├── etc └── chrony │ ├── stratum1 │ ├── chrony.tempcomp │ ├── 20-ntp-servers.conf │ ├── 10-refclocks-pps0.conf │ ├── 11-refclocks-pps1.conf.disabled │ ├── 30-logging.conf │ ├── 00-maintaining.conf │ └── 99-calibrate-offset.gps0 │ └── chrony.conf ├── gnuplot ├── chrony-tempcomp.gnuplot ├── chrony-tracking.gnuplot ├── chrony-refclocks.gnuplot ├── chrony-histogram-gps0.gnuplot ├── 99-calibrate-offset-gps0.gnuplot └── chrony-histogram-pps.gnuplot ├── README.md ├── install-gps-pps.sh └── LICENSE /etc/chrony/stratum1/chrony.tempcomp: -------------------------------------------------------------------------------- 1 | 20000 1.0 2 | 90000 1.0 3 | -------------------------------------------------------------------------------- /etc/chrony/chrony.conf: -------------------------------------------------------------------------------- 1 | ## mod_install_stratum_one 2 | ## mod_install_server 3 | 4 | #include /etc/chrony/stratum1/99-calibrate-offset.gps0 5 | include /etc/chrony/stratum1/*.conf 6 | -------------------------------------------------------------------------------- /gnuplot/chrony-tempcomp.gnuplot: -------------------------------------------------------------------------------- 1 | # setup 2 | set title "Tempcomp Log" 3 | set xlabel "Timestamp (UTC)" 4 | set xdata time 5 | set timefmt "%Y-%m-%d %H:%M:%S" 6 | set format x "%Y-%m-%dT%H:%M:%S"timedate 7 | set xtic rotate by -45 8 | set ytics textcolor rgb "#808000" format "%.1s %c°C" 9 | set y2tics textcolor rgb "#008000" format "%.1f ppm" 10 | set key center bottom opaque 11 | set lmargin 12 12 | set rmargin 12 13 | set grid 14 | 15 | # plot 16 | plot \ 17 | "/var/log/chrony/tempcomp.log" using 1:($3/1000) title "CPU Temp" with lines axis x1y1 lc rgb "#808000", \ 18 | "/var/log/chrony/tracking.log" using 1:5 title "Freq ppm" with lines axis x1y2 lc rgb "#008000" 19 | 20 | # loop 21 | pause 60 22 | reread 23 | -------------------------------------------------------------------------------- /gnuplot/chrony-tracking.gnuplot: -------------------------------------------------------------------------------- 1 | set yrange [-1e-5:1e-5] 2 | 3 | # setup 4 | set title "Tracking Log" 5 | set xlabel "Timestamp (UTC)" 6 | set xdata time 7 | set timefmt "%Y-%m-%d %H:%M:%S" 8 | set format x "%Y-%m-%dT%H:%M:%S"timedate 9 | set xtic rotate by -45 10 | set ytics textcolor rgb "#800080" format "%.1s %cs" 11 | set y2tics textcolor rgb "#008000" format "%.1f ppm" 12 | set key center bottom opaque 13 | set lmargin 12 14 | set rmargin 12 15 | set grid 16 | 17 | # plot 18 | plot \ 19 | "/var/log/chrony/tracking.log" using 1:7 title "Offset" with points axis x1y1 lc rgb "#800080" ps 0.3, \ 20 | "" using 1:5 title "Freq ppm" with lines axis x1y2 lc rgb "#008000" 21 | 22 | # loop 23 | pause 60 24 | reread 25 | -------------------------------------------------------------------------------- /etc/chrony/stratum1/20-ntp-servers.conf: -------------------------------------------------------------------------------- 1 | # NTP Servers 2 | pool pool.ntp.org iburst minpoll 4 maxpoll 4 3 | #pool europe.pool.ntp.org iburst minpoll 4 maxpoll 4 4 | #pool de.pool.ntp.org iburst minpoll 4 maxpoll 4 5 | 6 | 7 | # some Stratum1 Servers 8 | # https://support.ntp.org/Servers/StratumOneTimeServers 9 | # https://www.meinbergglobal.com/english/productinfo/time-server.htm 10 | 11 | ## Physikalisch-Technische Bundesanstalt (PTB), Braunschweig, Germany 12 | #server ptbtime1.ptb.de iburst minpoll 4 maxpoll 4 13 | #server ptbtime2.ptb.de iburst minpoll 4 maxpoll 4 14 | #server ptbtime3.ptb.de iburst minpoll 4 maxpoll 4 15 | 16 | ## Royal Observatory of Belgium 17 | #server ntp-main-1.oma.be iburst minpoll 4 maxpoll 4 18 | #server ntp-main-2.oma.be iburst minpoll 4 maxpoll 4 19 | -------------------------------------------------------------------------------- /gnuplot/chrony-refclocks.gnuplot: -------------------------------------------------------------------------------- 1 | set yrange [-1e-4:1e-4] 2 | 3 | # setup 4 | set title "Refclock Log" 5 | set xlabel "Timestamp (UTC)" 6 | set xdata time 7 | set timefmt "%Y-%m-%d %H:%M:%S" 8 | set xtic format "%Y-%m-%dT%H:%M:%S" rotate by -45 9 | set ytics format "%.1s%cs" 10 | set y2tics textcolor rgb "#008000" format "%.1s%cs" 11 | set key center bottom opaque 12 | set lmargin 12 13 | set rmargin 12 14 | set grid 15 | 16 | # plot 17 | plot \ 18 | " offset %e\nlo_quartile: %e\nmedian: %e => offset %e\nup_quartile: %e", A_mean, -A_mean, A_lo_quartile, A_median, -A_median, A_up_quartile) 9 | print "########################################" 10 | 11 | 12 | set title "Histogram GPS0" 13 | set xlabel "Offset" 14 | set ylabel "Count" 15 | set xtic format "%.0s %cs" rotate by -45 16 | set boxwidth width 17 | set style fill solid 18 | 19 | 20 | set arrow 1 from A_lo_quartile, graph 0.20 to A_lo_quartile, graph 0 front nohead 21 | set arrow 2 from A_median, graph 0.25 to A_median, graph 0 front fill 22 | set arrow 3 from A_up_quartile, graph 0.20 to A_up_quartile, graph 0 front nohead 23 | set arrow 4 from A_mean, graph -0.05 to A_mean, graph 0 front fill 24 | 25 | set label 1 at graph 0, graph 1-0.125*0 sprintf("GPS0:\nmean: %e (%.1f ms)\nmedian: %e (%.1f ms)", A_mean, A_mean*1000.0, A_median, A_median*1000.0) left offset graph 0.05, graph -0.05 front 26 | 27 | 28 | plot " offset %e\nlo_quartile: %e\nmedian: %e => offset %e\nup_quartile: %e", -A_mean, -A_mean, -A_lo_quartile, -A_median, -A_median, -A_up_quartile) 9 | print "########################################" 10 | 11 | 12 | set title "Calibration Offset GPS0" 13 | set xlabel "Offset (for configuration file)" 14 | set ylabel "Count" 15 | set xtic format "%.3f" rotate by -45 16 | set boxwidth width 17 | set style fill solid 18 | 19 | 20 | set arrow 1 from -A_lo_quartile, graph 0.20 to -A_lo_quartile, graph 0 front nohead 21 | set arrow 2 from -A_median, graph 0.25 to -A_median, graph 0 front fill 22 | set arrow 3 from -A_up_quartile, graph 0.20 to -A_up_quartile, graph 0 front nohead 23 | set arrow 4 from -A_mean, graph -0.05 to -A_mean, graph 0 front fill 24 | 25 | set label 1 at graph 0, graph 1-0.125*0 sprintf("GPS0:\nmean: %e (%.1f ms)\nmedian: %e (%.1f ms)", -A_mean, -A_mean*1000.0, -A_median, -A_median*1000.0) left offset graph 0.05, graph -0.05 front 26 | 27 | 28 | plot " offset %e\nlo_quartile: %e\nmedian: %e => offset %e\nup_quartile: %e", A_mean, -A_mean, A_lo_quartile, A_median, -A_median, A_up_quartile) 12 | #print sprintf("PSM0:\nmean: %e => offset %e\nlo_quartile: %e\nmedian: %e => offset %e\nup_quartile: %e", B_mean, -B_mean, B_lo_quartile, B_median, -B_median, B_up_quartile) 13 | #print sprintf("PST0:\nmean: %e => offset %e\nlo_quartile: %e\nmedian: %e => offset %e\nup_quartile: %e", C_mean, -C_mean, C_lo_quartile, C_median, -C_median, C_up_quartile) 14 | print "########################################" 15 | 16 | 17 | set title "Histogram PPS0" 18 | set xlabel "Offset" 19 | set ylabel "Count" 20 | set xtic format "%.0s %cs" rotate by -45 21 | set boxwidth width 22 | set style fill solid 23 | 24 | 25 | set arrow 1 from A_lo_quartile, graph 0.20 to A_lo_quartile, graph 0 front nohead 26 | set arrow 2 from A_median, graph 0.25 to A_median, graph 0 front fill 27 | set arrow 3 from A_up_quartile, graph 0.20 to A_up_quartile, graph 0 front nohead 28 | set arrow 4 from A_mean, graph -0.05 to A_mean, graph 0 front fill 29 | 30 | set label 1 at graph 0, graph 1-0.125*0 sprintf("PPS0:\nmean: %e (%.1f ns)\nmedian: %e (%.1f ns)", A_mean, A_mean*1000000000.0, A_median, A_median*1000000000.0) left offset graph 0.05, graph -0.05 front 31 | #set label 2 at graph 0, graph 1-0.125*1 sprintf("PSM0:\nmean: %e (%.1f ns)\nmedian: %e (%.1f ns)", B_mean, B_mean*1000000000.0, B_median, B_median*1000000000.0) left offset graph 0.05, graph -0.05 front 32 | #set label 3 at graph 0, graph 1-0.125*2 sprintf("PST0:\nmean: %e (%.1f ns)\nmedian: %e (%.1f ns)", C_mean, C_mean*1000000000.0, C_median, C_median*1000000000.0) left offset graph 0.05, graph -0.05 front 33 | 34 | 35 | plot " 4 | it is a private project i have made for myself.
