void test_GenerateUnauthenticatedPacket(void) { struct pkt testpkt; struct timeval xmt; GETTIMEOFDAY(&xmt, NULL); xmt.tv_sec += JAN_1970; TEST_ASSERT_EQUAL(LEN_PKT_NOMAC, generate_pkt(&testpkt, &xmt, 0, NULL)); TEST_ASSERT_EQUAL(LEAP_NOTINSYNC, PKT_LEAP(testpkt.li_vn_mode)); TEST_ASSERT_EQUAL(NTP_VERSION, PKT_VERSION(testpkt.li_vn_mode)); TEST_ASSERT_EQUAL(MODE_CLIENT, PKT_MODE(testpkt.li_vn_mode)); TEST_ASSERT_EQUAL(STRATUM_UNSPEC, PKT_TO_STRATUM(testpkt.stratum)); TEST_ASSERT_EQUAL(8, testpkt.ppoll); l_fp expected_xmt, actual_xmt; TVTOTS(&xmt, &expected_xmt); NTOHL_FP(&testpkt.xmt, &actual_xmt); TEST_ASSERT_TRUE(LfpEquality(expected_xmt, actual_xmt)); }
/*@-mustfreefresh -type -unrecog -branchstate@*/ static /*@null@*/ void *gpsd_ppsmonitor(void *arg) { struct gps_device_t *session = (struct gps_device_t *)arg; double last_fixtime_real = 0, last_fixtime_clock = 0; #ifndef HAVE_CLOCK_GETTIME struct timeval clock_tv = {0, 0}; #endif /* HAVE_CLOCK_GETTIME */ struct timespec clock_ts = {0, 0}; time_t last_second_used = 0; #if defined(TIOCMIWAIT) int cycle, duration; /* state is the last state of the tty control ssignals */ int state = 0, unchanged = 0; /* state_last is previous state */ int state_last = 0; /* pulse stores the time of the last two edges */ struct timespec pulse[2] = { {0, 0}, {0, 0} }; /* edge, used as index into pulse to find previous edges */ int edge = 0; /* 0 = clear edge, 1 = assert edge */ #endif /* TIOCMIWAIT */ #if defined(HAVE_SYS_TIMEPPS_H) int edge_kpps = 0; /* 0 = clear edge, 1 = assert edge */ #ifndef S_SPLINT_S int cycle_kpps, duration_kpps; /* kpps_pulse stores the time of the last two edges */ struct timespec pulse_kpps[2] = { {0, 0}, {0, 0} }; struct timespec ts_kpps; pps_info_t pi; memset( (void *)&pi, 0, sizeof(pps_info_t)); #endif /* S_SPLINT_S */ #endif /* defined(HAVE_SYS_TIMEPPS_H) */ /* * Wait for status change on any handshake line. Just one edge, * we do not want to be spinning waiting for the trailing edge of * a pulse. The only assumption here is that no GPS lights up more * than one of these pins. By waiting on all of them we remove a * configuration switch. * * Once we have the latest edge we compare it to the last edge which we * stored. If the edge passes sanity checks we use it to send to * ntpshm and chrony_send */ while (session->thread_report_hook != NULL || session->context->pps_hook != NULL) { bool ok = false; #if defined(HAVE_SYS_TIMEPPS_H) // cppcheck-suppress variableScope bool ok_kpps = false; #endif /* HAVE_SYS_TIMEPPS_H */ char *log = NULL; #if defined(TIOCMIWAIT) /* we are lucky to have TIOCMIWAIT, so wait for next edge */ #define PPS_LINE_TIOC (TIOCM_CD|TIOCM_CAR|TIOCM_RI|TIOCM_CTS) if (ioctl(session->gpsdata.gps_fd, TIOCMIWAIT, PPS_LINE_TIOC) != 0) { gpsd_report(session->context->debug, LOG_ERROR, "PPS ioctl(TIOCMIWAIT) failed: %d %.40s\n", errno, strerror(errno)); break; } /* quick, grab a copy of last_fixtime before it changes */ last_fixtime_real = session->last_fixtime.real; last_fixtime_clock = session->last_fixtime.clock; /*@-noeffect@*/ /* get the time after we just woke up */ #ifdef HAVE_CLOCK_GETTIME /* using clock_gettime() here, that is nSec, * not uSec like gettimeofday */ if ( 0 > clock_gettime(CLOCK_REALTIME, &clock_ts) ) { /* uh, oh, can not get time! */ gpsd_report(session->context->debug, LOG_ERROR, "PPS clock_gettime() failed\n"); break; } #else if ( 0 > gettimeofday(&clock_tv, NULL) ) { /* uh, oh, can not get time! */ gpsd_report(session->context->debug, LOG_ERROR, "PPS gettimeofday() failed\n"); break; } TVTOTS( &clock_ts, &clock_tv); #endif /* HAVE_CLOCK_GETTIME */ /*@+noeffect@*/ /* got the edge, got the time just after the edge, now quickly * get the edge state */ /*@ +ignoresigns */ if (ioctl(session->gpsdata.gps_fd, TIOCMGET, &state) != 0) { gpsd_report(session->context->debug, LOG_ERROR, "PPS ioctl(TIOCMGET) failed\n"); break; } /*@ -ignoresigns */ /* mask for monitored lines */ state &= PPS_LINE_TIOC; edge = (state > state_last) ? 