<!doctype html public "-//w3c//dtd html 4.0 transitional//en"> <html> <head> <meta http-equiv="Content-Type" content="text/html; charset=iso-8859-1"> <meta name="Generator" content="Microsoft Word 97"> <meta name="Template" content="C:\Program Files\Microsoft Office\Office\html.dot"> <meta name="GENERATOR" content="Mozilla/4.5 [en] (WinNT; I) [Netscape]"> <title>Trimble Palisade Receiver</title> </head> <body text="#000000" bgcolor="#FFFFFF" link="#0000FF" vlink="#800080" alink="#FF0000"> <h3> Trimble Palisade Receiver</h3> <hr> <h4> <font size=+1>Synopsis</font></h4> Address: <b><font face="Courier">127.127.29.<i>u</i></font></b> <br>Reference ID: <b><font face="Courier">GPS</font></b> <br>Driver ID: <b><font face="Courier">GPS_PALISADE</font></b> <br>Serial Port: <tt>/dev/palisade<b><i>u</i></b></tt> <br><font size=+1>Serial I/O: 9600 baud, 8-bits, 1-stop, odd parity</font> <h4> <font size=+1>Description</font></h4> <font size=+1>The <b>refclock_palisade</b> driver interfaces NTP with Trimble Navigation's Palisade Smart Antenna GPS receiver. The driver reports its ID as "GPS_PALISADE'' to indicate the Trimble Palisade GPS as precision time source.</font> <p><font size=+1>This documentation describes version V2.43 (May 11, 1999) of the source.</font> <p><font size=+1>Driver code for the Palisade receiver is being maintained by:</font> <br><font size=+1><a href="mailto:sven_dietrich@trimble.com">Sven Dietrich</a></font> <br><font size=+1><a href="http://www.trimble.com/">Trimble Navigation Ltd.</a></font> <br><font size=+1>645 North Mary Ave.</font> <br><font size=+1>Sunnyvale, CA 94088-3642</font> <br> <p><b><font size=+1>Introduction</font></b> <p><font size=+1>The following information should answer most questions regarding driver installation, deployment and debugging.</font> <h4> <font size=+1>Receiver</font></h4> <font size=+1>The Palisade GPS receiver is an 8-channel smart antenna based on Sierra<sup>TM</sup> GPS technology. It is designed for static timing applications.</font> <p><font size=+1>Palisade generates a PPS synchronized to UTC within +/- 100 ns. This level of precision is achieved using an over-determined time solution, a 40 ns pulse steering resolution and a T-RAIM (Time-Receiver Autonomous Integrity Monitor) algorithm. An external event input with 40 nanosecond resolution, is available for asynchronous time transfer applications.</font> <p><font size=+1>Palisade self-surveys at power-up using TRAIM. No initialization of the receiver is required by the driver. It is recommended that Palisade be allowed to complete self-survey before starting NTP.</font> <br> <h4> <font size=+1>Compatibility</font></h4> <font size=+1>The driver has been tested on the following platforms:</font> <br> <table BORDER WIDTH="758" > <tr> <td VALIGN=CENTER WIDTH="23%"><font size=+1>Platform</font></td> <td VALIGN=CENTER><font size=+1>Operating System</font></td> <td>NTP Sources</td> </tr> <tr> <td VALIGN=CENTER WIDTH="23%"><font size=+1>i386 (PC) </font></td> <td VALIGN=CENTER><font size=+1>Linux 2.x</font></td> <td>NTP Distribution</td> </tr> <tr> <td><font size=+1>i386 (PC) </font></td> <td><font size=+1>Windows NT</font></td> <td><a href="ftp://ftp.trimble.com/pub/ntp">ftp://ftp.trimble.com/pub/ntp</a></td> </tr> <tr> <td VALIGN=CENTER WIDTH="23%"><font size=+1>SUN</font></td> <td VALIGN=CENTER><font size=+1>Solaris 2.5x, 2.6, 7.0</font></td> <td>NTP Distribution</td> </tr> <tr> <td VALIGN=CENTER WIDTH="23%"><font size=+1>Hewlett-Packard</font></td> <td VALIGN=CENTER><font size=+1>HPUX 9, 10, 11</font></td> <td><a href="http://us-support.external.hp.com">http://us-support.external.hp.com</a></td> </tr> </table> <p><font size=+1>If you are compiling NTP from a software distribution, you can obtain latest software source, documentation, and compatibility information from:</font> <p><font size=+1> <a href="ftp://ftp.trimble.com/pub/ntp">ftp://ftp.trimble.com/pub/ntp</a></font> <p><font size=+1>A proprietary port of NTP for Windows NT is also posted on the above ftp site.</font> <br><font size=+1>Windows NT support is available from Trimble on a no-support, beta-evaluation basis only.