13));
861 if (mmday < 0)
862 break;
863 tow = getlong((u_char *) &mb(1));
864 #ifdef DEBUG
865 if (debug > 1) {
866 printf("pp->day: %d\n", pp->day);
867 printf("TOW: %ld\n", tow);
868 printf("DAY: %d\n", (mmday & 31));
869 }
870 #endif
871 pp->hour = mb(12);
872 pp->minute = mb(11);
873 pp->second = mb(10);
874
875
876 #ifdef DEBUG
877 if (debug > 1)
878 printf("TSIP_decode: unit %d: %02X #%d %02d:%02d:%02d.%09ld %02d/%02d/%04d ",
879 up->unit, mb(0) & 0xff, event, pp->hour, pp->minute, pp->second,
880 pp->nsec, (mmday >> 5), (mmday & 31), pp->year);
881 #endif
882 return 1;
883 break;
884
885 default:
886 /* Ignore Packet */
887 return 0;
888 } /* switch */
889 } /* if 8F packets */
890
891 else if (up->rpt_buf[0] == (u_char)0x42) {
892 printf("0x42\n");
893 return 0;
894 }
895 else if (up->rpt_buf[0] == (u_char)0x43) {
896 printf("0x43\n");
897 return 0;
898 }
899 else if ((up->rpt_buf[0] == PACKET_41) & (up->type == CLK_THUNDERBOLT)){
900 printf("Undocumented 0x41 packet on Thunderbolt\n");
901 return 0;
902 }
903 else if ((up->rpt_buf[0] == PACKET_41A) & (up->type == CLK_ACUTIME)) {
904 #ifdef DEBUG
905 printf("GPS TOW: %ld\n", (long)getlong((u_char *) &mb(0)));
906 printf("GPS WN: %d\n", getint((u_char *) &mb(4)));
907 printf("GPS UTC-GPS Offset: %ld\n", (long)getlong((u_char *) &mb(6)));
908 #endif
909 return 0;
910 }
911
912 /* GPS time packet for ACE III or Copernicus II receiver */
913 else if ((up->rpt_buf[0] == PACKET_41) &&
914 ((up->type == CLK_ACE) || (up->type == CLK_COPERNICUS))) {
915 #ifdef DEBUG
916 if ((debug > 1) && (up->type == CLK_ACE))
917 printf("TSIP_decode: Packet 0x41 seen in ACE III mode\n");
918 if ((debug > 1) && (up->type == CLK_COPERNICUS))
919 printf("TSIP_decode: Packet 0x41 seen in Copernicus II mode\n");
920 #endif
921 if (up->rpt_cnt != LENCODE_41) { /* check length */
922 refclock_report(peer, CEVNT_BADREPLY);
923 up->polled = -1;
924 #ifdef DEBUG
925 printf("TSIP_decode: unit %d: bad packet %02x len %d\n",
926 up->unit, up->rpt_buf[0] & 0xff, up->rpt_cnt);
927 #endif
928 return 0;
929 }
930 if (up->polled <= 0)
931 return 0;
932 tow = (long)getsingle((u_char *) &mb(0));
933 wn = (uint16_t)getint((u_char *) &mb(4));
934 GPS_UTC_Offset = (int)getsingle((u_char *) &mb(6));
935 if (GPS_UTC_Offset == 0){ /* Check UTC Offset */
936 #ifdef DEBUG
937 printf("TSIP_decode: UTC Offset Unknown\n");
938 #endif
939 refclock_report(peer, CEVNT_BADREPLY);
940 up->polled = -1;
941 return 0;
942 }
943 /* Get date & time from WN & ToW minus offset */
944 {
945 TCivilDate cd;
946 TGpsDatum wd;
947 l_fp ugo; /* UTC-GPS offset, negative number */
948 ugo.Ul_i.Xl_i = (int32_t)-GPS_UTC_Offset;