1 : 0; #endif /* TIOCMIWAIT */ /* ok and log used by KPPS and TIOCMIWAIT */ // cppcheck-suppress redundantAssignment ok = false; log = NULL; #if defined(HAVE_SYS_TIMEPPS_H) && !defined(S_SPLINT_S) if ( 0 <= session->kernelpps_handle ) { struct timespec kernelpps_tv; /* on a quad core 2.4GHz Xeon using KPPS timestamp instead of plain * PPS timestamp removes about 20uS of latency, and about +/-5uS * of jitter */ #ifdef TIOCMIWAIT /* * We use of a non-NULL zero timespec here, * which means to return immediately with -1 (section * 3.4.3). This is because we know we just got a pulse because * TIOCMIWAIT just woke up. * The timestamp has already been captured in the kernel, and we * are merely fetching it here. */ memset( (void *)&kernelpps_tv, 0, sizeof(kernelpps_tv)); #else /* not TIOCMIWAIT */ /* * RFC2783 specifies that a NULL timeval means to wait. * * FIXME, this will fail on 2Hz 'PPS', maybe should wait 3 Sec. */ kernelpps_tv.tv_sec = 1; kernelpps_tv.tv_nsec = 0; #endif if ( 0 > time_pps_fetch(session->kernelpps_handle, PPS_TSFMT_TSPEC , &pi, &kernelpps_tv)) { gpsd_report(session->context->debug, LOG_ERROR, "KPPS kernel PPS failed\n"); } else { // find the last edge // FIXME a bit simplistic, should hook into the // cycle/duration check below. if ( pi.assert_timestamp.tv_sec > pi.clear_timestamp.tv_sec ) { edge_kpps = 1; ts_kpps = pi.assert_timestamp; } else if ( pi.assert_timestamp.tv_sec < pi.clear_timestamp.tv_sec ) { edge_kpps = 0; ts_kpps = pi.clear_timestamp; } else if ( pi.assert_timestamp.tv_nsec > pi.clear_timestamp.tv_nsec ) { edge_kpps = 1; ts_kpps = pi.assert_timestamp; } else { edge_kpps = 0; ts_kpps = pi.clear_timestamp; } /* * pps_seq_t is uint32_t on NetBSD, so cast to * unsigned long as a wider-or-equal type to * accomodate Linux's type. */ gpsd_report(session->context->debug, LOG_PROG, "KPPS assert %ld.%09ld, sequence: %ld - " "clear %ld.%09ld, sequence: %ld\n", pi.assert_timestamp.tv_sec, pi.assert_timestamp.tv_nsec, (unsigned long) pi.assert_sequence, pi.clear_timestamp.tv_sec, pi.clear_timestamp.tv_nsec, (unsigned long) pi.clear_sequence); gpsd_report(session->context->debug, LOG_PROG, "KPPS data: using %s\n", edge_kpps ? "assert" : "clear"); cycle_kpps = timespec_diff_ns(ts_kpps, pulse_kpps[edge_kpps])/1000; duration_kpps = timespec_diff_ns(ts_kpps, pulse_kpps[(int)(edge_kpps == 0)])/1000; gpsd_report(session->context->debug, LOG_PROG, "KPPS cycle: %7d uSec, duration: %7d uSec @ %lu.%09lu\n", cycle_kpps, duration_kpps, (unsigned long)ts_kpps.tv_sec, (unsigned long)ts_kpps.tv_nsec); pulse_kpps[edge_kpps] = ts_kpps; if (990000 < cycle_kpps && 1010000 > cycle_kpps) { /* KPPS passes a basic sanity check */ ok_kpps = true; log = "KPPS"; } } } #endif /* defined(HAVE_SYS_TIMEPPS_H) && !defined(S_SPLINT_S) */ #if defined(TIOCMIWAIT) /*@ +boolint @*/ cycle = timespec_diff_ns(clock_ts, pulse[edge]) / 1000; duration = timespec_diff_ns(clock_ts, pulse[(int)(edge == 0)])/1000; /*@ -boolint @*/ if (state == state_last) { /* some pulses may be so short that state never changes */ if (999000 < cycle && 1001000 > cycle) { duration = 0; unchanged = 0; gpsd_report(session->context->debug, LOG_RAW, "PPS pps-detect on %s invisible pulse\n", session->gpsdata.dev.path); } else if (++unchanged == 10) { /* not really unchanged, just out of bounds */ unchanged = 1; gpsd_report(session->context->debug, LOG_WARN, "PPS TIOCMIWAIT returns unchanged state, ppsmonitor sleeps 10\n"); (void)sleep(10); } } else { gpsd_report(session->context->debug, LOG_RAW, "PPS pps-detect on %s changed to %d\n", session->gpsdata.dev.path, state); unchanged = 0; } state_last = state; /* save this edge so we know next cycle time */ pulse[edge] = clock_ts; gpsd_report(session->context->debug, LOG_PROG, "PPS edge: %d, cycle: %7d uSec, duration: %7d uSec @ %lu.