</font> <p><font size=+1>This driver is compatible with the following versions of Palisade:</font> <br> <table BORDER WIDTH="645" > <tr> <td VALIGN=CENTER WIDTH="22%"> <center><font size=+1>Version</font></center> </td> <td VALIGN=TOP WIDTH="18%"> <center><font size=+1>External Event</font></center> </td> <td VALIGN=CENTER WIDTH="60%"> <center><font size=+1>Trimble Part Number</font></center> </td> </tr> <tr> <td VALIGN=CENTER WIDTH="22%"> <center><font size=+1>7.02</font></center> </td> <td VALIGN=TOP WIDTH="18%"> <center><font size=+1>No</font></center> </td> <td VALIGN=CENTER WIDTH="60%"> <center><font size=+1>26664-00</font></center> </td> </tr> <tr> <td VALIGN=CENTER WIDTH="22%"> <center><font size=+1>7.02E</font></center> </td> <td VALIGN=TOP WIDTH="18%"> <center><font size=+1>Yes</font></center> </td> <td VALIGN=CENTER WIDTH="60%"> <center><font size=+1>26664-10</font></center> </td> </tr> <tr> <td VALIGN=CENTER WIDTH="22%"> <center><font size=+1>7.12</font></center> </td> <td VALIGN=TOP WIDTH="18%"> <center><font size=+1>Yes</font></center> </td> <td VALIGN=CENTER WIDTH="60%"> <center><font size=+1>38158-00</font></center> </td> </tr> </table> <p><font size=+1>Note: If you are using Palisade 26664-00, you must set fudge flag2 to 1 in your ntp.conf file. See the configuration section below.</font> <br> <h4> <font size=+1>Installation</font></h4> <font size=+1>The Palisade receiver is delivered in a smart antenna form factor, housing the GPS receiver, antenna and interface in a single unit, and is designed for rooftop deployment.</font> <p><font size=+1>A location with unobstructed view of the horizon is recommended. Palisade is designed to be securely mounted atop standard 3/4 inch threaded pipe.</font> <p><font size=+1>The 12 conductor (dia. 10 mm) power and I/O cable must be routed from the rooftop site to the NTP server.</font> <h4> <font size=+1>Connection</font></h4> <font size=+1>The Palisade is equipped with dual (A & B) RS-422 serial interfaces and a differential TTL PPS output. Port A must be connected to the NTP time server. An RS-232 / RS-422 signal converter is supplied with the Palisade NTP Synchronization Kit, to allow cable lengths up to 500 meters.</font> <p><font size=+1>The following connections are required when connecting Palisade with a host:</font> <br> <table BORDER=0 CELLSPACING=0 WIDTH="847" > <tr> <td VALIGN=CENTER WIDTH="19%"><u><font size=+1>Description</font></u></td> <td VALIGN=CENTER WIDTH="8%"><b><font size=+1>Host</font></b></td> <td VALIGN=CENTER WIDTH="9%"><font size=+1> </font></td> <td VALIGN=CENTER WIDTH="4%"><font size=+1> </font></td> <td VALIGN=CENTER WIDTH="11%"><font size=+1> </font></td> <td VALIGN=CENTER WIDTH="19%"><b><font size=+1>Palisade</font></b></td> <td VALIGN=CENTER WIDTH="29%"><font size=+1> </font></td> </tr> <tr> <td VALIGN=CENTER WIDTH="19%"><b><font size=+1>Port A</font></b></td> <td VALIGN=CENTER WIDTH="8%"> <center><u><font size=+1>DB-9</font></u></center> </td> <td VALIGN=CENTER WIDTH="9%"> <center><u><font size=+1>DB-25</font></u></center> </td> <td VALIGN=CENTER WIDTH="4%"><font size=+1> </font></td> <td VALIGN=CENTER WIDTH="11%"><u><font size=+1>RS-232</font></u></td> <td VALIGN=CENTER WIDTH="19%"><u><font size=+1>RS-422</font></u></td> <td VALIGN=CENTER WIDTH="29%"><u><font size=+1>Palisade Pinout</font></u></td> </tr> <tr> <td VALIGN=CENTER WIDTH="19%"><font size=+1>Receive Data </font></td> <td VALIGN=CENTER WIDTH="8%"> <center><font size=+1>2</font></center> </td> <td VALIGN=CENTER WIDTH="9%"> <center><font size=+1>3</font></center> </td> <td VALIGN=CENTER WIDTH="4%"><font size=+1><--</font></td> <td VALIGN=CENTER WIDTH="11%"><font size=+1>Green</font></td> <td VALIGN=CENTER WIDTH="19%"><font size=+1>Green / Blue</font></td> <td VALIGN=CENTER WIDTH="29%"><font size=+1>8 (T-) & 10 (T+)</font></td> </tr> <tr> <td VALIGN=CENTER WIDTH="19%"><font size=+1>Transmit Data </font></td> <td VALIGN=CENTER WIDTH="8%"> <center><font size=+1>3</font></center> </td> <td VALIGN=CENTER WIDTH="9%"> <center><font size=+1>2</font></center> </td> <td VALIGN=CENTER WIDTH="4%"><font size=+1><--</font></td> <td VALIGN=CENTER WIDTH="11%"><font size=+1>N/C</font></td> <td VALIGN=CENTER WIDTH="19%"><font size=+1>N/C</font></td> <td VALIGN=CENTER WIDTH="29%"><font size=+1> </font></td> </tr> <tr> <td VALIGN=CENTER WIDTH="19%"><font size=+1>Request to Send</font></td> <td VALIGN=CENTER WIDTH="8%"> <center><font size=+1>7</font></center> </td> <td VALIGN=CENTER WIDTH="9%"> <center><font size=+1>4</font></center> </td> <td VALIGN=CENTER WIDTH="4%"><font size=+1><--</font></td> <td VALIGN=CENTER WIDTH="11%"><font size=+1>Gray</font></td> <td VALIGN=CENTER WIDTH="19%"><font size=+1>Gray / White</font></td> <td VALIGN=CENTER WIDTH="29%"><font size=+1>6 (R-) & 7 (R+)</font></td> </tr> <tr> <td VALIGN=CENTER WIDTH="19%"><font size=+1>Signal Ground</font></td> <td VALIGN=CENTER WIDTH="8%"> <center><font size=+1>5</font></center> </td> <td