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[gpsd-dev] [PATCH 4/4] [isync] Autodetect and configure Spectratime iSyn
|
From: |
Michael Brown |
|
Subject: |
[gpsd-dev] [PATCH 4/4] [isync] Autodetect and configure Spectratime iSync device |
|
Date: |
Wed, 3 Feb 2016 22:40:26 +0000 |
The Spectratime iSync devices comprise a u-blox 6 attached to a
separate iSync microcontroller which drives a rubidium oscillator.
The oscillator status messages may appear in the middle of the
underlying GPS messages; these are handled via the "stashed partial
message" support.
This patch modifies the u-blox driver's parse_input() method to
delegate NMEA messages to generic_parse_input() rather than
nmea_parse(). This is done to allow the iSync trigger string to be
detected after reactivation despite the "stickiness" of the u-blox
driver.
The initial delay time in gpsfake is extended from 1.0 seconds to 1.4
seconds to allow for the additional two 200ms delays introduced by the
calls to gpsd_set_speed() in isync_detect().
The iSync driver legitimately uses both a probe_detect() method and a
trigger string. The guard against such drivers is therefore removed
from test_packet.c.
The regression test data includes one artificially induced packet
collision (where an oscillator status message appears in the middle of
a GPS message), since this corner case is difficult to trigger
deliberately in normal operation.
Signed-off-by: Michael Brown <address@hidden>
---
SConstruct | 1 +
driver_ubx.c | 8 +-
drivers.c | 170 ++++++++++++++++++++++++++++++++++++++++++
gpsfake | 2 +-
test/daemon/isync.log | 149 +++++++++++++++++++++++++++++++++++++
test/daemon/isync.log.chk | 183 ++++++++++++++++++++++++++++++++++++++++++++++
test_packet.c | 5 --
7 files changed, 507 insertions(+), 11 deletions(-)
create mode 100644 test/daemon/isync.log
create mode 100644 test/daemon/isync.log.chk
diff --git a/SConstruct b/SConstruct
index bf1f0b8..de3ed89 100644
--- a/SConstruct
+++ b/SConstruct
@@ -120,6 +120,7 @@ boolopts = (
("gpsclock", True, "GPSClock support"),
("ntrip", True, "NTRIP support"),
("oceanserver", True, "OceanServer support"),
+ ("isync", True, "Spectratime iSync LNRClok/GRCLOK support"),
("rtcm104v2", True, "rtcm104v2 support"),
("rtcm104v3", True, "rtcm104v3 support"),
("passthrough", True, "build support for passing through JSON"),
diff --git a/driver_ubx.c b/driver_ubx.c
index 41ff709..d1d29f8 100644
--- a/driver_ubx.c
+++ b/driver_ubx.c
@@ -633,12 +633,8 @@ static gps_mask_t parse_input(struct gps_device_t *session)
if (session->lexer.type == UBX_PACKET) {
return ubx_parse(session, session->lexer.outbuffer,
session->lexer.outbuflen);
-#ifdef NMEA0183_ENABLE
- } else if (session->lexer.type == NMEA_PACKET) {
- return nmea_parse((char *)session->lexer.outbuffer, session);
-#endif /* NMEA0183_ENABLE */
} else
- return 0;
+ return generic_parse_input(session);
}
bool ubx_write(struct gps_device_t * session,
@@ -730,6 +726,8 @@ static void ubx_event_hook(struct gps_device_t *session,
event_t event)
*/
if (session->mode == O_OPTIMIZE) {
ubx_mode(session, MODE_BINARY);
+ } else {
+ ubx_mode(session, MODE_NMEA);
}
#endif /* RECONFIGURE_ENABLE */
} else if (event == event_deactivate) {
diff --git a/drivers.c b/drivers.c
index 0ce47e8..5d62706 100644
--- a/drivers.c
+++ b/drivers.c
@@ -1152,6 +1152,173 @@ const struct gps_type_t driver_mtk3301 = {
/* *INDENT-ON* */
#endif /* MTK3301_ENABLE */
+#ifdef ISYNC_ENABLE
+/**************************************************************************
+ *
+ * Spectratime LNRCLOK / GRCLOK iSync GPS-disciplined rubidium oscillators
+ *
+ * These devices comprise a u-blox 6 attached to a separate iSync
+ * microcontroller which drives the rubidium oscillator. The iSync
+ * microcontroller can be configured to pass through the underlying
+ * GPS communication channel, while still using the GPS PPSREF signal
+ * to discipline the rubidium oscillator.