%09lu\n", edge, cycle, duration, (unsigned long)clock_ts.tv_sec, (unsigned long)clock_ts.tv_nsec); if (unchanged) { // strange, try again continue; } /* * The PPS pulse is normally a short pulse with a frequency of * 1 Hz, and the UTC second is defined by the front edge. But we * don't know the polarity of the pulse (different receivers * emit different polarities). The duration variable is used to * determine which way the pulse is going. The code assumes * that the UTC second is changing when the signal has not * been changing for at least 800ms, i.e. it assumes the duty * cycle is at most 20%. * * Some GPSes instead output a square wave that is 0.5 Hz and each * edge denotes the start of a second. * * Some GPSes, like the Globalsat MR-350P, output a 1uS pulse. * The pulse is so short that TIOCMIWAIT sees a state change * but by the time TIOCMGET is called the pulse is gone. * * A few stupid GPSes, like the Furuno GPSClock, output a 1.0 Hz * square wave where the leading edge is the start of a second * * 5Hz GPS (Garmin 18-5Hz) pulses at 5Hz. Set the pulse length to * 40ms which gives a 160ms pulse before going high. * */ log = "Unknown error"; if ( 0 > cycle ) { log = "Rejecting negative cycle\n"; } else if (199000 > cycle) { // too short to even be a 5Hz pulse log = "Too short for 5Hz\n"; } else if (201000 > cycle) { /* 5Hz cycle */ /* looks like 5hz PPS pulse */ if (100000 > duration) { /* BUG: how does the code know to tell ntpd * which 1/5 of a second to use?? */ ok = true; log = "5Hz PPS pulse\n"; } } else if (999000 > cycle) { log = "Too long for 5Hz, too short for 1Hz\n"; } else if (1001000 > cycle) { /* looks like PPS pulse or square wave */ if (0 == duration) { ok = true; log = "invisible pulse\n"; } else if (499000 > duration) { /* end of the short "half" of the cycle */ /* aka the trailing edge */ log = "1Hz trailing edge\n"; } else if (501000 > duration) { /* looks like 1.0 Hz square wave, ignore trailing edge */ if (edge == 1) { ok = true; log = "square\n"; } } else { /* end of the long "half" of the cycle */ /* aka the leading edge */ ok = true; log = "1Hz leading edge\n"; } } else if (1999000 > cycle) { log = "Too long for 1Hz, too short for 2Hz\n"; } else if (2001000 > cycle) { /* looks like 0.5 Hz square wave */ if (999000 > duration) { log = "0.5 Hz square too short duration\n"; } else if (1001000 > duration) { ok = true; log = "0.5 Hz square wave\n"; } else { log = "0.5 Hz square too long duration\n"; } } else { log = "Too long for 0.5Hz\n"; } #endif /* TIOCMIWAIT */ if ( ok && last_second_used >= last_fixtime_real ) { /* uh, oh, this second already handled */ ok = 0; log = "this second already handled\n"; } if (ok) { /* offset is the skew from expected to observed pulse time */ double offset; /* delay after last fix */ double delay; char *log1 = NULL; /* drift.real is the time we think the pulse represents */ struct timedrift_t drift; gpsd_report(session->context->debug, LOG_RAW, "PPS edge accepted %.100s", log); #if defined(HAVE_SYS_TIMEPPS_H) if ( 0 <= session->kernelpps_handle && ok_kpps) { /* use KPPS time */ /* pick the right edge */ if ( edge_kpps ) { clock_ts = pi.assert_timestamp; /* structure copy */ } else { clock_ts = pi.clear_timestamp; /* structure copy */ } } #endif /* defined(HAVE_SYS_TIMEPPS_H) */ /* else, use plain PPS */ /* This innocuous-looking "+ 1" embodies a significant * assumption: that GPSes report time to the second over the * serial stream *after* emitting PPS for the top of second. * Thus, when we see PPS our available report is from the * previous cycle and we must increment. * * FIXME! The GR-601W at 38,400 or faster can send the * serial fix before PPS by about 10 mSec! */ /*@+relaxtypes@*/ drift.real.tv_sec = last_fixtime_real + 1; drift.real.tv_nsec = 0; /* need to be fixed for 5Hz */ drift.clock = clock_ts; /*@-relaxtypes@*/ /* check to see if we have a fresh timestamp from the * GPS serial input then use that */ offset = (drift.real.tv_sec - drift.clock.tv_sec); offset += ((drift.real.tv_nsec - drift.clock.tv_nsec) / 1e9); delay = (drift.clock.tv_sec + drift.clock.tv_nsec / 1e9) - last_fixtime_clock; if (0.0 > delay || 1.0 < delay) { gpsd_report(session->context->debug, LOG_RAW, "PPS: no current GPS seconds: %f\n", delay); log1 = "timestamp out of range"; } else { /*@-compdef@*/ last_second_used = last_fixtime_real; if (session->thread_report_hook != NULL) log1 = session->thread_report_hook(session, &drift); else log1 = "no report hook"; if (session->context->pps_hook != NULL) session->context->pps_hook(session, &drift); /*@ -unrecog (splint has no pthread declarations as yet) @*/ (void)pthread_mutex_lock(&ppslast_mutex); /*@ +unrecog @*/ /*@-type@*/ /* splint is confused about struct timespec */ session->ppslast = drift; /*@+type@*/ session->ppscount++; /*@ -unrecog (splint has no pthread declarations as yet) @*/ (void)pthread_mutex_unlock(&ppslast_mutex); /*@ +unrecog @*/ /*@+compdef@*/ /*@-type@*/ /* splint is confused about struct timespec */ gpsd_report(session->context->debug, LOG_INF, "PPS hooks called with %.20s %lu.%09lu offset %.9f\n", log1, (unsigned long)clock_ts.tv_sec, (unsigned long)clock_ts.tv_nsec, offset); /*@+type@*/ } /*@-type@*/ /* splint is confused about struct timespec */ gpsd_report(session->context->debug, LOG_PROG, "PPS edge %.20s %lu.%09lu offset %.9f\n", log1, (unsigned long)clock_ts.tv_sec, (unsigned long)clock_ts.tv_nsec, offset); /*@+type@*/ } else { gpsd_report(session->context->debug, LOG_RAW, "PPS edge rejected %.100s", log); } } #if defined(HAVE_SYS_TIMEPPS_H) if (session->kernelpps_handle > 0) { gpsd_report(session->context->debug, LOG_PROG, "PPS descriptor cleaned up\n"); (void)time_pps_destroy(session->kernelpps_handle); } #endif if (session->thread_wrap_hook != NULL) session->thread_wrap_hook(session); gpsd_report(session->context->debug, LOG_PROG, "PPS gpsd_ppsmonitor exited.\n"); return NULL; }
void offset_calculation ( struct pkt *rpkt, int rpktl, struct timeval *tv_dst, double *offset, double *precision, double *root_dispersion ) { l_fp p_rec, p_xmt, p_ref, p_org, tmp, dst; u_fp p_rdly, p_rdsp; double t21, t34, delta; /* Convert timestamps from network to host byte order */ p_rdly = NTOHS_FP(rpkt->rootdelay); p_rdsp = NTOHS_FP(rpkt->rootdisp); NTOHL_FP(&rpkt->reftime, &p_ref); NTOHL_FP(&rpkt->org, &p_org); NTOHL_FP(&rpkt->rec, &p_rec); NTOHL_FP(&rpkt->xmt, &p_xmt); *precision = LOGTOD(rpkt->precision); #ifdef DEBUG printf("sntp precision: %f\n", *precision); #endif /* DEBUG */ *root_dispersion = FPTOD(p_rdsp); #ifdef DEBUG printf("sntp rootdelay: %f\n", FPTOD(p_rdly)); printf("sntp rootdisp: %f\n", *root_dispersion); pkt_output(rpkt, rpktl, stdout); printf("sntp offset_calculation: rpkt->reftime:\n"); l_fp_output(&(rpkt->reftime), stdout); printf("sntp offset_calculation: rpkt->org:\n"); l_fp_output(&(rpkt->org), stdout); printf("sntp offset_calculation: rpkt->rec:\n"); l_fp_output(&(rpkt->rec), stdout); printf("sntp offset_calculation: rpkt->rec:\n"); l_fp_output_bin(&(rpkt->rec), stdout); printf("sntp offset_calculation: rpkt->rec:\n"); l_fp_output_dec(&(rpkt->rec), stdout); printf("sntp offset_calculation: rpkt->xmt:\n"); l_fp_output(&(rpkt->xmt), stdout); #endif /* Compute offset etc. */ tmp = p_rec; L_SUB(&tmp, &p_org); LFPTOD(&tmp, t21); TVTOTS(tv_dst, &dst); dst.l_ui += JAN_1970; tmp = p_xmt; L_SUB(&tmp, &dst); LFPTOD(&tmp, t34); *offset = (t21 + t34) / 2.; delta = t21 - t34; if (ENABLED_OPT(NORMALVERBOSE)) printf("sntp offset_calculation:\tt21: %.6f\t\t t34: %.6f\n\t\tdelta: %.6f\t offset: %.6f\n", t21, t34, delta, *offset); }
