diff --git a/src/drv/CMakeLists.txt b/src/drv/CMakeLists.txt
index 254d285c56ebc9506390f99c75034b1380a067b2..a7bac44ce97c2c4b241b03fecd818627efc5f2e4 100644
--- a/src/drv/CMakeLists.txt
+++ b/src/drv/CMakeLists.txt
@@ -9,4 +9,8 @@ add_library(driver::shmem ALIAS shmem)
add_library(ini_parsing STATIC param.c crc.c)
target_include_directories(ini_parsing PUBLIC
${CMAKE_CURRENT_SOURCE_DIR}/../include)
-add_library(driver::ini_parsing ALIAS ini_parsing)
\ No newline at end of file
+add_library(driver::ini_parsing ALIAS ini_parsing)
+
+add_library(gpsclock STATIC gpsclock.c)
+target_include_directories(gpsclock PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/../include)
+add_library(driver::gpsclock ALIAS gpsclock)
diff --git a/src/drv/gpsclock.c b/src/drv/gpsclock.c
new file mode 100644
index 0000000000000000000000000000000000000000..7fcf928e465ab22aeff6297e7316cdd0028cc8a1
--- /dev/null
+++ b/src/drv/gpsclock.c
@@ -0,0 +1,84 @@
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <time.h>
+#include <errno.h>
+#include "drv/gpsclock.h"
+
+// GPS offset from system time (depends on number of elapsed leap seconds)
+static long gpsoffset;
+
+static int initdone = 0;
+
+int gpsclock_init(void) {
+ int status;
+ status = gpsclock_offset(&gpsoffset);
+ initdone = 1;
+ return status;
+}
+
+int gpsclock_offset(long *offset) {
+ // TAI-UTC offset in seconds as of 1972
+ const long INITIAL_TAI_OFFSET = 10;
+ // GPS-TAI offset in seconds
+ const long GPS_TAI_OFFSET = -19;
+
+ char *savetz;
+ time_t now, gpszero, posixutc, rightutc;
+ struct tm now_tm, gpszero_tm = {.tm_year=80, .tm_mon=0, .tm_mday=6, .tm_hour=0, .tm_min=0, .tm_sec=0, .tm_wday=-1, .tm_yday=-1, .tm_isdst=-1};
+
+ // save TZ
+ savetz = getenv("TZ");
+ if (savetz) {
+ setenv("GPSCLOCK_TZ_ORIG", savetz, 1);
+ }
+ // get current time in posix/UTC (no leap seconds)
+ setenv("TZ", "posix/UTC", 1);
+ tzset();
+ now = time(0);
+ localtime_r(&now, &now_tm);
+ posixutc = mktime(&now_tm);
+ // get UTC time at GPS zero
+ gpszero = mktime(&gpszero_tm);
+ // get current time in right/UTC (includes leap seconds)
+ setenv("TZ", "right/UTC", 1);
+ tzset();
+ rightutc = mktime(&now_tm);
+ // restore TZ
+ savetz = getenv("GPSCLOCK_TZ_ORIG");
+ if (savetz) {
+ setenv("TZ", savetz, 1);
+ unsetenv("GPSCLOCK_TZ_ORIG");
+ } else {
+ unsetenv("TZ");
+ }
+ tzset();
+ *offset = rightutc - posixutc;
+ if (*offset == 0) {
+ fprintf(stderr, "gpsclock: failed to set correct GPS time offset\n");
+ return -1;
+ }
+ // add fixed offsets (TAI-UTC as of 1972 and GPS-TAI)
+ *offset += INITIAL_TAI_OFFSET + GPS_TAI_OFFSET;
+ // subtract gps zero