+ *
+ * The iSync can also generate its own periodic status packets in NMEA
+ * format. These describe the state of the oscillator (including
+ * whether or not the oscillator PPSOUT is synced to the GPS PPSREF).
+ * These packets are transmitted in the middle of the underlying GPS
+ * packets, forcing us to handle interrupted NMEA packets.
+ *
+ * The default state of the device is to generate no periodic output.
+ * We send a probe string to initiate beating of the iSync-proprietary
+ * $PTNTS,B message, which is then detected as a NMEA trigger.
+ *
+ **************************************************************************/
+
+static ssize_t isync_write(struct gps_device_t *session, const char *data)
+
+{
+ return gpsd_write(session, data, strlen(data));
+}
+
+static bool isync_detect(struct gps_device_t *session)
+{
+ speed_t old_baudrate;
+ char old_parity;
+ unsigned int old_stopbits;
+
+ /* Set 9600 8N1 */
+ old_baudrate = session->gpsdata.dev.baudrate;
+ old_parity = session->gpsdata.dev.parity;
+ old_stopbits = session->gpsdata.dev.stopbits;
+ gpsd_set_speed(session, 9600, 'N', 1);
+
+ /* Cancel pass-through mode and initiate beating of $PTNTS,B
+ * message, which can subsequently be detected as a trigger.
+ */
+ (void)isync_write(session, "@@@@\r\nMAW0C0B\r\n");
+
+ /* return serial port to original settings */
+ gpsd_set_speed(session, old_baudrate, old_parity, old_stopbits);
+
+ return false;
+}
+
+static void isync_event_hook(struct gps_device_t *session, event_t event)
+{
+ if (session->context->readonly)
+ return;
+
+ if (event == event_driver_switch) {
+ session->lexer.counter = 0;
+ }
+
+ if (event == event_configure) {
+ switch (session->lexer.counter) {
+ case 1:
+ /* Configure timing and frequency flags:
+ * - Thermal compensation active
+ * - PPSREF active
+ * - PPSOUT active
+ */
+ (void)isync_write(session, "MAW040B\r\n");
+ /* Configure tracking flags:
+ * - Save frequency every 24 hours
+ * - Align PPSOUT to PPSINT
+ * - Track PPSREF
+ */
+ (void)isync_write(session, "MAW0513\r\n");
+ /* Configure tracking start flags:
+ * - Tracking restart allowed
+ * - Align to PPSREF
+ */
+ (void)isync_write(session, "MAW0606\r\n");
+ /* Configure tracking window:
+ * - 4us
+ */
+ (void)isync_write(session, "MAW1304\r\n");
+ /* Configure alarm window:
+ * - 4us
+ */
+ (void)isync_write(session, "MAW1404\r\n");
+ break;
+ case 2:
+ /* Configure pulse every d second:
+ * - pulse every second
+ */
+ (void)isync_write(session, "MAW1701\r\n");
+ /* Configure pulse origin:
+ * - zero offset
+ */
+ (void)isync_write(session, "MAW1800\r\n");
+ /* Configure pulse width:
+ * - 600ms
+ */
+ (void)isync_write(session, "MAW1223C34600\r\n");
+ break;
+ case 3:
+ /* Configure GPS resource utilization:
+ * - do not consider GPS messages
+ */
+ (void)isync_write(session, "MAW2200\r\n");
+ /* Restart sync */
+ (void)isync_write(session, "SY1\r\n");
+ /* Restart tracking */
+ (void)isync_write(session, "TR1\r\n");
+ break;
+ case 4:
+ /* Cancel BTx messages (if any) */
+ (void)isync_write(session, "BT0\r\n");
+ /* Configure messages coming out every second:
+ * - Oscillator status ($PTNTA) at 750ms
+ */
+ (void)isync_write(session, "MAW0B00\r\n");
+ (void)isync_write(session, "MAW0C0A\r\n");
+ break;
+ case 5:
+ /* Enable GPS passthrough and force u-blox driver to
+ * select NMEA mode.
