392 lines
13 KiB
C
392 lines
13 KiB
C
/* Copyright (c) 2011-2015, The Linux Foundation. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are
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* met:
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of The Linux Foundatoin, nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED "AS IS" AND ANY EXPRESS OR IMPLIED
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* WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
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* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT
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* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS
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* BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR
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* BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
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* WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE
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* OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN
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* IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#include <log_util.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <unistd.h>
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#include <fcntl.h>
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#include <sys/types.h>
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#include <sys/stat.h>
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#include <pthread.h>
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#include <timepps.h>
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#include <linux/types.h>
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#include <stdbool.h>
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#include "loc_cfg.h"
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#include <inttypes.h>
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#include <time.h>
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#include <math.h>
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#define BILLION_NSEC (1E9)
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typedef struct timespec pps_sync_time;
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//DRsync kernel timestamp
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static struct timespec drsyncKernelTs = {0,0};
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//DRsync userspace timestamp
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static struct timespec drsyncUserTs = {0,0};
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static struct timespec prevDrsyncKernelTs = {0,0};
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//flag to stop fetching timestamp
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static int isActive = 0;
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static pps_handle handle;
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static pthread_mutex_t ts_lock;
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static int skipPPSPulseCnt = 0;
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static int gnssOutageInSec = 1;
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static loc_param_s_type gps_conf_param_table[] =
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{
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{"IGNORE_PPS_PULSE_COUNT", &skipPPSPulseCnt, NULL, 'n'},
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{"GNSS_OUTAGE_DURATION", &gnssOutageInSec, NULL, 'n'}
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};
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typedef enum {
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KERNEL_REPORTED_CLOCK_BOOTTIME = 0,
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KERNEL_REPORTED_CLOCK_REALTIME,
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KERNEL_REPORTED_CLOCK_UNKNOWN = 0xfe,
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KERNEL_REPORTED_CLOCK_MAX = 0xff
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} kernel_reported_time_e;
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/* checks the PPS source and opens it */
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int check_device(char *path, pps_handle *handle)
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{
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int ret;
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/* Try to find the source by using the supplied "path" name */
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ret = open(path, O_RDONLY);
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if (ret < 0)
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{
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LOC_LOGV("%s:%d unable to open device %s", __func__, __LINE__, path);
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return ret;
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}
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/* Open the PPS source */
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ret = pps_create(ret, handle);
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if (ret < 0)
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{
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LOC_LOGV( "%s:%d cannot create a PPS source from device %s", __func__, __LINE__, path);
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return -1;
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}
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return 0;
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}
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/* calculate the time difference between two given times in argument -
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** returns the result in timeDifference parametter*/
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static inline void calculate_time_difference(pps_sync_time time1,
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pps_sync_time time2, pps_sync_time* timeDifference)
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{
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if (time2.tv_nsec < time1.tv_nsec) {
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timeDifference->tv_sec = time2.tv_sec - 1 - time1.tv_sec;
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timeDifference->tv_nsec = BILLION_NSEC + time2.tv_nsec - time1.tv_nsec;
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} else {
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timeDifference->tv_sec = time2.tv_sec - time1.tv_sec;
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timeDifference->tv_nsec = time2.tv_nsec - time1.tv_nsec;
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}
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}
