Drivers Trimble Port Devices
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Synopsis
| 127.127.29.u | |
Reference ID: | GPS |
| GPS_PALISADE | |
Serial Port: | /dev/palisadeu |
| 9600 baud, 8-bits, 1-stop, odd parity |
Description
The refclock_palisade driver supports TrimbleNavigation's Palisade Smart Antenna GPS receiver.Additional software and information about the Palisade GPS is availablefrom: http://www.trimble.com/oem/ntp.
Latest NTP driver source, executables and documentation is maintainedat:ftp://ftp.trimble.com/pub/ntp
This documentation describes version 7.12 of the GPS Firmware and version2.46 (July 15, 1999) and later, of the driver source.
Operating System Compatibility
The Palisade driver has been tested on the following software and hardwareplatforms:| Platform | Operating System | NTP Sources | Accuracy |
| i386 (PC) | Linux | NTP Distribution | 10 us |
| i386 (PC) | Windows NT | ftp://ftp.trimble.com/pub/ntp | 1 ms |
| SUN | Solaris 2.x | NTP Distribution | 50 us |
| Hewlett-Packard | HPUX 9, 10, 11 | http://us-support.external.hp.com | 50 us |
| Various | Free BSD | NTP Distribution | 20 us |
GPS Receiver
The Palisade GPS receiver is an 8-channel smart antenna, housing the GPSreceiver, antenna and interface in a single unit, and is designed for rooftopdeployment in static timing applications.Palisade generates a PPS synchronized to UTC within +/- 100 ns. The Palisade's external event input with 40 nanosecond resolution is utilizedby the Palisade NTP driver for asynchronous precision time transfer.
No user initialization of the receiver is required. This driver is compatiblewith the following versions of Palisade:
- Note: When using Palisade 26664-00, you must set fudge flag2 to 1 inntp.conf.See configuration.
GPS Installation
A location with unobstructed view of the horizon is recommended. Palisadeis designed to be securely mounted atop standard 3/4 inch threaded pipe.The 12 conductor (dia. 10 mm) power and I/O cable must be routedfrom the rooftop site to the NTP server and properly strain relieved.
GPS Connection
The Palisade is equipped with dual (A & B) RS-422 serial interfacesand a differential TTL PPS output. An RS-232 / RS-422 Interface Moduleis supplied with the Palisade NTP Synchronization Kit. Palisade portA must be connected to the NTP host server. Maximum antenna cable lengthis 500 meters. See the pinouts table for detailedconnection Information.Palisade's port B provides a TSIP (Trimble StandardInterface Protocol) interface for diagnostics, configuration, and monitoring.Port B and the PPS output are not currently used by the Palisade NTP referenceclock driver.
O/S Serial Port Configuration
The driver attempts to open the device /dev/palisadeuwhereDrivers Trimble Port Devices Free
u is the NTP refclock unit number as defined by theLSB of the refclock address. Valid refclock unit numbers are 0 -3.The user is expected to provide a symbolic link to an available serialport device. This is typically performed by a command such as:
ln -s /dev/ttyS0 /dev/palisade0Windows NT does not support symbolic links to device files. COMx:is used by the driver, based on the refclock unit number, where unit 1corresponds to COM1: and unit 3 corresponds to COM3:
NTP Configuration
Palisade NTP configuration file 'ntp.conf' with event polling:#------------------------------------------------------------------------------
# The Primary reference
server 127.127.29.0 # Trimble Palisade GPS Refclock Unit #0
peer terrapin.csc.ncsu.edu # internet server
# Drift file for expedient re-synchronization after downtime orreboot.
driftfile /etc/ntp.drift
#------------------------------------------------------------------------------
Configuration without event polling:
#------------------------------------------------------------------------------
# The Primary reference
server 127.127.29.0 # Trimble Palisade GPS (Stratum 1).
# Set packet delay
fudge 127.127.29.0 time1 0.020
# and set flag2 to turn off event polling.
fudge 127.127.29.0 flag2 1
#------------------------------------------------------------------------------
Time Transfer and Polling
Time transfer to the NTP host is performed via the Palisade's comprehensivetime packet output. The time packets are output once per second, and wheneveran event timestamp is requested.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 PalisadeGPS responds with a time stamped event packet.
Time stamps are reported by the Palisade with respect to UTC time. TheGPS receiver must download UTC offset information from GPS satellites.After an initial UTC download, the receiver will always start with correctUTC offset information.