+ */
+ session->mode = 0;
+ session->drivers_identified = 0;
+ (void)isync_write(session, "@@@@GPS\r\n");
+ break;
+ case 6:
+ /* Trigger detection of underlying u-blox (if necessary) */
+ (void)ubx_write(session, 0x06, 0x00, NULL, 0);
+ break;
+ }
+ }
+}
+
+/* *INDENT-OFF* */
+const struct gps_type_t driver_isync = {
+ .type_name = "iSync", /* full name of type */
+ .packet_type = NMEA_PACKET, /* associated lexer packet type */
+ .flags = DRIVER_STICKY, /* remember this */
+ .trigger = "$PTNTS,B,", /* iSync status message */
+ .channels = 50, /* copied from driver_ubx */
+ .probe_detect = isync_detect, /* how to detect at startup time */
+ .get_packet = generic_get, /* how to get a packet */
+ .parse_packet = generic_parse_input, /* how to interpret a packet */
+ .init_query = NULL, /* non-perturbing initial query */
+ .event_hook = isync_event_hook, /* lifetime event handler */
+#ifdef RECONFIGURE_ENABLE
+ .speed_switcher = NULL, /* no speed switcher */
+ .mode_switcher = NULL, /* no mode switcher */
+ .rate_switcher = NULL, /* no sample-rate switcher */
+ .min_cycle = 1, /* not relevant, no rate switch */
+#endif /* RECONFIGURE_ENABLE */
+#ifdef CONTROLSEND_ENABLE
+ .control_send = nmea_write, /* how to send control strings */
+#endif /* CONTROLSEND_ENABLE */
+#ifdef TIMEHINT_ENABLE
+ .time_offset = NULL, /* no method for NTP fudge factor */
+#endif /* TIMEHINT_ENABLE */
+};
+/* *INDENT-ON* */
+#endif /* ISYNC_ENABLE */
+
#ifdef AIVDM_ENABLE
/**************************************************************************
*
@@ -1626,6 +1793,9 @@ static const struct gps_type_t *gpsd_driver_array[] = {
#ifdef TSIP_ENABLE
&driver_tsip,
#endif /* TSIP_ENABLE */
+#ifdef ISYNC_ENABLE
+ &driver_isync,
+#endif /* ISYNC_ENABLE */
#ifdef UBLOX_ENABLE
&driver_ubx,
#endif /* UBLOX_ENABLE */
diff --git a/gpsfake b/gpsfake
index ae095c6..ba3a513 100755
--- a/gpsfake
+++ b/gpsfake
@@ -222,7 +222,7 @@ if __name__ == '__main__':
# sentences to arrive before the watch takes effect.
# This needs to increase if leading sentences in
# test loads aren't being processed.
- time.sleep(1)
+ time.sleep(1.4)
test.run()
except socket.error, msg:
sys.stderr.write("gpsfake: socket error %s.\n" % msg)
diff --git a/test/daemon/isync.log b/test/daemon/isync.log
new file mode 100644
index 0000000..1cf8a69
--- /dev/null
+++ b/test/daemon/isync.log
@@ -0,0 +1,149 @@
+# Name: iSync
+# Description: Spectratime iSync GPS-disciplined rubidium oscillator
+# Submitter: Michael Brown <address@hidden>
+# Date: 2016-02-03
+# Location: Chicago, IL, USA
+#
+# Notes: Manipulated to include artificial packet collisions (where
+# the iSync microcontroller injects a packet into the middle of
+# a packet from the underlying u-Blox. Such packets are
+# observed in practice, albeit rarely.