949 ugo.l_uf = 0;
950 wd = gpscal_from_gpsweek((wn % 1024), (int32_t)tow, ugo);
951 gpscal_to_calendar(&cd, &wd);
952 pp->year = cd.year;
953 pp->day = cd.yearday;
954 pp->hour = cd.hour;
955 pp->minute = cd.minute;
956 pp->second = cd.second;
957 pp->nsec = 0;
958 pp->leap = LEAP_NOWARNING;
959 #ifdef DEBUG
960 if (debug > 1) {
961 printf("GPS TOW: %ld\n", tow);
962 printf("GPS WN: %d\n", wn);
963 printf("GPS UTC-GPS Offset: %d\n", GPS_UTC_Offset);
964 printf("TSIP_decode: unit %d: %02X #%d %02d:%02d:%02d.%09ld %02d/%02d/%04d ",
965 up->unit, mb(0) & 0xff, event, pp->hour, pp->minute, pp->second,
966 pp->nsec, cd.month, cd.monthday, pp->year);
967 }
968 #endif
969 }
970 return 1;
971 }
972
973 /* Health Status for Acutime Receiver */
974 else if ((up->rpt_buf[0] == PACKET_46) & (up->type == CLK_ACUTIME)) {
975 #ifdef DEBUG
976 if (debug > 1)
977 /* Status Codes */
978 switch (mb(0)) {
979 case 0x00:
980 printf ("Doing Position Fixes\n");
981 break;
982 case 0x01:
983 printf ("Do not have GPS time yet\n");
984 break;
985 case 0x03:
986 printf ("PDOP is too high\n");
987 break;
988 case 0x08:
989 printf ("No usable satellites\n");
990 break;
991 case 0x09:
992 printf ("Only 1 usable satellite\n");
993 break;
994 case 0x0A:
995 printf ("Only 2 usable satellites\n");
996 break;
997 case 0x0B:
998 printf ("Only 3 usable satellites\n");
999 break;
1000 case 0x0C:
1001 printf("The Chosen satellite is unusable\n");
1002 break;
1003 }
1004 #endif
1005 /* Error Codes */
1006 if (mb(1) != 0) {
1007
1008 refclock_report(peer, CEVNT_BADTIME);
1009 up->polled = -1;
1010 #ifdef DEBUG
1011 if (debug > 1) {
1012 if (mb(1) & 0x01)
1013 printf ("Signal Processor Error, reset unit.\n");
1014 if (mb(1) & 0x02)
1015 printf ("Alignment error, channel or chip 1, reset unit.\n");
1016 if (mb(1) & 0x03)
1017 printf ("Alignment error, channel or chip 2, reset unit.\n");
1018 if (mb(1) & 0x04)
1019 printf ("Antenna feed line fault (open or short)\n");
1020 if (mb(1) & 0x05)
1021 printf ("Excessive reference frequency error, refer to packet 0x2D and packet 0x4D documentation for further information\n");
1022 }
1023 #endif
1024
1025 return 0;
1026 }
1027 }
1028
1029 /* Health Status for Copernicus II Receiver */
1030 else if ((up->rpt_buf[0] == PACKET_46) && (up->type == CLK_COPERNICUS)) {
1031 #ifdef DEBUG
1032 if (debug > 1)
1033 /* Status Codes */
1034 switch (mb(0)) {
1035 case 0x00:
1036 printf ("Doing Position Fixes\n");
1037 break;
1038 case 0x01:
1039 printf ("Do not have GPS time yet\n");
1040 break;
1041 case 0x03:
1042 printf ("PDOP is too high\n");
1043 break;
1044 case 0x04:
1045 printf("The Chosen satellite is unusable\n");