void offset_calculation( struct pkt *rpkt, int rpktl, struct timeval *tv_dst, double *offset, double *precision, double *synch_distance ) { l_fp p_rec, p_xmt, p_ref, p_org, tmp, dst; u_fp p_rdly, p_rdsp; double t21, t34, delta; /* Convert timestamps from network to host byte order */ p_rdly = NTOHS_FP(rpkt->rootdelay); p_rdsp = NTOHS_FP(rpkt->rootdisp); NTOHL_FP(&rpkt->reftime, &p_ref); NTOHL_FP(&rpkt->org, &p_org); NTOHL_FP(&rpkt->rec, &p_rec); NTOHL_FP(&rpkt->xmt, &p_xmt); *precision = LOGTOD(rpkt->precision); TRACE(3, ("offset_calculation: LOGTOD(rpkt->precision): %f\n", *precision)); /* Compute offset etc. */ tmp = p_rec; L_SUB(&tmp, &p_org); LFPTOD(&tmp, t21); TVTOTS(tv_dst, &dst); dst.l_ui += JAN_1970; tmp = p_xmt; L_SUB(&tmp, &dst); LFPTOD(&tmp, t34); *offset = (t21 + t34) / 2.; delta = t21 - t34; // synch_distance is: // (peer->delay + peer->rootdelay) / 2 + peer->disp // + peer->rootdisp + clock_phi * (current_time - peer->update) // + peer->jitter; // // and peer->delay = fabs(peer->offset - p_offset) * 2; // and peer->offset needs history, so we're left with // p_offset = (t21 + t34) / 2.; // peer->disp = 0; (we have no history to augment this) // clock_phi = 15e-6; // peer->jitter = LOGTOD(sys_precision); (we have no history to augment this) // and ntp_proto.c:set_sys_tick_precision() should get us sys_precision. // // so our answer seems to be: // // (fabs(t21 + t34) + peer->rootdelay) / 3. // + 0 (peer->disp) // + peer->rootdisp // + 15e-6 (clock_phi) // + LOGTOD(sys_precision) INSIST( FPTOD(p_rdly) >= 0. ); #if 1 *synch_distance = (fabs(t21 + t34) + FPTOD(p_rdly)) / 3. + 0. + FPTOD(p_rdsp) + 15e-6 + 0. /* LOGTOD(sys_precision) when we can get it */ ; INSIST( *synch_distance >= 0. ); #else *synch_distance = (FPTOD(p_rdly) + FPTOD(p_rdsp))/2.0; #endif #ifdef DEBUG if (debug > 3) { printf("sntp rootdelay: %f\n", FPTOD(p_rdly)); printf("sntp rootdisp: %f\n", FPTOD(p_rdsp)); printf("sntp syncdist: %f\n", *synch_distance); pkt_output(rpkt, rpktl, stdout); printf("sntp offset_calculation: rpkt->reftime:\n"); l_fp_output(&p_ref, stdout); printf("sntp offset_calculation: rpkt->org:\n"); l_fp_output(&p_org, stdout); printf("sntp offset_calculation: rpkt->rec:\n"); l_fp_output(&p_rec, stdout); printf("sntp offset_calculation: rpkt->xmt:\n"); l_fp_output(&p_xmt, stdout); } #endif TRACE(3, ("sntp offset_calculation:\trec - org t21: %.6f\n" "\txmt - dst t34: %.6f\tdelta: %.6f\toffset: %.6f\n", t21, t34, delta, *offset)); return; }
/*@-mustfreefresh -type@ -unrecog*/ static /*@null@*/ void *gpsd_ppsmonitor(void *arg) { struct gps_device_t *session = (struct gps_device_t *)arg; struct timeval tv; struct timespec ts; #if defined(TIOCMIWAIT) int cycle, duration, state = 0, laststate = -1, unchanged = 0; struct timeval pulse[2] = { {0, 0}, {0, 0} }; #endif /* TIOCMIWAIT */ #if defined(HAVE_SYS_TIMEPPS_H) int kpps_edge = 0; /* 0 = clear edge, 1 = assert edge */ int cycle_kpps, duration_kpps; struct timespec pulse_kpps[2] = { {0, 0}, {0, 0} }; struct timespec tv_kpps; pps_info_t pi; #endif /* for chrony SOCK interface, which allows nSec timekeeping */ #define SOCK_MAGIC 0x534f434b struct sock_sample { struct timeval tv; double offset; int pulse; int leap; int _pad; /* unused */ int magic; /* must be SOCK_MAGIC */ } sample; /* chrony must be started first as chrony insists on creating the socket */ /* open the chrony socket */ int chronyfd = -1; char chrony_path[PATH_MAX]; gpsd_report(LOG_PROG, "PPS Create Thread gpsd_ppsmonitor\n"); /* wait for the device to go active - makes this safe to call early */ while (session->gpsdata.gps_fd == -1) { /* should probably remove this once code is verified */ gpsd_report(LOG_PROG, "PPS thread awaiting device activation\n"); (void)sleep(1); } /* Activates PPS support for RS-232 or USB devices only. */ if (!(session->sourcetype == source_rs232 || session->sourcetype == source_usb)) { gpsd_report(LOG_PROG, "PPS thread deactivationde. Not RS-232 or USB device.