VALIGN=CENTER WIDTH="9%"> <center><font size=+1>7</font></center> </td> <td VALIGN=CENTER WIDTH="4%"><font size=+1><--</font></td> <td VALIGN=CENTER WIDTH="11%"><font size=+1>Black</font></td> <td VALIGN=CENTER WIDTH="19%"><font size=+1>Black</font></td> <td VALIGN=CENTER WIDTH="29%"><font size=+1>9 (GND)</font></td> </tr> <tr> <td VALIGN=CENTER WIDTH="19%"><font size=+1> </font></td> <td VALIGN=CENTER WIDTH="8%"><font size=+1> </font></td> <td VALIGN=CENTER WIDTH="9%"><font size=+1> </font></td> <td VALIGN=CENTER WIDTH="4%"><font size=+1> </font></td> <td VALIGN=CENTER WIDTH="11%"><font size=+1> </font></td> <td VALIGN=CENTER WIDTH="19%"><font size=+1> </font></td> <td VALIGN=CENTER WIDTH="29%"><font size=+1> </font></td> </tr> <tr> <td VALIGN=CENTER WIDTH="19%"><b><font size=+1>Port B</font></b></td> <td VALIGN=CENTER WIDTH="8%"><font size=+1> </font></td> <td VALIGN=CENTER WIDTH="9%"><font size=+1> </font></td> <td VALIGN=CENTER WIDTH="4%"><font size=+1> </font></td> <td VALIGN=CENTER WIDTH="11%"><font size=+1> </font></td> <td VALIGN=CENTER WIDTH="19%"><font size=+1> </font></td> <td VALIGN=CENTER WIDTH="29%"><font size=+1> </font></td> </tr> <tr> <td VALIGN=CENTER WIDTH="19%"><font size=+1>Receive Data </font></td> <td VALIGN=CENTER WIDTH="8%"> <center><font size=+1>2</font></center> </td> <td VALIGN=CENTER WIDTH="9%"> <center><font size=+1>3</font></center> </td> <td VALIGN=CENTER WIDTH="4%"><font size=+1><--</font></td> <td VALIGN=CENTER WIDTH="11%"><font size=+1>Brown</font></td> <td VALIGN=CENTER WIDTH="19%"><font size=+1>Brown / Yellow</font></td> <td VALIGN=CENTER WIDTH="29%"><font size=+1>4 (T-) & 5 (T+)</font></td> </tr> <tr> <td VALIGN=CENTER WIDTH="19%"><font size=+1>Transmit Data</font></td> <td VALIGN=CENTER WIDTH="8%"> <center><font size=+1>3</font></center> </td> <td VALIGN=CENTER WIDTH="9%"> <center><font size=+1>2</font></center> </td> <td VALIGN=CENTER WIDTH="4%"><font size=+1><--</font></td> <td VALIGN=CENTER WIDTH="11%"><font size=+1>Violet</font></td> <td VALIGN=CENTER WIDTH="19%"><font size=+1>Orange/ Violet</font></td> <td VALIGN=CENTER WIDTH="29%"><font size=+1>2 (R-) & 3 (R+)</font></td> </tr> <tr> <td VALIGN=CENTER WIDTH="19%"><font size=+1>Request to Send</font></td> <td VALIGN=CENTER WIDTH="8%"> <center><font size=+1>7</font></center> </td> <td VALIGN=CENTER WIDTH="9%"> <center><font size=+1>4</font></center> </td> <td VALIGN=CENTER WIDTH="4%"><font size=+1><--</font></td> <td VALIGN=CENTER WIDTH="11%"><font size=+1>N/C</font></td> <td VALIGN=CENTER WIDTH="19%"><font size=+1>N/C</font></td> <td VALIGN=CENTER WIDTH="29%"><font size=+1> </font></td> </tr> <tr> <td VALIGN=CENTER WIDTH="19%"><font size=+1>Signal Ground</font></td> <td VALIGN=CENTER WIDTH="8%"> <center><font size=+1>5</font></center> </td> <td VALIGN=CENTER WIDTH="9%"> <center><font size=+1>7</font></center> </td> <td VALIGN=CENTER WIDTH="4%"><font size=+1><--</font></td> <td VALIGN=CENTER WIDTH="11%"><font size=+1>Black</font></td> <td VALIGN=CENTER WIDTH="19%"><font size=+1>Black</font></td> <td VALIGN=CENTER WIDTH="29%"><font size=+1>9 (GND)</font></td> </tr> </table> <p><font size=+1>Note: Driving the RS-422 inputs on the Palisade single ended, i.e. using the Green and Gray connections,</font> <br><font size=+1>does not work on all serial ports, and is deprecated. Use of the Palisade NTP host adapter is recommended.</font> <p><font size=+1>Pinouts for the Palisade NTP host adapter (Trimble PN 37070) DB-25 M connector are as follows:</font> <br> <br> <table BORDER=0 CELLSPACING=0 WIDTH="682" > <tr> <td VALIGN=CENTER WIDTH="12%"><font size=+1>DB-25M</font></td> <td VALIGN=CENTER WIDTH="31%"><font size=+1>Conductor </font></td> <td VALIGN=CENTER WIDTH="16%"><font size=+1>Palisade</font></td> <td VALIGN=CENTER WIDTH="41%"><font size=+1>Description</font></td> </tr> <tr> <td VALIGN=CENTER WIDTH="12%"><font size=+1>1 </font></td> <td VALIGN=CENTER WIDTH="31%"><font size=+1>Red</font></td> <td VALIGN=CENTER WIDTH="16%"><font size=+1>1</font></td> <td VALIGN=CENTER WIDTH="41%"><font size=+1>Power</font></td> </tr> <tr> <td VALIGN=CENTER WIDTH="12%"><font size=+1>7 </font></td> <td VALIGN=CENTER WIDTH="31%"><font size=+1>Black</font></td> <td VALIGN=CENTER WIDTH="16%"><font size=+1>9</font></td> <td VALIGN=CENTER WIDTH="41%"><font size=+1>Ground</font></td> </tr> <tr> <td VALIGN=CENTER WIDTH="12%"><font size=+1>9</font></td> <td VALIGN=CENTER WIDTH="31%"><font size=+1>Black/White</font></td> <td VALIGN=CENTER WIDTH="16%"><font size=+1>12</font></td> <td VALIGN=CENTER WIDTH="41%"><font