1046 break;
1047 case 0x08:
1048 printf ("No usable satellites\n");
1049 break;
1050 case 0x09:
1051 printf ("Only 1 usable satellite\n");
1052 break;
1053 case 0x0A:
1054 printf ("Only 2 usable satellites\n");
1055 break;
1056 case 0x0B:
1057 printf ("Only 3 usable satellites\n");
1058 break;
1059 }
1060 #endif
1061 /* Error Codes */
1062 if ((mb(1) & 0x3E) != 0) { /* Don't regard bits 0 and 6 as errors */
1063 refclock_report(peer, CEVNT_BADTIME);
1064 up->polled = -1;
1065 #ifdef DEBUG
1066 if (debug > 1) {
1067 if ((mb(1) & 0x18) == 0x08)
1068 printf ("Antenna feed line fault (open)\n");
1069 if ((mb(1) & 0x18) == 0x18)
1070 printf ("Antenna feed line fault (short)\n");
1071 }
1072 #endif
1073 }
1074 return 0;
1075 }
1076
1077 /* Other packets output by ACE III & Copernicus II Receivers, dropped silently */
1078 else if (((up->rpt_buf[0] == (char) 0x4A) ||
1079 (up->rpt_buf[0] == (char) 0x4B) ||
1080 (up->rpt_buf[0] == (char) 0x56) ||
1081 (up->rpt_buf[0] == (char) 0x5F) ||
1082 (up->rpt_buf[0] == (char) 0x6D) ||
1083 (up->rpt_buf[0] == (char) 0x82) ||
1084 (up->rpt_buf[0] == (char) 0x84)) &&
1085 ((up->type == CLK_ACE) || (up->type == CLK_COPERNICUS))) {
1086 #ifdef DEBUG
1087 if ((debug > 1) && (up->type == CLK_ACE))
1088 printf("TSIP_decode: Packet 0x%2x seen in ACE III mode\n", (up->rpt_buf[0] & 0XFF));
1089 if ((debug > 1) && (up->type == CLK_COPERNICUS))
1090 printf("TSIP_decode: Packet 0x%2x seen in Copernicus II mode\n", (up->rpt_buf[0] & 0XFF));
1091 #endif
1092 return 0;
1093 }
1094
1095 else if (up->rpt_buf[0] == 0x54)
1096 return 0;
1097
1098 else if (up->rpt_buf[0] == PACKET_6D) {
1099 #ifdef DEBUG
1100 int sats;
1101
1102 if ((mb(0) & 0x01) && (mb(0) & 0x02))
1103 printf("2d Fix Dimension\n");
1104 if (mb(0) & 0x04)
1105 printf("3d Fix Dimension\n");
1106
1107 if (mb(0) & 0x08)
1108 printf("Fix Mode is MANUAL\n");
1109 else
1110 printf("Fix Mode is AUTO\n");
1111
1112 sats = mb(0) & 0xF0;
1113 sats = sats >> 4;
1114 printf("Tracking %d Satellites\n", sats);
1115 #endif
1116 return 0;
1117 } /* else if not super packet */
1118 refclock_report(peer, CEVNT_BADREPLY);
1119 up->polled = -1;
1120 #ifdef DEBUG
1121 printf("TSIP_decode: unit %d: bad packet %02x-%02x event %d len %d\n",
1122 up->unit, up->rpt_buf[0] & 0xff, mb(0) & 0xff,
1123 event, up->rpt_cnt);
1124 #endif
1125 return 0;
1126 }
1127
1128 /*
1129 * palisade__receive - receive data from the serial interface
1130 */
1131
1132 static void
1133 palisade_receive (
1134 struct peer * peer
1135 )
1136 {
1137 struct palisade_unit *up;
1138 struct refclockproc *pp;
1139
1140 /*
1141 * Initialize pointers and read the timecode and timestamp.