+ *offset -= gpszero;
+
+ return 0;
+}
+
+char *gpsclock_timestring(char *s, int size) {
+ struct timespec clk;
+ if (!initdone) { gpsclock_init(); }
+ clock_gettime(CLOCK_REALTIME, &clk);
+ snprintf(s, size, "%ld.%02ld\n", clk.tv_sec + gpsoffset, clk.tv_nsec/10000000L);
+ return s;
+}
+
+void gpsclock_time(unsigned long *req) {
+ struct timespec clk;
+ if (!initdone) { gpsclock_init(); }
+ clock_gettime(CLOCK_REALTIME, &clk);
+ req[0] = clk.tv_sec + gpsoffset;
+ req[1] = clk.tv_nsec / 1000;
+ req[2] = clk.tv_nsec % 1000;
+}
diff --git a/src/epics/seq/CMakeLists.txt b/src/epics/seq/CMakeLists.txt
index 67356bb0f9252196cf152fad1719c49ce9de6389..1b75be152417cbcd099cb5e8d38e6ba894596144 100644
--- a/src/epics/seq/CMakeLists.txt
+++ b/src/epics/seq/CMakeLists.txt
@@ -17,7 +17,8 @@ target_link_libraries(standalone_edc PUBLIC
driver::ini_parsing
pv::simple_pv
${Boost_LIBRARIES}
- ${CMAKE_THREAD_LIBS_INIT})
+ ${CMAKE_THREAD_LIBS_INIT}
+ driver::gpsclock)
target_requires_cpp11(standalone_edc PUBLIC)
configure_file(test/epics_test.py ${CMAKE_CURRENT_BINARY_DIR}/epics_test.py COPYONLY)
diff --git a/src/epics/seq/gps.hh b/src/epics/seq/gps.hh
index 9f99ab9a28f1383bf31778e4bbfa3b2b8038d0bd..29bc6f4eaf07d02ad9fcb2f300c06a5126c4365c 100644
--- a/src/epics/seq/gps.hh
+++ b/src/epics/seq/gps.hh
@@ -15,6 +15,7 @@
#include <unistd.h>
+#include <drv/gpsclock.h>
/**
* Operations on GPS time.
@@ -107,7 +108,13 @@ namespace GPS {
public:
explicit gps_clock(int offset):fd_(open ("/dev/gpstime", O_RDWR | O_SYNC)),
offset_(offset),
- ok_(gps_clock::symm_ok(fd_)) {}
+ ok_(gps_clock::symm_ok(fd_))
+ {
+ if (!ok_)
+ {
+ gpsclock_init();
+ }
+ }
~gps_clock()
{
if (fd_ >= 0) close(fd_);
@@ -167,10 +174,10 @@ namespace GPS {
}
else
{
- struct timespec ts;
- clock_gettime(CLOCK_REALTIME, &ts);
- result.sec = ts.tv_sec;
- result.nanosec = ts.tv_nsec;
+ unsigned long req[3];
+ gpsclock_time(req);
+ result.sec = req[0] + offset_;
+ result.nanosec = req[1]*1000 + req[2];
}
return result;
}
diff --git a/src/epics/seq/standalone_edcu.cc b/src/epics/seq/standalone_edcu.cc
index b5230d741cc5847d7758819a5319c82b1d79f015..b5cb0ce529050efea8556e67e9fb30084ed8aac0 100644
--- a/src/epics/seq/standalone_edcu.cc
+++ b/src/epics/seq/standalone_edcu.cc
@@ -341,7 +341,7 @@ int nextTrig = 0;
* @brief EdcuClock the clock for the standalone edc
* @details This class abstracts the clock allowing multiple sources to be
* selected from. Currently this will read form a mbuf (ie the time output of a
- * LIGO model) or from the gpstime device.
+ * LIGO model) or from the gpstime device or from the system clock via gpsclock.