5 | i did not keep an eye on network security. 6 | 7 | **the script will override some existing configurations**
8 | (a backup of the changed configuration files will be stored to **backup.tar.xz**) 9 | 10 | **USE IT AT YOUR OWN RISK** 11 | 12 | **Please give me a '_Star_', if you find that project useful.** 13 | 14 | ### overview schematic: 15 | ``` 16 | ╔═══╗ ╔══════╗ ╔══════╗ GPS-Antenna 17 | ──╢ s ║ ║RPi as╟RX───────╢GPS- ║ ═╪═ 18 | ║ w ║ ║NTP- ╟TX───────╢module║ │ 19 | ║ i ║ ║server║ ╠═══╗ ║ │ 20 | ╔══════╗ ║ t ╟───eth0╢ ╟GPIO#4───╢PPS║ ╟─────┘ 21 | ║ RPi ╟──────╢ c ║ ║ ║ ╚═══╩══╝ 22 | ╚══════╝ ┌──╢ h ╟──┐ ║ ╟GPIO#7╴╴╴╢PPS║ ╟╴╴ 23 | │ ╚═══╝ │ ╚══════╝ ╚═══╩══╝ 24 | ╔══╧══╗ ╔══╧══╗ 25 | ║ PC1 ║ ║ PC2 ║ 26 | ╚═════╝ ╚═════╝ 27 | ``` 28 | ### overview: path of time source 29 | (without external NTP servers) 30 | ``` 31 | ╔═══════╗ ╔══════════════════╗ 32 | ║ GPS ╫──RX───╫──┐ KERNEL ║ 33 | ║ ╔═════╣ ║ │ ║ ╔══════════════ 34 | ║ ║NMEA─╫──TX───╫─[+]─/dev/ttyAMA0─╫────────┬───NMEA──x ║ CHRONY 35 | ║ ╠═════╣ ║ ║ │ ║ 36 | ║ ║ PPS─╫─GPIO4─╫─────/dev/pps0────╫──────┬─)────────────────────────────╫──[+]────PPS0 37 | ╚═╩═════╝ ╴╫╴╴┐ ║ │ │ ║ │ 38 | ╠═════╣ ╴╫╴[+]╴/dev/ttyAMA1╴╫╴╴╴┐ │ │ ║ │ 39 | ║ ║*PPS╴╫╴GPIO7╴╫╴╴╴╴╴/dev/pps1╴╴╴╴╫╴┬╴)╴╴)╴)╴╴╴╴╴╴╴╴╴╴╴╴╴╴╴╴╴╴╴╴╴╴╴╴╴╴╴╴╫╴╴╴)╴[+]╴PPS1* 40 | ╚═╩═════╝ ╚══════════════════╝ ╵ ╵ │ │ ╔══════════════════╗ ║ │ ╵ 41 | ╵ ╵ │ │ ║ GPSD ║ ║ │ ╵ 42 | ╵ ╵ │ │ ║ ║ ║ │ ╵ 43 | ╵ ╵ │ └─╫─GPS0──┬──────────╫─SHM0──╫───)──)──GPS0 44 | ╵ ╵ │ ║ │ ┌─╫─SHM1──╫───┴──)──PSM0 45 | ╵ ╵ └───╫─PPS0─[+]───────┴─╫─SOCK0─╫──────)──PST0 46 | ╵ ╵ ║ ║ ║ ╵ 47 | ╵ └╴╴╴╴╴╴╫╴GPS1╴╴╴╴╴┬╴╴╴╴╴╴╴╫╴SHM2╴╴╫╴╴╴╴╴╴)╴╴GPS1* 48 | ╵ ║ │ ┌╴╫╴SHM3╴╴╫╴╴╴╴╴╴┴╴╴PSM1* 49 | └╴╴╴╴╴╴╴╴╫╴PPS1╴╴╴╴[+]╴╴╴╴┴╴╫╴SOCK1╴╫╴╴╴╴╴╴╴╴╴PST1* 50 | ╚══════════════════╝ ╚══════════════ 51 | *) optional second PPS device 52 | ``` 53 | ## requirements 54 | 55 | ### hardware: 56 | - Raspberry Pi (with LAN) 57 | - SD card 58 | - working network environment (with a connection to internet for installation only) 59 | - GPS module with PPS output (e.g. [Adafruit Ultimate GPS Breakout - 66 channel w/10 Hz updates - Version 3](https://www.adafruit.com/products/746) 60 | - optionally a second PPS device 61 | 62 | ### software: 63 | - Raspberry Pi OS Bullseye (2021-10-30 or newer, [(link)](https://www.raspberrypi.org/downloads/raspbian/)) 64 | 65 | ## installation: 66 | assuming, 67 | - your Raspberry Pi is running Raspberry Pi OS Bullseye (2021-10-30 or newer), 68 | - and has a proper connection to the internet via LAN. 69 | - and your SD card is expanded, 70 | - and you connected the GPS module direct to the RPi's RX/TX pins of the GPIO and the GPS PPS pin to the RPi' GPIO 4