1142 */
1143 pp = peer->procptr;
1144 up = pp->unitptr;
1145
1146 if (! TSIP_decode(peer)) return;
1147
1148 if (up->polled <= 0)
1149 return; /* no poll pending, already received or timeout */
1150
1151 up->polled = 0; /* Poll reply received */
1152 pp->lencode = 0; /* clear time code */
1153 #ifdef DEBUG
1154 if (debug)
1155 printf(
1156 "palisade_receive: unit %d: %4d %03d %02d:%02d:%02d.%09ld\n",
1157 up->unit, pp->year, pp->day, pp->hour, pp->minute,
1158 pp->second, pp->nsec);
1159 #endif
1160
1161 /*
1162 * Process the sample
1163 * Generate timecode: YYYY DoY HH:MM:SS.microsec
1164 * report and process
1165 */
1166
1167 snprintf(pp->a_lastcode, sizeof(pp->a_lastcode),
1168 "%4d %03d %02d:%02d:%02d.%09ld",
1169 pp->year, pp->day,
1170 pp->hour,pp->minute, pp->second, pp->nsec);
1171 pp->lencode = 24;
1172
1173 if (!refclock_process(pp)) {
1174 refclock_report(peer, CEVNT_BADTIME);
1175
1176 #ifdef DEBUG
1177 printf("palisade_receive: unit %d: refclock_process failed!\n",
1178 up->unit);
1179 #endif
1180 return;
1181 }
1182
1183 record_clock_stats(&peer->srcadr, pp->a_lastcode);
1184
1185 #ifdef DEBUG
1186 if (debug)
1187 printf("palisade_receive: unit %d: %s\n",
1188 up->unit, prettydate(&pp->lastrec));
1189 #endif
1190 pp->lastref = pp->lastrec;
1191 refclock_receive(peer);
1192 }
1193
1194
1195 /*
1196 * palisade_poll - called by the transmit procedure
1197 *
1198 */
1199 static void
1200 palisade_poll (
1201 int unit,
1202 struct peer *peer
1203 )
1204 {
1205 struct palisade_unit *up;
1206 struct refclockproc *pp;
1207
1208 pp = peer->procptr;
1209 up = pp->unitptr;
1210
1211 pp->polls++;
1212 if (up->polled > 0) /* last reply never arrived or error */
1213 refclock_report(peer, CEVNT_TIMEOUT);
1214
1215 up->polled = 2; /* synchronous packet + 1 event */
1216
1217 #ifdef DEBUG
1218 if (debug)
1219 printf("palisade_poll: unit %d: polling %s\n", unit,
1220 (pp->sloppyclockflag & CLK_FLAG2) ?
1221 "synchronous packet" : "event");
1222 #endif
1223
1224 if (pp->sloppyclockflag & CLK_FLAG2)
1225 return; /* using synchronous packet input */
1226
1227 if(up->type == CLK_PRAECIS) {
1228 if(write(peer->procptr->io.fd,"SPSTAT\r\n",8) < 0)
1229 msyslog(LOG_ERR, "Palisade(%d) write: %m:",unit);
1230 else {
1231 praecis_msg = 1;
1232 return;
1233 }
1234 }
1235
1236 if (HW_poll(pp) < 0)
1237 refclock_report(peer, CEVNT_FAULT);
1238 }
1239
1240 static void
1241 praecis_parse (
1242 struct recvbuf *rbufp,
1243 struct peer *peer
1244 )
1245 {
1246 static char buf[100];
1247 static int p = 0;
1248 struct refclockproc *pp;
1249
1250 pp = peer->procptr;
1251
1252 memcpy(buf+p,rbufp->recv_space.X_recv_buffer, rbufp->recv_length);
1253 p += rbufp->recv_length;
1254
1255 if(buf[p-2] == '\r' && buf[p-1] == '\n') {
1256 buf[p-2] = '\0';
1257 record_clock_stats(&peer->srcadr, buf);
1258
1259 p = 0;
1260 praecis_msg = 0;
1261
1262 if (HW_poll(pp) < 0)
1263 refclock_report(peer, CEVNT_FAULT);
1264
1265 }
1266 }
1267
1268 static void
1269 palisade_io (
1270 struct recvbuf *rbufp
1271 )
1272 {
1273 /*
1274 * Initialize pointers and read the timecode and timestamp.