\n"); (void)ntpshm_free(session->context, session->shmTimeP); session->shmTimeP = -1; return NULL; } if ( 0 == getuid() ) { /* this case will fire on command-line devices; * they're opened before priv-dropping. Matters because * only root can use /var/run. */ (void)snprintf(chrony_path, sizeof (chrony_path), "/var/run/chrony.%s.sock", basename(session->gpsdata.dev.path)); } else { (void)snprintf(chrony_path, sizeof (chrony_path), "/tmp/chrony.%s.sock", basename(session->gpsdata.dev.path)); } if (access(chrony_path, F_OK) != 0) { gpsd_report(LOG_PROG, "PPS chrony socket %s doesn't exist\n", chrony_path); } else { chronyfd = netlib_localsocket(chrony_path, SOCK_DGRAM); if (chronyfd < 0) gpsd_report(LOG_PROG, "PPS can not connect chrony socket: %s\n", chrony_path); else gpsd_report(LOG_RAW, "PPS using chrony socket: %s\n", chrony_path); } /* end chrony */ #if defined(HAVE_SYS_TIMEPPS_H) /* some operations in init_kernel_pps() require root privs */ (void)init_kernel_pps( session ); if ( 0 <= session->kernelpps_handle ) { gpsd_report(LOG_WARN, "KPPS kernel PPS will be used\n"); } memset( (void *)&pi, 0, sizeof(pps_info_t)); #endif /* root privileges are not required after this point */ /* * Wait for status change on any handshake line. The only assumption here * is that no GPS lights up more than one of these pins. By waiting on * all of them we remove a configuration switch. */ while (!gpsd_ppsmonitor_stop) { bool ok = false; char *log = NULL; char *log1 = NULL; #if defined(TIOCMIWAIT) #define PPS_LINE_TIOC (TIOCM_CD|TIOCM_CAR|TIOCM_RI|TIOCM_CTS) if (ioctl(session->gpsdata.gps_fd, TIOCMIWAIT, PPS_LINE_TIOC) != 0) { gpsd_report(LOG_ERROR, "PPS ioctl(TIOCMIWAIT) failed: %d %.40s\n" , errno, strerror(errno)); break; } #endif /* TIOCMIWAIT */ /*@-noeffect@*/ #ifdef HAVE_CLOCK_GETTIME /* using clock_gettime() here, that is nSec, * not uSec like gettimeofday */ if ( 0 > clock_gettime(CLOCK_REALTIME, &ts) ) { /* uh, oh, can not get time! */ gpsd_report(LOG_ERROR, "PPS clock_gettime() failed\n"); break; } TSTOTV( &tv, &ts); #else if ( 0 > gettimeofday(&tv, NULL) ) { /* uh, oh, can not get time! */ gpsd_report(LOG_ERROR, "PPS gettimeofday() failed\n"); break; } TVTOTS( &ts, &tv); #endif /*@+noeffect@*/ #if defined(HAVE_SYS_TIMEPPS_H) if ( 0 <= session->kernelpps_handle ) { struct timespec kernelpps_tv; /* on a quad core 2.4GHz Xeon this removes about 20uS of * latency, and about +/-5uS of jitter over the other method */ memset( (void *)&kernelpps_tv, 0, sizeof(kernelpps_tv)); if ( 0 > time_pps_fetch(session->kernelpps_handle, PPS_TSFMT_TSPEC , &pi, &kernelpps_tv)) { gpsd_report(LOG_ERROR, "KPPS kernel PPS failed\n"); } else { // find the last edge if ( pi.assert_timestamp.tv_sec > pi.clear_timestamp.tv_sec ) { kpps_edge = 1; tv_kpps = pi.assert_timestamp; } else if ( pi.assert_timestamp.tv_sec < pi.clear_timestamp.tv_sec ) { kpps_edge = 0; tv_kpps = pi.clear_timestamp; } else if ( pi.assert_timestamp.tv_nsec > pi.clear_timestamp.tv_nsec ) { kpps_edge = 1; tv_kpps = pi.assert_timestamp; } else { kpps_edge = 0; tv_kpps = pi.clear_timestamp; } gpsd_report(LOG_PROG, "KPPS assert %ld.%09ld, sequence: %ld - " "clear %ld.%09ld, sequence: %ld\n", pi.assert_timestamp.tv_sec, pi.assert_timestamp.tv_nsec, pi.assert_sequence, pi.clear_timestamp.tv_sec, pi.clear_timestamp.tv_nsec, pi.clear_sequence); gpsd_report(LOG_PROG, "KPPS data: using %s\n", kpps_edge ? "assert" : "clear"); #define timediff_kpps(x, y) (int)((x.tv_sec-y.tv_sec)*1000000+((x.tv_nsec-y.tv_nsec)/1000)) cycle_kpps = timediff_kpps(tv_kpps, pulse_kpps[kpps_edge]); duration_kpps = timediff_kpps(tv_kpps, pulse_kpps[(int)(kpps_edge == 0)]); if ( 3000000 < duration_kpps ) { // invisible pulse duration_kpps = 0; } #undef timediff_kpps gpsd_report(LOG_INF, "KPPS cycle: %7d, duration: %7d @ %lu.