+#
+$GPRMC,131519.00,A,4153.85990,N,08738.63638,W,0.048,,030216,,,D*61
+$GPVTG,,T,,M,0.048,N,0.089,K,D*2B
+$GPGGA,131519.00,4153.85990,N,08738.63638,W,2,12,0.95,218.1,M,-33.8,M,,0000*61
+$GPGSA,A,3,20,29,13,15,21,05,18,02,51,26,16,30,1.62,0.95,1.31*0E
+$PTNTA,20160203131536,2,T4,000000066,+108,3,0,3*18
+$GPGSV,4,1,15,02,11,115,37,05,34,060,48,07,00,023,,13,56,090,49*70
+$GPGSV,4,2,15,15,55,170,50,16,07,317,32,18,28,257,45,20,78,348,48*74
+$GPGSV,4,3,15,21,39,304,46,26,07,291,37,29,57,214,50,30,07,050,41*74
+$GPGSV,4,4,15,46,38,194,45,48,24,236,44,51,38,208,43*46
+$GPGST,131519.00,11,,,,0.70,0.49,1.1*53
+$GPZDA,131519.00,03,02,2016,00,00*6C
+$GPGBS,131519.00,0.7,0.5,1.1,02,,30.9,12.6*40
+$GPRMC,131520.00,A,4153.85991,N,08738.63642,W,0.049,,030216,,,D*66
+$GPVTG,,T,,M,0.049,N,0.090,K,D*22
+$GPGGA,131520.00,4153.85991,N,08738.63642,W,2,12,0.93,218.1,M,-33.8,M,,0000*61
+$GPGSA,A,3,20,29,13,15,21,05,18,02,51,26,16,30,1.57,0.93,1.26*08
+$GPGSV,4,1,15,02,11,115,36,05,34,060,48,07,00,023,,13,56,090,49*71
+$PTNTA,20160203131537,2,T4,000000066,+099,3,0,3*10
+$GPGSV,4,3,15,21,40,304,46,26,07,291,37,29,57,214,50,30,07,050,41*7A
+$GPGSV,4,4,15,46,38,194,45,48,24,236,44,51,38,208,43*46
+$GPGST,131520.00,18,,,,0.70,0.49,1.1*50
+$GPZDA,131520.00,03,02,2016,00,00*66
+$GPGBS,131520.00,0.7,0.5,1.1,02,,30.0,14.8*4B
+$GPRMC,131521.00,A,4153.85988,N,08738.63646,W,0.048,,030216,,,D*6A
+$GPVTG,,T,,M,0.048,N,0.090,K,D*23
+$GPGGA,131521.00,4153.85988,N,08738.63646,W,2,12,0.77,218.0,M,-33.8,M,,0000*67
+$GPGSA,A,3,20,29,13,15,21,05,18,02,51,26,16,30,1.28,0.77,1.02*0C
+$PTNTA,20160203131538,2,T4,000000000,+093,3,0,3*15
+$GPGSV,4,1,15,02,11,115,36,05,34,060,48,07,00,023,,13,56,090,49*71
+$GPGSV,4,2,15,15,55,170,50,16,07,317,32,18,28,257,44,20,78,348,48*75
+$GPGSV,4,3,15,21,40,304,46,26,07,291,37,29,57,214,50,30,07,050,41*7A
+$GPGSV,4,4,15,46,38,194,45,48,24,236,44,51,38,208,43*46
+$GPGST,131521.00,21,,,,0.70,0.49,1.1*5B
+$GPZDA,131521.00,03,02,2016,00,00*67
+$GPGBS,131521.00,0.7,0.5,1.1,,,,*46
+$GPRMC,131522.00,A,4153.85986,N,08738.63651,W,0.049,,030216,,,D*60
+$GPVTG,,T,,M,0.049,N,0.090,K,D*22
+$GPGGA,131522.00,4153.85986,N,08738.63651,W,2,12,0.77,217.9,M,-33.8,M,,0000*6A
+$GPGSA,A,3,20,29,13,15,21,05,18,02,51,26,16,30,1.28,0.77,1.02*0C
+#
+# Artificially induced packet collision (see above)
+#
+$GPGSV,4,1,15,02,11,115,36,0$PTNTA,20160203131539,2,T4,000000066,+107,3,0,3*18