1275 */
1276 struct palisade_unit *up;
1277 struct refclockproc *pp;
1278 struct peer *peer;
1279
1280 char * c, * d;
1281
1282 peer = rbufp->recv_peer;
1283 pp = peer->procptr;
1284 up = pp->unitptr;
1285
1286 if(up->type == CLK_PRAECIS) {
1287 if(praecis_msg) {
1288 praecis_parse(rbufp,peer);
1289 return;
1290 }
1291 }
1292
1293 c = (char *) &rbufp->recv_space;
1294 d = c + rbufp->recv_length;
1295
1296 while (c != d) {
1297
1298 /* Build time packet */
1299 switch (up->rpt_status) {
1300
1301 case TSIP_PARSED_DLE_1:
1302 switch (*c)
1303 {
1304 case 0:
1305 case DLE:
1306 case ETX:
1307 up->rpt_status = TSIP_PARSED_EMPTY;
1308 break;
1309
1310 default:
1311 up->rpt_status = TSIP_PARSED_DATA;
1312 /* save packet ID */
1313 up->rpt_buf[0] = *c;
1314 break;
1315 }
1316 break;
1317
1318 case TSIP_PARSED_DATA:
1319 if (*c == DLE)
1320 up->rpt_status = TSIP_PARSED_DLE_2;
1321 else
1322 mb(up->rpt_cnt++) = *c;
1323 break;
1324
1325 case TSIP_PARSED_DLE_2:
1326 if (*c == DLE) {
1327 up->rpt_status = TSIP_PARSED_DATA;
1328 mb(up->rpt_cnt++) =
1329 *c;
1330 }
1331 else if (*c == ETX)
1332 up->rpt_status = TSIP_PARSED_FULL;
1333 else {
1334 /* error: start new report packet */
1335 up->rpt_status = TSIP_PARSED_DLE_1;
1336 up->rpt_buf[0] = *c;
1337 }
1338 break;
1339
1340 case TSIP_PARSED_FULL:
1341 case TSIP_PARSED_EMPTY:
1342 default:
1343 if ( *c != DLE)
1344 up->rpt_status = TSIP_PARSED_EMPTY;
1345 else
1346 up->rpt_status = TSIP_PARSED_DLE_1;
1347 break;
1348 }
1349
1350 c++;
1351
1352 if (up->rpt_status == TSIP_PARSED_DLE_1) {
1353 up->rpt_cnt = 0;
1354 if (pp->sloppyclockflag & CLK_FLAG2)
1355 /* stamp it */
1356 get_systime(&pp->lastrec);
1357 }
1358 else if (up->rpt_status == TSIP_PARSED_EMPTY)
1359 up->rpt_cnt = 0;
1360
1361 else if (up->rpt_cnt > BMAX)
1362 up->rpt_status =TSIP_PARSED_EMPTY;
1363
1364 if (up->rpt_status == TSIP_PARSED_FULL)
1365 palisade_receive(peer);
1366
1367 } /* while chars in buffer */
1368 }
1369
1370
1371 /*
1372 * Trigger the Palisade's event input, which is driven off the RTS
1373 *
1374 * Take a system time stamp to match the GPS time stamp.
1375 *
1376 */
1377 long
1378 HW_poll (
1379 struct refclockproc * pp /* pointer to unit structure */
1380 )
1381 {
1382 int x; /* state before & after RTS set */
1383 struct palisade_unit *up;
1384 struct packettx tx;
1385
1386 up = pp->unitptr;
1387
1388 if (up->type == CLK_ACE) {
1389 /* Poll by sending a 0x21 command */
1390 tx.size = 0;
1391 tx.data = (u_char *) emalloc(100);
1392 sendcmd (&tx, 0x21);
1393 sendetx (&tx, pp->io.fd);
1394 free(tx.data);
1395 } else {
1396
1397 /* read the current status, so we put things back right */
1398 if (ioctl(pp->io.fd, TIOCMGET, &x) < 0) {
1399 DPRINTF(1, ("Palisade HW_poll: unit %d: GET %m\n",
1400 up->unit));
1401 msyslog(LOG_ERR, "Palisade(%d) HW_poll: ioctl(fd,GET): %m",
1402 up->unit);
1403 return -1;
1404 }
1405