%09lu\n", cycle_kpps, duration_kpps, (unsigned long)tv_kpps.tv_sec, (unsigned long)tv_kpps.tv_nsec); pulse_kpps[kpps_edge] = tv_kpps; ok = true; log = "KPPS"; } } #endif /* HAVE_SYS_TIMEPPS_H */ #if defined(TIOCMIWAIT) ok = false; log = NULL; /*@ +ignoresigns */ if (ioctl(session->gpsdata.gps_fd, TIOCMGET, &state) != 0) { gpsd_report(LOG_ERROR, "PPS ioctl(TIOCMGET) failed\n"); break; } /*@ -ignoresigns */ state = (int)((state & PPS_LINE_TIOC) != 0); /*@ +boolint @*/ #define timediff(x, y) (int)((x.tv_sec-y.tv_sec)*1000000+x.tv_usec-y.tv_usec) cycle = timediff(tv, pulse[state]); duration = timediff(tv, pulse[(int)(state == 0)]); #undef timediff /*@ -boolint @*/ if (state == laststate) { /* some pulses may be so short that state never changes */ if (999000 < cycle && 1001000 > cycle) { duration = 0; unchanged = 0; gpsd_report(LOG_RAW, "PPS pps-detect on %s invisible pulse\n", session->gpsdata.dev.path); } else if (++unchanged == 10) { unchanged = 1; gpsd_report(LOG_WARN, "PPS TIOCMIWAIT returns unchanged state, ppsmonitor sleeps 10\n"); (void)sleep(10); } } else { gpsd_report(LOG_RAW, "PPS pps-detect on %s changed to %d\n", session->gpsdata.dev.path, state); laststate = state; unchanged = 0; } pulse[state] = tv; if (unchanged) { // strange, try again continue; } gpsd_report(LOG_INF, "PPS cycle: %7d, duration: %7d @ %lu.%06lu\n", cycle, duration, (unsigned long)tv.tv_sec, (unsigned long)tv.tv_usec); /* only listen to PPS after 4 consecutive fixes, otherwise time * will be inaccurate. * Not sure yet how to handle uBlox UBX_MODE_TMONLY * Do not use ship_to_ntp here since it is synced to packets * and this thread is asynchonous to packets */ if ( 3 < session->fixcnt ) { /* * The PPS pulse is normally a short pulse with a frequency of * 1 Hz, and the UTC second is defined by the front edge. But we * don't know the polarity of the pulse (different receivers * emit different polarities). The duration variable is used to * determine which way the pulse is going. The code assumes * that the UTC second is changing when the signal has not * been changing for at least 800ms, i.e. it assumes the duty * cycle is at most 20%. * * Some GPSes instead output a square wave that is 0.5 Hz and each * edge denotes the start of a second. * * Some GPSes, like the Globalsat MR-350P, output a 1uS pulse. * The pulse is so short that TIOCMIWAIT sees a state change * but by the time TIOCMGET is called the pulse is gone. * * A few stupid GPSes, like the Furuno GPSClock, output a 1.0 Hz * square wave where the leading edge is the start of a second * * 5Hz GPS (Garmin 18-5Hz) pulses at 5Hz. Set the pulse length to * 40ms which gives a 160ms pulse before going high. * */ log = "Unknown error"; if (199000 > cycle) { // too short to even be a 5Hz pulse log = "Too short for 5Hz\n"; } else if (201000 > cycle) { /* 5Hz cycle */ /* looks like 5hz PPS pulse */ if (100000 > duration) { /* BUG: how does the code know to tell ntpd * which 1/5 of a second to use?? */ ok = true; log = "5Hz PPS pulse\n"; } } else if (999000 > cycle) { log = "Too long for 5Hz, too short for 1Hz\n"; } else if (1001000 > cycle) { /* looks like PPS pulse or square wave */ if (0 == duration) { ok = true; log = "invisible pulse\n"; } else if (499000 > duration) { /* end of the short "half" of the cycle */ /* aka the trailing edge */ log = "1Hz trailing edge\n"; } else if (501000 > duration) { /* looks like 1.0 Hz square wave, ignore trailing edge */ if (state == 1) { ok = true; log = "square\n"; } } else { /* end of the long "half" of the cycle */ /* aka the leading edge */ ok = true; log = "1Hz leading edge\n"; } } else if (1999000 > cycle) { log = "Too long for 1Hz, too short for 2Hz\n"; } else if (2001000 > cycle) { /* looks like 0.5 Hz square wave */ if (999000 > duration) { log = "0.5 Hz square too short duration\n"; } else if (1001000 > duration) { ok = true; log = "0.5 Hz square wave\n"; } else { log = "0.5 Hz square too long duration\n"; } } else { log = "Too long for 0.5Hz\n"; } } else { /* not a good fix, but a test for an otherwise good PPS * would go here */ log = "no fix.