*/
class EdcuClock
{
@@ -676,59 +676,6 @@ void update_diag_info( diag_thread_queues& queues );
// End Header ************************************************************
//
-// **************************************************************************
-/// Get current GPS time from the symmetricom IRIG-B card
-unsigned long
-symm_gps_time( unsigned long* frac, int* stt )
-{
- // **************************************************************************
- unsigned long t[ 3 ];
- ioctl( symmetricom_fd, IOCTL_SYMMETRICOM_TIME, &t );
- t[ 1 ] *= 1000;
- t[ 1 ] += t[ 2 ];
- if ( frac )
- *frac = t[ 1 ];
- if ( stt )
- *stt = 0;
- // return t[0] + daqd.symm_gps_offset;
- return t[ 0 ];
-}
-
-// **************************************************************************
-/// See if the GPS card is locked.
-int
-symm_gps_ok( )
-{
- // **************************************************************************
- unsigned long req = 0;
- ioctl( symmetricom_fd, IOCTL_SYMMETRICOM_STATUS, &req );
- printf( "Symmetricom status: %s\n", req ? "LOCKED" : "UNCLOCKED" );
- return req;
-}
-
-// **************************************************************************
-unsigned long
-symm_initialize( )
-// **************************************************************************
-{
- symmetricom_fd = open( "/dev/gpstime", O_RDWR | O_SYNC );
- if ( symmetricom_fd < 0 )
- {
- perror( "/dev/gpstime" );
- exit( 1 );
- }
- unsigned long gpsSec, gpsuSec;
- int gpsx;
- int gpssync;
- gpssync = symm_gps_ok( );
- gpsSec = symm_gps_time( &gpsuSec, &gpsx );
- printf( "GPS SYNC = %d %d\n", gpssync, gpsx );
- printf( "GPS SEC = %ld USEC = %ld OTHER = %d\n", gpsSec, gpsuSec, gpsx );
- // Set system to start 2 sec from now.
- gpsSec += 2;
- return ( gpsSec );
-}
-
// **************************************************************************
void
connectCallback( struct connection_handler_args args )
diff --git a/src/epics/util/feCodeGen.pl b/src/epics/util/feCodeGen.pl
index 024ac4f9086d6f1b79963ceca8a5d23c309030ef..c9efd27d9c9bbb5e5376ab1188ec90b62df75c31 100755
--- a/src/epics/util/feCodeGen.pl
+++ b/src/epics/util/feCodeGen.pl
@@ -161,6 +161,7 @@ $daq_prefix="DC0";
$allBiquad = 1;
$dac_dt_enable = 0;
$internalclk = 0;
+$userspacegps = 0;
# Load model name without .mdl extension.
$skeleton = $ARGV[1];
@@ -2395,6 +2396,10 @@ sub createEpicsMakefile {
print OUTME "SRC += $rcg_src_dir/src/drv/crc.c\n";
print OUTME "SRC += $rcg_src_dir/src/drv/fmReadCoeff.c\n";
#print OUTME "SRC += src/epics/seq/get_local_time.st\n";
+ if ($userspacegps)
+ {
+ print OUTME "SRC += $rcg_src_dir/src/drv/gpsclock.c\n";
+ }
for($ii=0;$ii<$useWd;$ii++)
{
print OUTME "SRC += src/epics/seq/hepiWatchdog";
@@ -2447,6 +2452,10 @@ sub createEpicsMakefile {
{
print OUTME "EXTRA_CFLAGS += -DFIR_FILTERS\n";
}
+ if ($userspacegps)
+ {
+ print OUTME "EXTRA_CFLAGS += -DUSE_GPSCLOCK\n";