1406 x |= TIOCM_RTS; /* turn on RTS */
1407
1408 /* Edge trigger */
1409 if (up->type == CLK_ACUTIME)
1410 write (pp->io.fd, "", 1);
1411
1412 if (ioctl(pp->io.fd, TIOCMSET, &x) < 0) {
1413 #ifdef DEBUG
1414 if (debug)
1415 printf("Palisade HW_poll: unit %d: SET \n", up->unit);
1416 #endif
1417 msyslog(LOG_ERR,
1418 "Palisade(%d) HW_poll: ioctl(fd, SET, RTS_on): %m",
1419 up->unit);
1420 return -1;
1421 }
1422
1423 x &= ~TIOCM_RTS; /* turn off RTS */
1424
1425 } /* (up->type != CLK_ACE) */
1426
1427 /* poll timestamp */
1428 get_systime(&pp->lastrec);
1429
1430 if (up->type != CLK_ACE) {
1431 if (ioctl(pp->io.fd, TIOCMSET, &x) == -1) {
1432 #ifdef DEBUG
1433 if (debug)
1434 printf("Palisade HW_poll: unit %d: UNSET \n", up->unit);
1435 #endif
1436 msyslog(LOG_ERR,
1437 "Palisade(%d) HW_poll: ioctl(fd, UNSET, RTS_off): %m",
1438 up->unit);
1439 return -1;
1440 }
1441 }
1442
1443 return 0;
1444 }
1445
1446 /*
1447 * copy/swap a big-endian palisade double into a host double
1448 */
1449 static double
1450 getdbl (
1451 u_char *bp
1452 )
1453 {
1454 #ifdef WORDS_BIGENDIAN
1455 double out;
1456
1457 memcpy(&out, bp, sizeof(out));
1458 return out;
1459 #else
1460 union {
1461 u_char ch[8];
1462 u_int32 u32[2];
1463 } ui;
1464
1465 union {
1466 double out;
1467 u_int32 u32[2];
1468 } uo;
1469
1470 memcpy(ui.ch, bp, sizeof(ui.ch));
1471 /* least-significant 32 bits of double from swapped bp[4] to bp[7] */
1472 uo.u32[0] = ntohl(ui.u32[1]);
1473 /* most-significant 32 bits from swapped bp[0] to bp[3] */
1474 uo.u32[1] = ntohl(ui.u32[0]);
1475
1476 return uo.out;
1477 #endif
1478 }
1479
1480 /*
1481 * copy/swap a big-endian palisade short into a host short
1482 */
1483 static short
1484 getint (
1485 u_char *bp
1486 )
1487 {
1488 u_short us;
1489
1490 memcpy(&us, bp, sizeof(us));
1491 return (short)ntohs(us);
1492 }
1493
1494 /*
1495 * copy/swap a big-endian palisade 32-bit int into a host 32-bit int
1496 */
1497 static int32
1498 getlong(
1499 u_char *bp
1500 )
1501 {
1502 u_int32 u32;
1503
1504 memcpy(&u32, bp, sizeof(u32));
1505 return (int32)(u_int32)ntohl(u32);
1506 }
1507
1508 /*
1509 * copy/swap a big-endian 32-bit single-precision floating point into a host 32-bit int
1510 */
1511 static int32
1512 getsingle(
1513 u_char *bp
1514 )
1515 {
1516 u_int32 mantissa;
1517 int8_t exponent;
1518 uint8_t sign, exp_field;
1519 int32 res;
1520
1521 memcpy(&mantissa, bp, sizeof(mantissa));
1522 mantissa = ((u_int32)ntohl(mantissa) & 0x7FFFFF) | 0x800000;
1523 exp_field = ((uint8_t)bp[0] << 1) + ((uint8_t)bp[1] >> 7);
1524 exponent = (int8_t)exp_field - 127;
1525 sign = ((uint8_t)bp[0] >> 7);
1526 if (exponent > 23)
1527 res = (int32)(mantissa << (exponent - 23));
1528 else
1529 res = (int32)(mantissa >> (23 - exponent));
1530 return sign ? -res : res;
1531 }
1532
1533 #else /* REFCLOCK && CLOCK_PALISADE*/
1534 int refclock_palisade_c_notempty;
1535 #endif