size=+1>PPS -</font></td> </tr> <tr> <td VALIGN=CENTER WIDTH="12%"><font size=+1>10 </font></td> <td VALIGN=CENTER WIDTH="31%"><font size=+1>Green</font></td> <td VALIGN=CENTER WIDTH="16%"><font size=+1>8</font></td> <td VALIGN=CENTER WIDTH="41%"><font size=+1>Transmit Port A (T-)</font></td> </tr> <tr> <td VALIGN=CENTER WIDTH="12%"><font size=+1>11 </font></td> <td VALIGN=CENTER WIDTH="31%"><font size=+1>Brown</font></td> <td VALIGN=CENTER WIDTH="16%"><font size=+1>4</font></td> <td VALIGN=CENTER WIDTH="41%"><font size=+1>Transmit Port B (T-)</font></td> </tr> <tr> <td VALIGN=CENTER WIDTH="12%"><font size=+1>12 </font></td> <td VALIGN=CENTER WIDTH="31%"><font size=+1>Gray</font></td> <td VALIGN=CENTER WIDTH="16%"><font size=+1>7</font></td> <td VALIGN=CENTER WIDTH="41%"><font size=+1>Receive Port A (R+)</font></td> </tr> <tr> <td VALIGN=CENTER WIDTH="12%"><font size=+1>13</font></td> <td VALIGN=CENTER WIDTH="31%"><font size=+1>Orange</font></td> <td VALIGN=CENTER WIDTH="16%"><font size=+1>3</font></td> <td VALIGN=CENTER WIDTH="41%"><font size=+1>Receive Port B (R+)</font></td> </tr> <tr> <td VALIGN=CENTER WIDTH="12%"><font size=+1>21</font></td> <td VALIGN=CENTER WIDTH="31%"><font size=+1>Orange/White</font></td> <td VALIGN=CENTER WIDTH="16%"><font size=+1>11</font></td> <td VALIGN=CENTER WIDTH="41%"><font size=+1>PPS +</font></td> </tr> <tr> <td VALIGN=CENTER WIDTH="12%"><font size=+1>22</font></td> <td VALIGN=CENTER WIDTH="31%"><font size=+1>Blue</font></td> <td VALIGN=CENTER WIDTH="16%"><font size=+1>10</font></td> <td VALIGN=CENTER WIDTH="41%"><font size=+1>Transmit Port A (T+)</font></td> </tr> <tr> <td VALIGN=CENTER WIDTH="12%"><font size=+1>23</font></td> <td VALIGN=CENTER WIDTH="31%"><font size=+1>Yellow</font></td> <td VALIGN=CENTER WIDTH="16%"><font size=+1>5</font></td> <td VALIGN=CENTER WIDTH="41%"><font size=+1>Transmit Port B (T+)</font></td> </tr> <tr> <td VALIGN=CENTER WIDTH="12%"><font size=+1>24</font></td> <td VALIGN=CENTER WIDTH="31%"><font size=+1>White</font></td> <td VALIGN=CENTER WIDTH="16%"><font size=+1>6</font></td> <td VALIGN=CENTER WIDTH="41%"><font size=+1>Receive Port A (R-)</font></td> </tr> <tr> <td VALIGN=CENTER WIDTH="12%"><font size=+1>25</font></td> <td VALIGN=CENTER WIDTH="31%"><font size=+1>Violet</font></td> <td VALIGN=CENTER WIDTH="16%"><font size=+1>2</font></td> <td VALIGN=CENTER WIDTH="41%"><font size=+1>Receive Port B (R-)</font></td> </tr> </table> <p><font size=+1>The Palisade's secondary port, Port B, provides a TSIP (Trimble Standard Interface Protocol), control and command interface for diagnostics, configuration, and monitoring.</font> <br><font size=+1>Port B and the PPS output are not currently used by the Palisade NTP reference clock driver.</font> <br> <h4> <font size=+1>O/S Serial Port Configuration</font></h4> <font size=+1>The driver attempts to open the device <tt>/dev/palisade</tt><b><i>u</i></b>where <b><i>u</i></b> is the NTP refclock unit number as defined by the LSB of the refclock address. Valid refclock unit numbers are 0 - 3.</font> <p><font size=+1>The user is expected to provide a symbolic link to an available serial port device. This is typically performed by a command such as:</font> <blockquote><tt>ln -s /dev/ttyS0 /dev/palisade0</tt></blockquote> <font size=+1>Windows NT does not support symbolic links to device files. COM<b>x</b>: is used by the driver, derived from the refclock unit number, where unit 1 corresponds to COM<b>1</b>: and unit 3 corresponds to COM3:</font> <h4> <font size=+1>Time Transfer and Polling</font></h4> <font size=+1>Time transfer to the NTP host is performed via the Palisade's comprehensive time packet output. This packet is output once per second, and whenever an event timestamp is requested.</font> <p><font size=+1>The driver requests an event time stamp at the end of each polling interval, by pulsing the RTS (request to send) line on the serial port. The Palisade receiver responds with a time stamped event packet.</font> <p><font size=+1>Time stamps are reported by the Palisade with respect to UTC time.