+5,34,060,48,07,00,023,,13,56,090,49*71
+$GPGSV,4,2,15,15,55,170,50,16,07,317,32,18,28,257,44,20,78,348,48*75
+$GPGSV,4,3,15,21,40,304,46,26,07,291,37,29,57,214,50,30,07,050,41*7A
+$GPGSV,4,4,15,46,38,194,45,48,24,236,44,51,38,208,43*46
+$GPGST,131522.00,18,,,,0.69,0.49,1.1*5A
+$GPZDA,131522.00,03,02,2016,00,00*64
+$GPGBS,131522.00,0.7,0.5,1.1,,,,*45
+$GPRMC,131523.00,A,4153.85985,N,08738.63657,W,0.050,,030216,,,D*6C
+$GPVTG,,T,,M,0.050,N,0.092,K,D*28
+$GPGGA,131523.00,4153.85985,N,08738.63657,W,2,12,0.77,217.9,M,-33.8,M,,0000*6E
+$GPGSA,A,3,20,29,13,15,21,05,18,02,51,26,16,30,1.28,0.77,1.02*0C
+$PTNTA,20160203131540,2,T4,000000066,+099,3,0,3*10
+$GPGSV,4,2,15,15,55,170,50,16,07,317,32,18,28,257,44,20,78,348,48*75
+$GPGSV,4,3,15,21,40,304,46,26,07,291,36,29,57,214,50,30,07,050,42*78
+$GPGSV,4,4,15,46,38,194,45,48,24,236,44,51,38,208,43*46
+$GPGST,131523.00,15,,,,0.69,0.48,1.1*57
+$GPZDA,131523.00,03,02,2016,00,00*65
+$GPGBS,131523.00,0.7,0.5,1.1,,,,*44
+$GPRMC,131524.00,A,4153.85985,N,08738.63662,W,0.051,,030216,,,D*6C
+$GPVTG,,T,,M,0.051,N,0.094,K,D*2F
+$GPGGA,131524.00,4153.85985,N,08738.63662,W,2,12,0.79,217.9,M,-33.8,M,,0000*61
+$GPGSA,A,3,20,29,13,15,21,05,18,02,51,26,16,30,1.34,0.79,1.08*05
+$PTNTA,20160203131541,2,T4,000000000,+093,3,0,3*1B
+$GPGSV,4,2,15,15,55,170,50,16,07,317,31,18,28,257,43,20,78,348,48*71
+$GPGSV,4,3,15,21,40,304,46,26,07,291,36,29,57,214,50,30,07,050,41*7B
+$GPGSV,4,4,15,46,38,194,45,48,24,236,44,51,38,208,43*46
+$GPGST,131524.00,13,,,,0.69,0.48,1.1*56
+$GPZDA,131524.00,03,02,2016,00,00*62
+$GPGBS,131524.00,0.7,0.5,1.1,26,,29.2,15.3*49
+$GPRMC,131525.00,A,4153.85985,N,08738.63665,W,0.051,,030216,,,D*6A
+$GPVTG,,T,,M,0.051,N,0.094,K,D*2F
+$GPGGA,131525.00,4153.85985,N,08738.63665,W,2,12,0.77,218.0,M,-33.8,M,,0000*6F
+$GPGSA,A,3,20,29,13,15,21,05,18,02,51,26,16,30,1.28,0.77,1.02*0C
+$PTNTA,20160203131542,2,T4,000000066,+108,3,0,3*1B
+$GPGSV,4,1,15,02,11,115,35,05,34,060,48,07,00,023,,13,56,090,49*72
+$GPGSV,4,2,15,15,55,170,50,16,07,317,31,18,28,257,43,20,78,348,48*71
+$GPGSV,4,3,15,21,40,304,46,26,07,290,36,29,57,214,50,30,07,050,41*7A
+$GPGSV,4,4,15,46,38,194,45,48,24,236,44,51,38,208,43*46
+$GPGST,131525.00,19,,,,0.69,0.48,1.1*5D
+$GPZDA,131525.00,03,02,2016,00,00*63
+$GPGBS,131525.00,0.7,0.5,1.1,,,,*42
+$GPRMC,131526.00,A,4153.85985,N,08738.63665,W,0.050,,030216,,,D*68