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/*add two timespec values and return the result in third resultTime parameter*/
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static inline void pps_sync_time_add(pps_sync_time time1,
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pps_sync_time time2, pps_sync_time* resultTime)
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{
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if (time2.tv_nsec + time1.tv_nsec >= BILLION_NSEC) {
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resultTime->tv_sec = time2.tv_sec + time1.tv_sec + 1;
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resultTime->tv_nsec = time2.tv_nsec + time1.tv_nsec - BILLION_NSEC;
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} else {
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resultTime->tv_sec = time2.tv_sec + time1.tv_sec;
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resultTime->tv_nsec = time2.tv_nsec + time1.tv_nsec;
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}
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}
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#define MAX_REALTIME_OFFSET_DELTA_DIFFERENCE 10
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#define MAX_PPS_KERNEL_TO_USERSPACE_LATENCY 100 /*in milli-second*/
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static inline double convertTimeToMilliSec(pps_sync_time timeToConvert)
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{
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return ((double)(timeToConvert.tv_sec * 1000) + (double)(timeToConvert.tv_nsec * 0.000001));
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}
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/*returnValue: 1 = offsetTime OK, 0 = offsetTime NOT OK*/
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static inline bool isTimeOffsetOk(pps_sync_time offsetTime)
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{
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double offsetInMillis = convertTimeToMilliSec(offsetTime);
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return (fabs(offsetInMillis) <= MAX_REALTIME_OFFSET_DELTA_DIFFERENCE)? true: false;
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}
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/*check whether kernel PPS timestamp is a CLOCK_BOOTTIME or CLOCK_REALTIME*/
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static kernel_reported_time_e get_reported_time_type(pps_sync_time userBootTs,
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pps_sync_time userRealTs,
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pps_sync_time kernelTs)
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{
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double userRealMs, userBootMs, kernelTsMs;
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kernel_reported_time_e reportedTime = KERNEL_REPORTED_CLOCK_UNKNOWN;
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userRealMs = convertTimeToMilliSec(userRealTs);
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userBootMs = convertTimeToMilliSec(userBootTs);
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kernelTsMs = convertTimeToMilliSec(kernelTs);
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if(fabs(userBootMs - kernelTsMs) <= MAX_PPS_KERNEL_TO_USERSPACE_LATENCY) {
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reportedTime = KERNEL_REPORTED_CLOCK_BOOTTIME;
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} else if (fabs(userRealMs - kernelTsMs) <= MAX_PPS_KERNEL_TO_USERSPACE_LATENCY) {
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reportedTime = KERNEL_REPORTED_CLOCK_REALTIME;
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} else {
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reportedTime = KERNEL_REPORTED_CLOCK_UNKNOWN;
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}
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LOC_LOGV("[%s] Detected PPS timestamp type (0:Boot, 1:Real, 0xfe:Unknown):0x%x",
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__func__, reportedTime);
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return reportedTime;
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}
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/*compute_real_to_boot_time - converts the kernel real time stamp to boot time reference*/
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static int compute_real_to_boot_time(pps_info ppsFetchTime)
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{
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int retVal = 0;
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/*Offset between REAL_TIME to BOOT_TIME*/
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static pps_sync_time time_offset = {0, 0};
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pps_sync_time drSyncUserRealTs, drSyncUserBootTs;
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pps_sync_time deltaRealToBootTime = {0, 0};
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pps_sync_time deltaOffsetTime = {0, 0};
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kernel_reported_time_e ppsTimeType;
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retVal = clock_gettime(CLOCK_BOOTTIME,&drSyncUserBootTs);
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if (retVal != 0) {
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LOC_LOGE("[%s]Error Reading CLOCK_BOOTTIME", __func__);
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retVal = -1;
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goto exit0;
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}
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retVal = clock_gettime(CLOCK_REALTIME,&drSyncUserRealTs);
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if (retVal != 0){
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LOC_LOGE("[%s]Error Reading CLOCK_REALTIME", __func__);
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retVal = -1;
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goto exit0;
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}
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ppsTimeType = get_reported_time_type(drSyncUserBootTs, drSyncUserRealTs, ppsFetchTime);
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if (KERNEL_REPORTED_CLOCK_BOOTTIME == ppsTimeType) {
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/*Store PPS kernel time*/
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drsyncKernelTs.tv_sec = ppsFetchTime.tv_sec;
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drsyncKernelTs.tv_nsec = ppsFetchTime.tv_nsec;
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/*Store User PPS fetch time*/
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drsyncUserTs.tv_sec = drSyncUserBootTs.tv_sec;