</font> <h4> <font size=+1>Data Format</font></h4> <p><br><font size=+1>Palisade port A can output two synchronous time packets. The NTP driver can use either packet for synchronization. Packets are formatted as follows:</font> <br> <p><b><font size=+1>Packet 8F-AD (Primary NTP Packet)</font></b> <br> <table BORDER=0 CELLSPACING=0 WIDTH="817" > <tr> <td VALIGN=CENTER WIDTH="9%"><font size=+1>Byte</font></td> <td VALIGN=CENTER WIDTH="30%"><font size=+1>Item</font></td> <td VALIGN=CENTER WIDTH="13%"><font size=+1>Type</font></td> <td VALIGN=CENTER WIDTH="49%"><font size=+1>Meaning</font></td> </tr> <tr> <td VALIGN=CENTER WIDTH="9%"><font size=+1>0</font></td> <td VALIGN=CENTER WIDTH="30%"><font size=+1>Sub-Packet ID</font></td> <td VALIGN=CENTER WIDTH="13%"><font size=+1>BYTE</font></td> <td VALIGN=CENTER WIDTH="49%"><font size=+1>Subcode 0xAD</font></td> </tr> <tr> <td VALIGN=TOP WIDTH="9%"><font size=+1>1 - 2</font></td> <td VALIGN=TOP WIDTH="30%"><font size=+1>Event Count</font></td> <td VALIGN=TOP WIDTH="13%"><font size=+1>INTEGER</font></td> <td VALIGN=TOP WIDTH="49%"><font size=+1>External event count recorded (0 = PPS)</font></td> </tr> <tr> <td VALIGN=TOP WIDTH="9%"><font size=+1>3 - 10</font></td> <td VALIGN=TOP WIDTH="30%"><font size=+1>Fractional Second</font></td> <td VALIGN=TOP WIDTH="13%"><font size=+1>DOUBLE</font></td> <td VALIGN=TOP WIDTH="49%"><font size=+1>Time elapsed in current second</font></td> </tr> <tr> <td VALIGN=CENTER WIDTH="9%"><font size=+1>11</font></td> <td VALIGN=CENTER WIDTH="30%"><font size=+1>Hour</font></td> <td VALIGN=CENTER WIDTH="13%"><font size=+1>BYTE</font></td> <td VALIGN=CENTER WIDTH="49%"><font size=+1>Hour</font></td> </tr> <tr> <td VALIGN=CENTER WIDTH="9%"><font size=+1>12</font></td> <td VALIGN=CENTER WIDTH="30%"><font size=+1>Minute</font></td> <td VALIGN=CENTER WIDTH="13%"><font size=+1>BYTE</font></td> <td VALIGN=CENTER WIDTH="49%"><font size=+1>Minute</font></td> </tr> <tr> <td VALIGN=CENTER WIDTH="9%"><font size=+1>13</font></td> <td VALIGN=CENTER WIDTH="30%"><font size=+1>Second</font></td> <td VALIGN=CENTER WIDTH="13%"><font size=+1>BYTE</font></td> <td VALIGN=CENTER WIDTH="49%"><font size=+1>Second (0 - 59; 60 = leap)</font></td> </tr> <tr> <td VALIGN=TOP WIDTH="9%"><font size=+1>14</font></td> <td VALIGN=TOP WIDTH="30%"><font size=+1>Day</font></td> <td VALIGN=TOP WIDTH="13%"><font size=+1>BYTE</font></td> <td VALIGN=TOP WIDTH="49%"><font size=+1>Date (1 - 31)</font></td> </tr> <tr> <td VALIGN=CENTER WIDTH="9%"><font size=+1>15</font></td> <td VALIGN=CENTER WIDTH="30%"><font size=+1>Month</font></td> <td VALIGN=CENTER WIDTH="13%"><font size=+1>BYTE</font></td> <td VALIGN=CENTER WIDTH="49%"><font size=+1>Month (1 - 12)</font></td> </tr> <tr> <td VALIGN=CENTER WIDTH="9%"><font size=+1>15 - 17</font></td> <td VALIGN=CENTER WIDTH="30%"><font size=+1>Year</font></td> <td VALIGN=CENTER WIDTH="13%"><font size=+1>INTEGER</font></td> <td VALIGN=CENTER WIDTH="49%"><font size=+1>Year (4 digit)</font></td> </tr> <tr> <td VALIGN=CENTER WIDTH="9%"><font size=+1>18</font></td> <td VALIGN=CENTER WIDTH="30%"><font size=+1>Receiver Status</font></td> <td VALIGN=CENTER WIDTH="13%"><font size=+1>BYTE</font></td> <td VALIGN=CENTER WIDTH="49%"><font size=+1>Tracking Status</font></td> </tr> <tr> <td VALIGN=TOP WIDTH="9%"><font size=+1>19</font></td> <td VALIGN=TOP WIDTH="30%"><font size=+1>UTC Flags</font></td> <td VALIGN=TOP WIDTH="13%"><font size=+1>BYTE</font></td> <td VALIGN=TOP WIDTH="49%"><font size=+1>Leap Second Flags</font></td> </tr> <tr> <td VALIGN=CENTER WIDTH="9%"><font size=+1>20</font></td> <td VALIGN=CENTER WIDTH="30%"><font size=+1>Reserved</font></td> <td VALIGN=CENTER WIDTH="13%"><font size=+1>BYTE</font></td> <td VALIGN=CENTER WIDTH="49%"><font size=+1>Contains 0xFF</font></td> </tr> <tr> <td VALIGN=CENTER WIDTH="9%"><font size=+1>21</font></td> <td VALIGN=CENTER WIDTH="30%"><font size=+1>Reserved</font></td> <td VALIGN=CENTER WIDTH="13%"><font size=+1>BYTE</font></td> <td VALIGN=CENTER WIDTH="49%"><font size=+1>Contains 0xFF</font></td> </tr> </table> <br> <p><font size=+1>Leap Second Flag Definition:</font> <br><font size=+1>Bit 0: (1) UTC Time is available</font> <br><font size=+1>Bits 1 - 3: Undefined</font> <br><font size=+1>Bit 4: (1) Leap Scheduled: Leap second pending asserted by GPS control segment.</font> <br><font size=+1>Bit 5: (1) Leap Pending: set 24 hours before, until beginning of leap second.</font> <br><font size=+1>Bit 6: (1) GPS Leap Warning: 6 hours before until 6 hours after leap event</font> <br><font size=+1>Bit 7: (1) Leap In Progress. Only set during the leap second.