+$GPVTG,,T,,M,0.050,N,0.092,K,D*28
+$GPGGA,131526.00,4153.85985,N,08738.63665,W,2,12,0.93,218.1,M,-33.8,M,,0000*67
+$GPGSA,A,3,20,29,13,15,21,05,18,02,51,26,16,30,1.57,0.93,1.26*08
+$GPGSV,4,1,15,02,11,115,35,05,34,060,48,07,00,023,,13,56,090,49*72
+$PTNTA,20160203131543,2,T4,000000066,+100,3,0,3*12
+$GPGSV,4,3,15,21,40,304,46,26,07,290,35,29,57,214,50,30,07,050,41*79
+$GPGSV,4,4,15,46,38,194,45,48,24,236,44,51,38,208,43*46
+$GPGST,131526.00,17,,,,0.69,0.48,1.1*50
+$GPZDA,131526.00,03,02,2016,00,00*60
+$GPGBS,131526.00,0.7,0.5,1.1,02,,28.6,17.3*4A
+$GPRMC,131527.00,A,4153.85984,N,08738.63667,W,0.049,,030216,,,D*62
+$GPVTG,,T,,M,0.049,N,0.091,K,D*23
+$GPGGA,131527.00,4153.85984,N,08738.63667,W,2,12,0.77,218.2,M,-33.8,M,,0000*6C
+$GPGSA,A,3,20,29,13,15,21,05,18,02,51,26,16,30,1.28,0.77,1.02*0C
+$PTNTA,20160203131544,2,T4,000000000,+093,3,0,3*1E
+$GPGSV,4,2,15,15,55,170,50,16,07,317,31,18,28,257,43,20,78,348,48*71
+$GPGSV,4,3,15,21,40,304,46,26,07,290,34,29,57,214,50,30,07,050,41*78
+$GPGSV,4,4,15,46,38,194,45,48,24,236,44,51,38,208,43*46
+$GPGST,131527.00,21,,,,0.69,0.48,1.0*55
+$GPZDA,131527.00,03,02,2016,00,00*61
+$GPGBS,131527.00,0.7,0.5,1.0,,,,*41
+$GPRMC,131528.00,A,4153.85984,N,08738.63668,W,0.048,,030216,,,D*63
+$GPVTG,,T,,M,0.048,N,0.089,K,D*2B
+$GPGGA,131528.00,4153.85984,N,08738.63668,W,2,12,0.77,218.3,M,-33.8,M,,0000*6D
+$GPGSA,A,3,20,29,13,15,21,05,18,02,51,26,16,30,1.28,0.77,1.02*0C
+$PTNTA,20160203131545,2,T4,000000066,+108,3,0,3*1C
+$GPGSV,4,2,15,15,55,170,50,16,07,317,30,18,28,257,43,20,78,348,48*70
+$GPGSV,4,3,15,21,40,304,46,26,07,290,34,29,57,213,50,30,07,050,41*7F
+$GPGSV,4,4,15,46,38,194,45,48,24,236,44,51,38,208,43*46
+$GPGST,131528.00,18,,,,0.69,0.48,1.0*50
+$GPZDA,131528.00,03,02,2016,00,00*6E
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diff --git a/test/daemon/isync.log.chk b/test/daemon/isync.log.chk
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diff --git a/test_packet.c b/test_packet.c
index 156dfe0..274d7d6 100644
--- a/test_packet.c
+++ b/test_packet.c
@@ -363,11 +363,6 @@ static int property_check(void)
(*dp)->type_name);
status = EXIT_FAILURE;
}
- if ((*dp)->probe_detect != NULL && (*dp)->trigger != NULL) {
- (void)fprintf(stderr, "%s both a probe and a trigger string\n",
- (*dp)->type_name);
- status = EXIT_FAILURE;
- }
#endif /* CONTROLSEND_ENABLE && RECONFIGURE_ENABLE*/
}
--
2.3.8