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drsyncUserTs.tv_nsec = drSyncUserBootTs.tv_nsec;
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LOC_LOGV("[compute_real_to_boot] PPS TimeType CLOCK_BOOTTIME -- report as is");
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retVal = 0;
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} else if (KERNEL_REPORTED_CLOCK_REALTIME == ppsTimeType) {
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/* Calculate time difference between REALTIME to BOOT_TIME*/
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calculate_time_difference(drSyncUserRealTs, drSyncUserBootTs, &deltaRealToBootTime);
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/* Calculate the time difference between stored offset and computed one now*/
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calculate_time_difference(time_offset, deltaRealToBootTime, &deltaOffsetTime);
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if ((0 == time_offset.tv_sec && 0 == time_offset.tv_nsec) ||
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(isTimeOffsetOk(deltaOffsetTime))) {
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/* if Time Offset does not change beyond threshold then
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** convert to boot time*/
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drsyncUserTs.tv_sec = drSyncUserBootTs.tv_sec;
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drsyncUserTs.tv_nsec = drSyncUserBootTs.tv_nsec;
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pps_sync_time_add(ppsFetchTime, deltaRealToBootTime, &drsyncKernelTs);
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retVal = 0;
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} else {
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/*The offset is too high, jump detected in realTime tick, either
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** wall clock changed by user of NTP, skip PPS, re-sync @ next tick
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*/
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LOC_LOGE("[%s] Jump detected in CLOCK_REALTIME - Offset %ld:%ld", __func__,
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deltaOffsetTime.tv_sec, deltaOffsetTime.tv_nsec);
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retVal = -1;
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}
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time_offset.tv_sec = deltaRealToBootTime.tv_sec;
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time_offset.tv_nsec = deltaRealToBootTime.tv_nsec;
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LOC_LOGV("[compute_real_to_boot] KernelRealTs %ld:%ld ComputedTs %ld:%ld RealTs %ld:%ld BootTs %ld:%ld Offset %ld:%ld retVal %d ",
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ppsFetchTime.tv_sec, ppsFetchTime.tv_nsec,
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drsyncKernelTs.tv_sec, drsyncKernelTs.tv_nsec, drSyncUserRealTs.tv_sec,
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drSyncUserRealTs.tv_nsec, drsyncUserTs.tv_sec, drsyncUserTs.tv_nsec,
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time_offset.tv_sec, time_offset.tv_nsec, retVal);
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} else {
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LOC_LOGV("[compute_real_to_boot] PPS TimeType Unknown -- KernelTs %ld:%ld userRealTs %ld:%ld userBootTs %ld:%ld",
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ppsFetchTime.tv_sec, ppsFetchTime.tv_nsec,
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drSyncUserRealTs.tv_sec, drSyncUserRealTs.tv_nsec,
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drsyncUserTs.tv_sec, drsyncUserTs.tv_nsec);
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retVal = -1;
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}
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exit0:
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return retVal;
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}
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/* fetches the timestamp from the PPS source */
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int read_pps(pps_handle *handle)
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{
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struct timespec timeout;
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pps_info infobuf;
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int ret;
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static bool isFirstPulseReceived = false;
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static unsigned int skipPulseCnt = 0;
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// 3sec timeout
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timeout.tv_sec = 3;
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timeout.tv_nsec = 0;
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ret = pps_fetch(*handle, PPS_TSFMT_TSPEC, &infobuf, &timeout);
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if (ret < 0 && ret !=-EINTR)
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{
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LOC_LOGV("%s:%d pps_fetch() error %d", __func__, __LINE__, ret);
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return -1;
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}
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if (!isFirstPulseReceived && (skipPPSPulseCnt > 0)) {
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skipPulseCnt = skipPPSPulseCnt;
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isFirstPulseReceived = true;
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LOC_LOGV("%s:%d first pps pulse received %ld (sec) %ld (nsec)",
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__func__, __LINE__, infobuf.tv_sec, infobuf.tv_nsec)
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}else if (isFirstPulseReceived && (skipPPSPulseCnt > 0) &&
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((infobuf.tv_sec - prevDrsyncKernelTs.tv_sec) > gnssOutageInSec)) {
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LOC_LOGV("%s:%d long RF outage detected, ignore next %d PPS Pulses",
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__func__, __LINE__, skipPPSPulseCnt)
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skipPulseCnt = skipPPSPulseCnt;
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}
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prevDrsyncKernelTs.tv_sec = infobuf.tv_sec;
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prevDrsyncKernelTs.tv_nsec = infobuf.tv_nsec;
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/* check if this dr sync pulse need to be ignored or not*/
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if (skipPulseCnt > 0) {
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LOC_LOGV("%s:%d skip pps count %d, ignoring this pps pulse %ld (sec) %ld (nsec)",