+ }
print OUTME "include $rcg_src_dir/config/Makefile.linux\n";
print OUTME "\n";
print OUTME "build/\$(TARGET)/";
diff --git a/src/epics/util/lib/Parameters.pm b/src/epics/util/lib/Parameters.pm
index c4475300eb66fcdad12c7fc3fe73fa02126de054..4c657246a3596dd3e3fc28d3ad193d5bc0e5cb52 100644
--- a/src/epics/util/lib/Parameters.pm
+++ b/src/epics/util/lib/Parameters.pm
@@ -307,6 +307,10 @@ sub parseParams {
# Specify IPC rate if lower than model rate
$::ipcrate = $spp[1];
}
+ case "userspacegps"
+ {
+ $::userspacegps = 1;
+ }
# Following are old options that are no longer required
case "biquad"
{
diff --git a/src/epics/util/lib/createUserMakefile.pm b/src/epics/util/lib/createUserMakefile.pm
index 9cbe08e1b71f38a9180023a5c5624853a6c5ccb2..14da30f7dd2aa29ec063ff7d4e4bec734b82387d 100644
--- a/src/epics/util/lib/createUserMakefile.pm
+++ b/src/epics/util/lib/createUserMakefile.pm
@@ -169,6 +169,10 @@ if ($::::rfmDelay) {
print OUTM "CFLAGS += -DUSER_SPACE=1\n";
print OUTM "CFLAGS += -fno-builtin-sincos\n";
+if ($::userspacegps) {
+ print OUTM "CFLAGS += -DUSE_GPSCLOCK\n";
+}
+
print OUTM "export LD_LIBRARY_PATH=\$LD_LIBRARY_PATH:/opt/DIS/lib64\n";
print OUTM "API_LIB_PATH=/opt/DIS/lib64\n";
print OUTM "\n\n";
@@ -188,10 +192,18 @@ print OUTM "LDFLAGS = -L \$(API_LIB_PATH) \n";
}
print OUTM "TARGET=$::skeleton\n\n\n";
+if ($::userspacegps) {
+print OUTM "$::skeleton: $::skeleton.o gpsclock.o rfm.o \n\n";
+} else {
print OUTM "$::skeleton: $::skeleton.o rfm.o \n\n";
+}
print OUTM "rfm.o: $::rcg_src_dir\/src/drv/rfm.c \n";
my $ccf = "\$\(CC\) \$\(CFLAGS\) \$\(CPPFLAGS\) \-c \$\< \-o \$\@";
print OUTM "\t$ccf \n";
+if ($::userspacegps) {
+print OUTM "gpsclock.o: $::rcg_src_dir\/src/drv/gpsclock.c \n";
+print OUTM "\t$ccf \n";
+}
print OUTM ".c.o: \n";
print OUTM "\t$ccf \n";
diff --git a/src/fe/controllerAppUser.c b/src/fe/controllerAppUser.c
index 9d372b3044850578b455ce9231975f28fbf1f79c..9b073658c7d557119b410aee680dc773b4ce17c4 100644
--- a/src/fe/controllerAppUser.c
+++ b/src/fe/controllerAppUser.c
@@ -61,6 +61,24 @@
// #include "dolphin_usp.c"
+#ifdef USE_GPSCLOCK
+#include "drv/gpsclock.h"
+#else
+static void
+gpsclock_timestring(char* line, int size)
+{
+ FILE* timef;
+ timef = fopen( "/sys/kernel/gpstime/time", "r" );
+ if ( !timef )
+ {
+ printf( "Cannot find GPS time \n" );
+ return ( 0 );
+ }
+ fgets( line, 100, timef );
+ fclose(timef);
+}
+#endif
+
#define BILLION 1000000000L
// Contec 64 input bits plus 64 output bits (Standard for aLIGO)
@@ -93,21 +111,12 @@ struct timespec myTimer[ 2 ]; ///< Used in code cycle timing
unsigned int
getGpsTimeProc( )
{
- FILE* timef;
char line[ 100 ];
- int status;
unsigned int mytime;
- timef = fopen( "/sys/kernel/gpstime/time", "r" );
- if ( !timef )
- {
- printf( "Cannot find GPS time \n" );
- return ( 0 );
- }
- fgets( line, 100, timef );
+ gpsclock_timestring(line, 100);