Run NTP in Debugging Mode
The following procedure is recommended for installing and testing a PalisadeNTP driver:- Perform initial checkout procedures. Place the GPS receiver outdoors; withclear view of the sky. Allow the receiver to obtain an UTC almanac.
- Verify presence of timing packets by observing the 1 Hz (PPS) led on theinterface module. It should flash once per second.
- Connect Palisade's port A to the NTP host.
- Configure NTP and the serial I/O port on the host system.
- Initially use fudge flag2 in ntp.conf,to disable event polling (see configuration).
- Run NTP in debug mode (-d -d), to observe Palisade_receive events.
- The driver reports the tracking status of thereceiver. Make sure it is tracking several satellites.
- Remove fudge flag2 and restart ntpd in debug mode to observe palisade_receiveevents.
- If event polling fails, verify the connections andthat the host hardware supports RTS control.
Event Logging
System and Event log entries are generated by NTP to report significantsystem events. Administrators should monitor the system log to observeNTP error messages. Log entries generated by the Palisade NTP referenceclock driver will be of the form:Fudge Factors
- time1 time
- Specifies the time offset calibration factor, in seconds and fraction,with default 0.0. If event capture is not used, time1 should be set to20 milliseconds to correct serial line and operating system delays incurredin capturing time stamps from the synchronous packets.
- stratum number
- Specifies the driver stratum, in decimal from 0 to 15, with default 0.
- refid string
- Specifies the driver reference identifier, GPS.
- flag2 0| 1
- When set to 1, driver does not use hardware event capture. The synchronouspacket output by the receiver at the beginning of each second is time stampedby the driver. If triggering the event pulse fails, the driver falls backto this mode automatically.
Mode Parameter
- mode number
- The mode parameter to the server command specifies the specific hardware this driver is for. The default is 0 for a normal Trimble Palisade. The only other option at this time is 1 for a Endrun Praecis in Trimble emulation mode.
DEFINEs
The following constants are defined in the driver source code. These definesmay be modified to improve performance or adapt to new operating systems.| Byte | Item | Type | Meaning |
| 0 | Sub-Packet ID | BYTE | Subcode 0xAD |
| 1 - 2 | Event Count | INTEGER | External event count recorded (0 = PPS) |
| 3 - 10 | Fractional Second | DOUBLE | Time elapsed in current second (s) |
| 11 | Hour | BYTE | Hour (0 - 23) |
| 12 | Minute | BYTE | Minute (0 - 59) |
| 13 | Second | BYTE | Second (0 - 59; 60 = leap) |
| 14 | Day | BYTE | Date (1 - 31) |
| 15 | Month | BYTE | Month (1 - 12) |
| 16 - 17 | Year | INTEGER | Year (4 digit) |
| 18 | Receiver Status | BYTE | Tracking Status |
| 19 | UTC Flags | BYTE | Leap Second Flags |
| 20 | Reserved | BYTE | Contains 0xFF |
| 21 | Reserved | BYTE | Contains 0xFF |
Leap Second Flag Definition:
Bit 0: (1) UTC Time is available
Bits 1 - 3: Undefined
Bit 4: (1) Leap Scheduled: Leap second pending asserted by GPScontrol segment.
Bit 5: (1) Leap Pending: set 24 hours before, until beginningof leap second.