\n"; } #endif /* TIOCMIWAIT */ if (ok) { gpsd_report(LOG_RAW, "PPS edge accepted %.100s", log); /* chrony expects tv-sec since Jan 1970 */ /* FIXME!! offset is double of the error from local time */ sample.pulse = 0; sample.leap = session->context->leap_notify; sample.magic = SOCK_MAGIC; #if defined(HAVE_SYS_TIMEPPS_H) if ( 0 <= session->kernelpps_handle) { /* pick the right edge */ if ( kpps_edge ) { ts = pi.assert_timestamp; /* structure copy */ } else { ts = pi.clear_timestamp; /* structure copy */ } TSTOTV( &sample.tv, &ts); } else #endif { sample.tv = tv; /* structure copy */ } /* FIXME!! this is wrong if signal is 5Hz or 10Hz instead of PPS */ /* careful, Unix time to nSec is more precision than a double */ sample.offset = 1 + session->last_fixtime - ts.tv_sec; sample.offset -= ts.tv_nsec / 1e9; /* was: defined(ONCORE_ENABLE) && defined(BINARY_ENABLE) */ #ifdef __UNUSED__ /*@-noeffect@*/ if (session->device_type == &oncore_binary) { int pulse_delay_ns = session->driver.oncore.pps_offset_ns; sample.offset += (double)pulse_delay_ns / 1000000000; ts.tv_nsec -= pulse_delay_ns; TS_NORM( &ts ); } /*@+noeffect@*/ #endif TSTOTV( &tv, &ts ); if (session->ship_to_ntpd) { log1 = "accepted"; if ( 0 <= chronyfd ) { log1 = "accepted chrony sock"; (void)send(chronyfd, &sample, sizeof (sample), 0); } (void)ntpshm_pps(session, &tv); } else { log1 = "skipped ship_to_ntp=0"; } gpsd_report(LOG_RAW, "PPS edge %.20s %lu.%06lu offset %.9f\n", log1, (unsigned long)sample.tv.tv_sec, (unsigned long)sample.tv.tv_usec, sample.offset); if (session->context->pps_hook != NULL) session->context->pps_hook(session, &tv); } else { gpsd_report(LOG_RAW, "PPS edge rejected %.100s", log); } } #if defined(HAVE_SYS_TIMEPPS_H) if (session->kernelpps_handle > 0) { gpsd_report(LOG_PROG, "PPS descriptor cleaned up\n"); time_pps_destroy(session->kernelpps_handle); } #endif if (chronyfd != -1) (void)close(chronyfd); gpsd_report(LOG_PROG, "PPS gpsd_ppsmonitor exited.\n"); return NULL; }
static struct CEntry *MakeConn(struct RPC2_PacketBuffer *pb) { struct Init1Body *ib1; struct CEntry *ce; say(9, RPC2_DebugLevel, " Request on brand new connection\n"); ib1 = (struct Init1Body *)(pb->Body); #define INIT1LENGTH \ (sizeof(struct RPC2_PacketHeader) + sizeof(struct Init1Body) - \ sizeof(ib1->Text)) if (pb->Prefix.LengthOfPacket < INIT1LENGTH || pb->Prefix.LengthOfPacket < (INIT1LENGTH + ntohl(ib1->FakeBody_ClientIdent_SeqLen))) { /* avoid memory reference errors from bogus packets */ say(1, RPC2_DebugLevel, "Ignoring short Init1 packet\n"); return NULL; } ce = rpc2_AllocConn(pb->Prefix.PeerAddr); ce->TimeStampEcho = pb->Header.TimeStamp; TVTOTS(&pb->Prefix.RecvStamp, ce->RequestTime); say(15, RPC2_DebugLevel, "makeconn TS %u RQ %u\n", ce->TimeStampEcho, ce->RequestTime); switch ((int)pb->Header.Opcode) { case RPC2_INIT1OPENKIMONO: ce->SecurityLevel = RPC2_OPENKIMONO; break; case RPC2_INIT1AUTHONLY: ce->SecurityLevel = RPC2_AUTHONLY; break; case RPC2_INIT1HEADERSONLY: ce->SecurityLevel = RPC2_HEADERSONLY; break; case RPC2_INIT1SECURE: ce->SecurityLevel = RPC2_SECURE; break; default: assert(FALSE); } if (ce->SecurityLevel != RPC2_OPENKIMONO) { secure_random_bytes(&ce->NextSeqNumber, sizeof(ce->NextSeqNumber)); ce->EncryptionType = ntohl(ib1->FakeBody_EncryptionType); } SetRole(ce, SERVER); SetState(ce, S_STARTBIND); ce->PeerHandle = pb->Header.LocalHandle; ce->sa.peer_spi = pb->Header.LocalHandle; ce->SubsysId = pb->Header.SubsysId; ce->PeerUnique = pb->Header.Uniquefier; ce->SEProcs = NULL; ce->Color = GetPktColor(pb); #ifdef RPC2DEBUG if (RPC2_DebugLevel > 9) { printf("New Connection %p......\n", ce); rpc2_PrintCEntry(ce, rpc2_tracefile); (void)fflush(rpc2_tracefile); } #endif rpc2_NoteBinding(pb->Prefix.PeerAddr, ce->PeerHandle, pb->Header.Uniquefier, ce->UniqueCID); return (ce); }