mytime = atoi( line );
printf( "GPS TIME is %d\n", mytime );
- fclose( timef );
return ( mytime );
}
@@ -410,10 +419,6 @@ fe_start_app_user( )
timeSec--;
onePpsTime = cycleNum;
- // timeSec = current_time() -1;
- timeSec = ioMemData->gpsSecond;
- timeSec--;
- // timeSec = ioMemData->iodata[0][0].timeSec;
printf( "Using local GPS time %d \n", timeSec );
pLocalEpics->epicsOutput.fe_status = NORMAL_RUN;
diff --git a/src/fe/controllerIopUser.c b/src/fe/controllerIopUser.c
index 55c80b1e504f46a9cbabca4299711f2f90adac19..0fd131a3e6190a9cfe1bc3d43e67ff53dc4f011b 100644
--- a/src/fe/controllerIopUser.c
+++ b/src/fe/controllerIopUser.c
@@ -61,6 +61,24 @@
#include "dolphin.c"
#endif
+#ifdef USE_GPSCLOCK
+#include "drv/gpsclock.h"
+#else
+static void
+gpsclock_timestring(char* line, int size)
+{
+ FILE* timef;
+ timef = fopen( "/sys/kernel/gpstime/time", "r" );
+ if ( !timef )
+ {
+ printf( "Cannot find GPS time \n" );
+ return ( 0 );
+ }
+ fgets( line, 100, timef );
+ fclose(timef);
+}
+#endif
+
#define BILLION 1000000000L
// Contec 64 input bits plus 64 output bits (Standard for aLIGO)
@@ -98,22 +116,12 @@ int getGpsTime( unsigned int* tsyncSec, unsigned int* tsyncUsec );
unsigned int
getGpsTimeProc( )
{
- FILE* timef;
char line[ 100 ];
- int status;
unsigned int mytime;
- timef = fopen( "/sys/kernel/gpstime/time", "r" );
- if ( !timef )
- {
- printf( "Cannot find GPS time \n" );
- return ( 0 );
- }
- fgets( line, 100, timef );
+ gpsclock_timestring(line, 100);
mytime = atoi( line );
printf( "GPS TIME is %d\n", mytime );
- fclose( timef );
- mytime -= 1;
return ( mytime );
}
void
@@ -493,10 +501,8 @@ fe_start_iop_user( )
} while (status != 0 || myTimer[0].tv_nsec > 13000);
/// Begin the first cycle at the start of the next second + 13 us
clock_gettime(CLOCK_MONOTONIC, &myTimer[1]);
- timeSec = getGpsTimeProc() + 2;
- timeoff = myTimer[1].tv_nsec + 13000 - myTimer[0].tv_nsec;
- if (timeoff >= BILLION) { timeoff -= BILLION; myTimer[1].tv_sec++; }
- nextstep = myTimer[1].tv_sec*BILLION + BILLION + timeoff;
+ timeSec = getGpsTimeProc(); // increments at the start of the first cycle
+ nextstep = myTimer[1].tv_sec*BILLION + myTimer[1].tv_nsec - myTimer[0].tv_nsec + BILLION;
clk = nextstep - cyclensec;
startGpsTime = timeSec;
pLocalEpics->epicsOutput.startgpstime = startGpsTime;
diff --git a/src/include/drv/gpsclock.h b/src/include/drv/gpsclock.h
new file mode 100644
index 0000000000000000000000000000000000000000..609d6c72d76f320a15ad0155030873f974f4e97e
--- /dev/null
+++ b/src/include/drv/gpsclock.h
@@ -0,0 +1,30 @@
+#ifndef GPSCLOCK_INCLUDED
+#define GPSCLOCK_INCLUDED
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// gpsclock_init: initialize library (return 0 if successful)
+// currently this just calls gpsclock_offset
+int gpsclock_init(void);
+
+// gpsclock_offset: store difference between GPS and system time in offset (return 0 if successful)