</font> <br> <p><font size=+1>Tracking Status Flag Definitions:</font> <br> <table BORDER=0 CELLSPACING=0 WIDTH="712" > <tr> <td VALIGN=CENTER WIDTH="5%"><font size=+1>0</font></td> <td VALIGN=CENTER WIDTH="59%"><font size=+1>Receiver is Navigating</font></td> </tr> <tr> <td VALIGN=CENTER WIDTH="5%"><font size=+1>1</font></td> <td VALIGN=CENTER WIDTH="59%"><font size=+1>1 Sat. Timing Mode</font></td> </tr> <tr> <td VALIGN=CENTER WIDTH="5%"><font size=+1>2</font></td> <td VALIGN=CENTER WIDTH="59%"><font size=+1>Approximate Time (20 - 50 ms)</font></td> </tr> <tr> <td VALIGN=CENTER WIDTH="5%"><font size=+1>3</font></td> <td VALIGN=CENTER WIDTH="59%"><font size=+1>Startup</font></td> </tr> <tr> <td VALIGN=CENTER WIDTH="5%"><font size=+1>4</font></td> <td VALIGN=CENTER WIDTH="59%"><font size=+1>Startup (N/A)</font></td> </tr> <tr> <td VALIGN=CENTER WIDTH="5%"><font size=+1>5</font></td> <td VALIGN=CENTER WIDTH="59%"><font size=+1>Dilution of Position too High (only applies during survey)</font></td> </tr> <tr> <td VALIGN=CENTER WIDTH="5%"><font size=+1>6</font></td> <td VALIGN=CENTER WIDTH="59%"><font size=+1>1 Sat. Timing Mode: SV is not usable</font></td> </tr> <tr> <td VALIGN=CENTER WIDTH="5%"><font size=+1>7</font></td> <td VALIGN=CENTER WIDTH="59%"><font size=+1>No Satellites Usable</font></td> </tr> <tr> <td VALIGN=CENTER WIDTH="5%"><font size=+1>8</font></td> <td VALIGN=CENTER WIDTH="59%"><font size=+1>Only 1 Satellite Usable</font></td> </tr> <tr> <td VALIGN=CENTER WIDTH="5%"><font size=+1>9</font></td> <td VALIGN=CENTER WIDTH="59%"><font size=+1>Only 2 Satellite Usable</font></td> </tr> <tr> <td VALIGN=CENTER WIDTH="5%"><font size=+1>10</font></td> <td VALIGN=CENTER WIDTH="59%"><font size=+1>Only 3 Satellites Usable</font></td> </tr> <tr> <td VALIGN=CENTER WIDTH="5%"><font size=+1>11</font></td> <td VALIGN=CENTER WIDTH="59%"><font size=+1>Invalid Solution (Serious Error Cond.)</font></td> </tr> <tr> <td VALIGN=CENTER WIDTH="5%"><font size=+1>12</font></td> <td VALIGN=CENTER WIDTH="59%"><font size=+1>Differential Corrections (N/A)</font></td> </tr> <tr> <td VALIGN=CENTER WIDTH="5%"><font size=+1>13</font></td> <td VALIGN=CENTER WIDTH="59%"><font size=+1>Overdetermined Fixes</font></td> </tr> </table> <br> <p><b><font size=+1>Packet 8F-0B (Comprehensive Timing Packet)</font></b> <br> <table BORDER=0 CELLSPACING=0 WIDTH="810" > <tr> <td VALIGN=CENTER WIDTH="9%"><font size=+1>Byte</font></td> <td VALIGN=CENTER WIDTH="27%"><font size=+1>Item</font></td> <td VALIGN=CENTER WIDTH="16%"><font size=+1>Type</font></td> <td VALIGN=CENTER WIDTH="48%"><font size=+1>Meaning</font></td> </tr> <tr> <td VALIGN=CENTER WIDTH="9%"><font size=+1>0</font></td> <td VALIGN=CENTER WIDTH="27%"><font size=+1>Sub-Packet ID</font></td> <td VALIGN=CENTER WIDTH="16%"><font size=+1>BYTE</font></td> <td VALIGN=CENTER WIDTH="48%"><font size=+1>Subcode 0x0B</font></td> </tr> <tr> <td VALIGN=TOP WIDTH="9%"><font size=+1>1 - 2</font></td> <td VALIGN=TOP WIDTH="27%"><font size=+1>Event Count</font></td> <td VALIGN=TOP WIDTH="16%"><font size=+1>INTEGER</font></td> <td VALIGN=TOP WIDTH="48%"><font size=+1>External event count recorded (0 = PPS)</font></td> </tr> <tr> <td VALIGN=TOP WIDTH="9%"><font size=+1>3 - 10</font></td> <td VALIGN=TOP WIDTH="27%"><font size=+1>UTC / GPS TOW</font></td> <td VALIGN=TOP WIDTH="16%"><font size=+1>DOUBLE</font></td> <td VALIGN=TOP WIDTH="48%"><font size=+1>UTC / GPS time of week (seconds)</font></td> </tr> <tr> <td VALIGN=CENTER WIDTH="9%"><font size=+1>11</font></td> <td VALIGN=CENTER WIDTH="27%"><font size=+1>Date</font></td> <td VALIGN=CENTER WIDTH="16%"><font size=+1>BYTE</font></td> <td VALIGN=CENTER WIDTH="48%"><font size=+1>Day of Month</font></td> </tr> <tr> <td VALIGN=CENTER WIDTH="9%"><font size=+1>12</font></td> <td VALIGN=CENTER WIDTH="27%"><font size=+1>Month</font></td> <td VALIGN=CENTER WIDTH="16%"><font size=+1>BYTE</font></td> <td VALIGN=CENTER WIDTH="48%"><font size=+1>Month of Event</font></td> </tr> <tr> <td VALIGN=CENTER WIDTH="9%"><font size=+1>13 - 14</font></td> <td VALIGN=CENTER WIDTH="27%"><font size=+1>Year</font></td> <td VALIGN=CENTER WIDTH="16%"><font size=+1>INT</font></td> <td VALIGN=CENTER WIDTH="48%"><font size=+1>Year of event</font></td> </tr> <tr> <td VALIGN=TOP WIDTH="9%"><font size=+1>15</font></td> <td VALIGN=TOP WIDTH="27%"><font size=+1>Receiver Mode</font></td> <td VALIGN=TOP WIDTH="16%"><font size=+1>BYTE</font></td> <td VALIGN=TOP WIDTH="48%"><font size=+1>Receiver operating dimensions: </font> <br><font size=+1>0: Horizontal (2D) </font> <br><font size=+1>1: Full Position (3D) </font> <br><font size=+1>2: Single Satellite (0D) </font> <br><font size=+1>3: Automatic (2D / 3D) </font> <br><font size=+1>4: DGPS reference </font> <br><font size=+1>5: Clock hold (2D) </font> <br><font size=+1>6: Over determined Clock</font></td> </tr> <tr> <td VALIGN=CENTER WIDTH="9%"><font size=+1>15 - 17</font></td> <td VALIGN=CENTER WIDTH="27%"><font