Bit 6: (1) GPS Leap Warning: 6 hours before until 6 hours afterleap event
Bit 7: (1) Leap In Progress. Only set during the leap second.Tracking Status Flag Definitions:
| Code | Meaning | Accuracy | Receiver Mode |
| 0 | Receiver is Navigating | +/- 1 us | Self Survey |
| 1 | Static 1 Sat. Timing Mode | +/- 1 us | 1-D Timing |
| 2 | Approximate Time | 20 - 50 ms | Acquisition |
| 3 | Startup | N/A | Initialization |
| 4 | Startup | N/A | Initialization |
| 5 | Dilution of Position too High | 5 ppm | Self Survey |
| 6 | Static 1 Sat. Timing: Sat. not usable | 5 ppm | 1-D Timing |
| 7 | No Satellites Usable | N/A | Self Survey |
| 8 | Only 1 Satellite Usable | 20 - 50 ms | Self Survey |
| 9 | Only 2 Satellite Usable | 20 - 50 ms | Self Survey |
| 10 | Only 3 Satellites Usable | 20 - 50 ms | Self Survey |
| 11 | Invalid Solution | N/A | Error |
| 12 | Differential Corrections | N/A | N/A |
| 13 | Overdetermined Fixes | +/- 100 ns | Timing Steady State |
Packet 8F-0B (Comprehensive Timing Packet)
| Byte | Item | Type | Meaning |
| 0 | Sub-Packet ID | BYTE | Subcode 0x0B |
| 1 - 2 | Event Count | INTEGER | External event count recorded (0 = PPS) |
| 3 - 10 | UTC / GPS TOW | DOUBLE | UTC / GPS time of week (seconds) |
| 11 | Date | BYTE | Day of Month |
| 12 | Month | BYTE | Month of Event |
| 13 - 14 | Year | INT | Year of event |
| 15 | Receiver Mode | BYTE | Receiver operating dimensions: 0: Horizontal (2D) 1: Full Position (3D) 2: Single Satellite (0D) 3: Automatic (2D / 3D) 4: DGPS reference 5: Clock hold (2D) 6: Over determined Clock |
| 15 - 17 | UTC Offset | INTEGER | UTC Offset value (seconds) |
| 18 - 25 | Oscillator Bias | DOUBLE | Oscillator BIAS (meters) |
| 26 - 33 | Oscillator Drift Rate | DOUBLE | Oscillator Drift (meters / second) |
| 34 - 37 | Bias Uncertainty | SINGLE | Oscillator bias uncertainty (meters) |
| 38 - 41 | Drift Uncertainty | SINGLE | Oscillator bias rate uncertainty (m / sec) |
| 42 - 49 | Latitude | DOUBLE | Latitude in radians |
| 50 - 57 | Longitude | DOUBLE | Longitude in radians |
| 58 - 65 | Altitude | DOUBLE | Altitude above mean sea level, in meters |
| 66 - 73 | Satellite ID | BYTE | SV Id No. of tracked satellites |
Pinouts
The following connections are required when connectingPalisade with a host:| Description | Host | Palisade | ||||
| Port A | DB-9 | DB-25 | RS-232 | RS-422 | Palisade Pin | |
| Receive Data | 2 | 3 | <--> | Green | Green / Blue | 8 (T-) & 10 (T+) |
| Request to Send | 7 | 4 | <--> | Gray | Gray / White | 6 (R-) & 7 (R+) |
| Signal Ground | 5 | 7 | <--> | Black | Black | 9 (GND) |
| Port B | ||||||
| Receive Data | 2 | 3 | <--> | Brown | Brown / Yellow | 4 (T-) & 5 (T+) |
| Transmit Data | 3 | 2 | <--> | Violet | Orange/ Violet | 2 (R-) & 3 (R+) |
| Signal Ground | 5 | 7 | <--> | Black | Black | 9 (GND) |
Note: If driving the RS-422 inputs on the Palisade single ended,i.e. using the Green and Gray connections only, does not work on all serialports. Use of the Palisade NTP Synchronization Interface Module is recommended.
The 12 pin connector pinout definition:
Face the round 12 pin connector at the end of the cable, with the notchturned upwards.
Pin 1 is to the left of the notch. Pins 2 - 8 wrap around the bottom,counterclockwise to pin 9 on the right of the notch. Pin 10 is just belowthe notch. Pins 10 (top), 11 (bottom left) and 12 (bottom right) form atriangle in the center of the connector.
Pinouts for the Palisade NTP host adapter(Trimble PN 37070) DB-25 M connector are as follows:
| DB-25M | Conductor | Palisade | Description |
| 1 | Red | 1 | Power |
| 7 | Black | 9 | Ground |
| 9 | Black/White | 12 | PPS - |
| 10 | Green | 8 | Transmit Port A (T-) |
| 11 | Brown | 4 | Transmit Port B (T-) |
| 12 | Gray | 7 | Receive Port A (R+) |
| 13 | Orange | 3 | Receive Port B (R+) |
| 21 | Orange/White | 11 | PPS + |
| 22 | Blue | 10 | Transmit Port A (T+) |
| 23 | Yellow | 5 | Transmit Port B (T+) |
| 24 | White | 6 | Receive Port A (R-) |
| 25 | Violet | 2 | Receive Port B (R-) |
Questions or Comments:
Sven Dietrich
Trimble Navigation Ltd.
Drivers Trimble Port Devices Chart
(last updated July 29, 1999)