+int gpsclock_offset(long *offset);
+
+// gpsclock_timestring: print gps time into string s with length size (return s)
+// calls gpsclock_init if it has not already been called
+char *gpsclock_timestring(char *s, int size);
+
+// gpsclock_time: store gps time in req
+// req[0] : seconds
+// req[1] : microseconds
+// req[2] : nanoseconds
+// calls gpsclock_init if it has not already been called
+void gpsclock_time(unsigned long *req);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // GPSCLOCK_INCLUDED
diff --git a/src/local_dc/CMakeLists.txt b/src/local_dc/CMakeLists.txt
index 0204b2bf653f3c99240092ffb94cad346a20c87b..020ce2666b7dfcfc69bc00a7c0b58335489e22cf 100644
--- a/src/local_dc/CMakeLists.txt
+++ b/src/local_dc/CMakeLists.txt
@@ -2,7 +2,8 @@ add_executable(local_dc local_dc.c ${CMAKE_CURRENT_SOURCE_DIR}/../drv/rfm.c)
target_link_libraries(local_dc PUBLIC
args
- util)
+ util
+ driver::gpsclock)
configure_file(test_local_dc.sh.in test_local_dc.sh @ONLY)
configure_file(test_local_dc_stopped_model.sh.in test_local_dc_stopped_model.sh @ONLY)
diff --git a/src/local_dc/local_dc.c b/src/local_dc/local_dc.c
index dd5687abc6870198f0ca4bb784d5b2e45df06940..6a4ed11934ebfd4356bc25ff67e9fe886ae029c7 100644
--- a/src/local_dc/local_dc.c
+++ b/src/local_dc/local_dc.c
@@ -26,6 +26,7 @@
#include <pthread.h>
#include "modelrate.h"
#include "local_dc_utils.h"
+#include "drv/gpsclock.h"
#define MSG_BUF_SIZE sizeof( daq_dc_data_t )
@@ -60,11 +61,17 @@ int daqStatBit[ 2 ];
// **********************************************************************************************
/// Get current GPS time from the symmetricom IRIG-B card
unsigned long
-symm_gps_time( unsigned long* frac, int* stt )
-{
- unsigned long t[ 3 ];
+symm_gps_time( unsigned long* frac, int* stt ) {
+ unsigned long t[3];
- ioctl( symmetricom_fd, IOCTL_SYMMETRICOM_TIME, &t );
+ if (symmetricom_fd >= 0)
+ {
+ ioctl(symmetricom_fd, IOCTL_SYMMETRICOM_TIME, &t);
+ }
+ else
+ {
+ gpsclock_time(t);
+ }
t[ 1 ] *= 1000;
t[ 1 ] += t[ 2 ];
if ( frac )
@@ -79,9 +86,13 @@ symm_gps_time( unsigned long* frac, int* stt )
int
symm_ok( )
{
- unsigned long req = 0;
- ioctl( symmetricom_fd, IOCTL_SYMMETRICOM_STATUS, &req );
- fprintf( stderr, "Symmetricom status: %s\n", req ? "LOCKED" : "UNCLOCKED" );
+ unsigned long req = 1;
+ if (symmetricom_fd >= 0)
+ {
+ req = 0;
+ ioctl(symmetricom_fd, IOCTL_SYMMETRICOM_STATUS, &req);
+ fprintf(stderr, "Symmetricom status: %s\n", req ? "LOCKED" : "UNCLOCKED");
+ }
return req;
}
@@ -598,8 +609,10 @@ int __CDECL
symmetricom_fd = open( "/dev/gpstime", O_RDWR | O_SYNC );
if ( symmetricom_fd < 0 )
{
- perror( "/dev/gpstime" );
- exit( 1 );
+ if (gpsclock_init() < 0) {
+ perror("Unable to open /dev/gpstime or initialize the system based gpsclock");
+ exit(1);
+ }
}
gps_ok = symm_ok( );
gps_time = symm_gps_time( &gps_frac, &gps_stt );