size=+1>UTC Offset</font></td> <td VALIGN=CENTER WIDTH="16%"><font size=+1>INTEGER</font></td> <td VALIGN=CENTER WIDTH="48%"><font size=+1>UTC Offset value (seconds)</font></td> </tr> <tr> <td VALIGN=CENTER WIDTH="9%"><font size=+1>18 - 25</font></td> <td VALIGN=CENTER WIDTH="27%"><font size=+1>Oscillator Bias</font></td> <td VALIGN=CENTER WIDTH="16%"><font size=+1>DOUBLE</font></td> <td VALIGN=CENTER WIDTH="48%"><font size=+1>Oscillator BIAS (meters)</font></td> </tr> <tr> <td VALIGN=TOP WIDTH="9%"><font size=+1>26 - 33</font></td> <td VALIGN=TOP WIDTH="27%"><font size=+1>Oscillator Drift Rate</font></td> <td VALIGN=TOP WIDTH="16%"><font size=+1>DOUBLE</font></td> <td VALIGN=TOP WIDTH="48%"><font size=+1>Oscillator Drift (meters / second)</font></td> </tr> <tr> <td VALIGN=CENTER WIDTH="9%"><font size=+1>34 - 37</font></td> <td VALIGN=CENTER WIDTH="27%"><font size=+1>Bias Uncertainty</font></td> <td VALIGN=CENTER WIDTH="16%"><font size=+1>SINGLE</font></td> <td VALIGN=CENTER WIDTH="48%"><font size=+1>Oscillator bias uncertainty (meters)</font></td> </tr> <tr> <td VALIGN=CENTER WIDTH="9%"><font size=+1>38 - 41</font></td> <td VALIGN=CENTER WIDTH="27%"><font size=+1>Drift Uncertainty</font></td> <td VALIGN=CENTER WIDTH="16%"><font size=+1>SINGLE</font></td> <td VALIGN=CENTER WIDTH="48%"><font size=+1>Oscillator bias rate uncertainty (m / sec)</font></td> </tr> <tr> <td VALIGN=CENTER WIDTH="9%"><font size=+1>42 - 49</font></td> <td VALIGN=CENTER WIDTH="27%"><font size=+1>Latitude</font></td> <td VALIGN=CENTER WIDTH="16%"><font size=+1>DOUBLE</font></td> <td VALIGN=CENTER WIDTH="48%"><font size=+1>Latitude in radians</font></td> </tr> <tr> <td VALIGN=CENTER WIDTH="9%"><font size=+1>50 - 57</font></td> <td VALIGN=CENTER WIDTH="27%"><font size=+1>Longitude</font></td> <td VALIGN=CENTER WIDTH="16%"><font size=+1>DOUBLE</font></td> <td VALIGN=CENTER WIDTH="48%"><font size=+1>Longitude in radians</font></td> </tr> <tr> <td VALIGN=CENTER WIDTH="9%"><font size=+1>58 - 65</font></td> <td VALIGN=CENTER WIDTH="27%"><font size=+1>Altitude</font></td> <td VALIGN=CENTER WIDTH="16%"><font size=+1>DOUBLE</font></td> <td VALIGN=CENTER WIDTH="48%"><font size=+1>Altitude above mean sea level, in meters</font></td> </tr> <tr> <td VALIGN=CENTER WIDTH="9%"><font size=+1>66 - 73</font></td> <td VALIGN=CENTER WIDTH="27%"><font size=+1>Satellite ID</font></td> <td VALIGN=CENTER WIDTH="16%"><font size=+1>BYTE</font></td> <td VALIGN=CENTER WIDTH="48%"><font size=+1>SV Id No. of tracked satellites</font></td> </tr> </table> <h4> </h4> <h4> <font size=+1>Configuration</font></h4> <font size=+1>A typical </font><tt>ntp.conf</tt><font size=+1> configuration file for this driver and a Palisade with event polling:</font> <br><tt>#------------------------------------------------------------------------------</tt> <br><tt># The Primary reference</tt> <br><tt>server 127.127.29.0 # Trimble Palisade GPS (Stratum 1).</tt> <p><tt>peer terrapin.csc.ncsu.edu # internet server</tt> <p><tt># Drift file for expedient re-synchronization after downtime or reboot.</tt> <br><tt>driftfile /etc/ntp.drift</tt> <br><tt>#------------------------------------------------------------------------------</tt> <p><font size=+1>A typical </font><tt>ntp.conf</tt><font size=+1> configuration file for this driver and a Palisade without event polling:</font> <p><tt>#------------------------------------------------------------------------------</tt> <br><tt># The Primary reference</tt> <br><tt>server 127.127.29.0 # Trimble Palisade GPS (Stratum 1).</tt> <p><tt># Set packet delay</tt> <br><tt>fudge 127.127.29.0 time1 0.020</tt> <p><tt># and set flag2 to turn off event polling.</tt> <br><tt>fudge 127.127.29.0 flag2 1</tt> <p><tt># Drift file for expedient re-synchronization after downtime or reboot.</tt> <br><tt>driftfile /etc/ntp.drift</tt> <br><tt>#------------------------------------------------------------------------------</tt> <h4> <font size=+1>Logging</font></h4> <font size=+1>Syslog entries generated by the palisade reference clock will be of the form:</font> <pre>Nov 14 16:16:21 terrapin ntpd[1127]: Palisade #0: <i>message</i></pre> <h4> <font size=+1>Debugging</font></h4> <font size=+1>The following procedure is recommended for installing and testing a Palisade NTP driver:</font> <ol> <li> <font size=+1>Place the Palisade GPS receiver outdoors; with clear view of the sky.</font></li> <li> <font size=+1>Allow the receiver 5 minutes to acquire satellite lock and position.