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__func__,__LINE__, skipPulseCnt, infobuf.tv_sec, infobuf.tv_nsec);
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skipPulseCnt--;
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return 0;
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}
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/* update dr syncpulse time*/
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pthread_mutex_lock(&ts_lock);
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ret = compute_real_to_boot_time(infobuf);
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pthread_mutex_unlock(&ts_lock);
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return 0;
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}
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#ifdef __cplusplus
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extern "C" {
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#endif
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/* infinitely calls read_pps() */
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void *thread_handle(void *input)
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{
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int ret;
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if(input != NULL)
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{
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LOC_LOGV("%s:%d Thread Input is present", __func__, __LINE__);
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}
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while(isActive)
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{
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ret = read_pps(&handle);
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if (ret == -1 && errno != ETIMEDOUT )
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{
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LOC_LOGV("%s:%d Could not fetch PPS source", __func__, __LINE__);
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}
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}
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return NULL;
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}
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/* opens the device and fetches from PPS source */
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int initPPS(char *devname)
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{
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int ret,pid;
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pthread_t thread;
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isActive = 1;
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ret = check_device(devname, &handle);
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if (ret < 0)
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{
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LOC_LOGV("%s:%d Could not find PPS source", __func__, __LINE__);
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return 0;
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}
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UTIL_READ_CONF(LOC_PATH_GPS_CONF, gps_conf_param_table);
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pthread_mutex_init(&ts_lock,NULL);
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pid = pthread_create(&thread,NULL,&thread_handle,NULL);
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if(pid != 0)
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{
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LOC_LOGV("%s:%d Could not create thread in InitPPS", __func__, __LINE__);
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return 0;
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}
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return 1;
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}
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/* stops fetching and closes the device */
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void deInitPPS()
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{
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pthread_mutex_lock(&ts_lock);
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isActive = 0;
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pthread_mutex_unlock(&ts_lock);
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pthread_mutex_destroy(&ts_lock);
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pps_destroy(handle);
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}
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/* retrieves DRsync kernel timestamp,DRsync userspace timestamp
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and updates current timestamp */
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/* Returns:
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* 1. @Param out DRsync kernel timestamp
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* 2. @Param out DRsync userspace timestamp
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* 3. @Param out current timestamp
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*/
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int getPPS(struct timespec *fineKernelTs ,struct timespec *currentTs,
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struct timespec *fineUserTs)
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{
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int ret;
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pthread_mutex_lock(&ts_lock);
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fineKernelTs->tv_sec = drsyncKernelTs.tv_sec;
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fineKernelTs->tv_nsec = drsyncKernelTs.tv_nsec;
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fineUserTs->tv_sec = drsyncUserTs.tv_sec;
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fineUserTs->tv_nsec = drsyncUserTs.tv_nsec;
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ret = clock_gettime(CLOCK_BOOTTIME,currentTs);
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pthread_mutex_unlock(&ts_lock);
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if(ret != 0)
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{
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LOC_LOGV("%s:%d clock_gettime() error",__func__,__LINE__);
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return 0;
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}
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return 1;
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}
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#ifdef __cplusplus
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}
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#endif
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