</font></li> <li> <font size=+1>Verify presence of timing packets by observing the 1 Hz (PPS) led on the NTP interface. It should flash once per second.</font></li> <li> <font size=+1>Connect Palisade port A to the NTP host.</font></li> <li> <font size=+1>Configure NTP and the serial I/O port on the host system.</font></li> <li> <font size=+1>Initially use fudge flag2 in <b>ntp.conf,</b> to disable event polling (see configuration).</font></li> <li> <font size=+1>Run NTP in debug mode (-d -d), to observe Palisade_receive events.</font></li> <li> <font size=+1>The driver reports the tracking status of the receiver. A minumum of 4 sats. are required for self-survey to complete.</font></li> <li> <font size=+1>Remove fudge flag2 and restart <b>ntpd</b> in debug mode to observe event polling receive events.</font></li> </ol> <h4> #DEFINEs</h4> <font size=+1>The following constants are defined and used by the driver. These defines may be modified to improve performance or adapt to new operating systems.</font> <br> <table BORDER=0 CELLSPACING=0 WIDTH="757" > <tr> <td VALIGN=TOP WIDTH="29%"><b><font size=+1>Label</font></b></td> <td VALIGN=CENTER WIDTH="49%"><font size=+1>Definition</font></td> <td VALIGN=TOP WIDTH="23%"><font size=+1>Default Value</font></td> </tr> <tr> <td VALIGN=CENTER WIDTH="29%"><font size=+1>DEVICE</font></td> <td VALIGN=CENTER WIDTH="49%"><font size=+1>The serial port device to be used by the driver.</font></td> <td VALIGN=CENTER WIDTH="23%"><font size=+1>/dev/palisade<b><i>u</i></b></font></td> </tr> <tr> <td VALIGN=TOP WIDTH="29%"><font size=+1>PRECISION</font></td> <td VALIGN=CENTER WIDTH="49%"><font size=+1>Estimate of the accuracy of timestamps when using event poll.</font></td> <td VALIGN=CENTER WIDTH="23%"><font size=+1>10 microseconds</font></td> </tr> <tr> <td VALIGN=CENTER WIDTH="29%"><font size=+1>CURRENT_UTC</font></td> <td VALIGN=CENTER WIDTH="49%"><font size=+1>Valid GPS - UTC offset</font></td> <td VALIGN=CENTER WIDTH="23%"><font size=+1>13</font></td> </tr> <tr> <td VALIGN=CENTER WIDTH="29%"><font size=+1>SPEED232</font></td> <td VALIGN=CENTER WIDTH="49%"><font size=+1>Host RS-232 baud rate</font></td> <td VALIGN=CENTER WIDTH="23%"><font size=+1>B9600</font></td> </tr> <tr> <td VALIGN=CENTER WIDTH="29%"><font size=+1>TRMB_MINPOLL </font></td> <td VALIGN=CENTER WIDTH="49%"><font size=+1>Minimum polling interval</font></td> <td VALIGN=CENTER WIDTH="23%"><font size=+1>5 (32 seconds)</font></td> </tr> <tr> <td VALIGN=CENTER WIDTH="29%"><font size=+1>TRMB_MAXPOLL</font></td> <td VALIGN=CENTER WIDTH="49%"><font size=+1>Maximum interval between polls</font></td> <td VALIGN=CENTER WIDTH="23%"><font size=+1>7 (128 seconds)</font></td> </tr> </table> <h4> Fudge Factors</h4> <dl> <dt> <tt>time1 <i>time</i></tt></dt> <dd> <font size=+1>Specifies the time offset calibration factor, in seconds and fraction, with default 0.0.</font></dd> </dl> <dir><font size=+1>When event capture is not being used, time1 should be set to 20 milliseconds to correct serial line and operating system delays incurred in capturing time stamps from the synchronous packets.</font></dir> <dl> <dt> <font size=+1> </font><tt>time2 <i>time</i></tt></dt> <dd> <font size=+1>Not currently used by this driver.</font></dd> <dt> <tt>stratum <i>number</i></tt></dt> <dd> <font size=+1>Specifies the driver stratum, in decimal from 0 to 15, with default 0.</font></dd> <dt> <tt>refid <i>string</i></tt></dt> <dd> <font size=+1>Specifies the driver reference identifier, </font><b><tt>GPS</tt></b><font size=+1>.</font></dd> <dt> <tt>flag1 0 | 1</tt></dt> <dd> <font size=+1>Not currently used by this driver.</font></dd> <dt> <tt>flag2 0 | 1</tt></dt> <dd> <font size=+1>When set to 1, driver does not use hardware event polling. Instead, the synchronous packets output at the start of each second by the Palisade receiver are used. If the ioctl() call triggering the event capture fails, the driver falls back to this mode automatically.</font></dd> <dt> <tt>flag3 0 | 1</tt></dt> <dd> <font size=+1>Not currently used by this driver.</font></dd> <dt> <font size=+1> </font><tt>flag4 0 | 1</tt></dt> <dd> <font size=+1>Not currently used by this driver.</font></dd> </dl> <h4> <font size=+1>Additional Information</font></h4> <font size=+1><a href="refclock.html">Reference Clock Drivers</a></font> <br><font size=+1><a href="http://www.trimble.com/">Trimble Navigation Ltd.</a></font> <p> <hr> <address> <font size=+1><a href="mailto:sven_dietrich@trimble.com">Sven-Thorsten Dietrich</a></font></address> <p><br><font size=+1>(last updated May 13, 1999)</font> <br> </body> </html>