71 | (you can use other GPIO pins for PPS by changing `dtoverlay=pps-gpio,gpiopin=...` in `/boot/config.txt`) 72 | 73 | 0. clone this repository with: 74 | `git clone https://github.com/beta-tester/RPi-GPS-PPS-StratumOne.git`
75 | and change into the folder where it was cloned to (e.g.: `RPi-GPS-PPS-StratumOne`).
76 | (in case it fails, because `git` is not installed yet, please do `sudo apt update; sudo apt install git` and try to clone the repository again) 77 | 2. run `bash install-gps-pps.sh` to install necessary packages and setup Kernel PPS, GPSD, and NTP with PPS support. 78 | 3. reboot your RPi with `sudo reboot` 79 | 4. **_in case you have a RPi3, RPi3+, RPi4 or RPi0w with a built-in Bluetooth adapter, and the script didn't disabled Bluetooth successfully, please run `sudo raspi-conf` and disable the Bluetooth adapter there. otherwise the built-in Bluetooth adapter will block the serial port of the GPIO pins._** 80 | 81 | done. 82 | 83 | ## NOTES: 84 | gpsd v3.20 available on bullseye repository may have an issue with autobaud feature (finding the correct baud rate of the gps device automatically).
85 | you may have to set the correct baud rate explicitly in the file `/etc/default/gpsd`
86 | e.g. for baud rate 115200:
87 | `GPSD_OPTIONS="--listenany --nowait --badtime --passive --speed 115200"` 88 | ### note1: 89 | the chrony configuration files are in the `/etc/chrony/statum1` folder. 90 | only files with `*.conf` will be included to the configuration. 91 | all other files in that folder will be ignored. 92 | by renaming the files you easily can enable and disable different configuration files. 93 | 94 | ### note2: 95 | **PPS** is a high precise pulse, without a time information.
96 | **GPS** (NMEA) has date/time information, but with mostly lower precision. 97 | 98 | to combine **GPS** and **PPS** in chrony, there is a specific requirement, [(link)](https://chrony.tuxfamily.org/faq.html#_using_a_pps_reference_clock)
99 | that GPS data and PPS signal must have a time offset of less than **+/-200ms**
100 | otherwise the PPS signal is seen as false-ticker and will be rejected by chrony. 101 | 102 | depending on your GPS device the offset used in my script can be way too off. 103 | 104 | to adjust the offset of GPS0 edit the file `/etc/chrony/stratum1/10-refclocks-pps0.conf` 105 | 106 | refclock SHM 0 refid GPS0 precision 1e-1 **offset _0.0_** ... 107 | 108 | to find the actual offset, you can use gnuplot (already installed by the script) 109 | and run the plot script 99-calibrate-offset-gps0.gnuplot 110 | to visualize the actual histogram of the measured offsets.
111 | ``` 112 | # stop gpsd and chrony, delete all log files, restart chrony and gpsd 113 | # wait few seconds to give time to create a log file, 114 | # and start the histogram. 115 | 116 | sudo systemctl stop --now gpsd.{service,socket} && sudo systemctl stop --now chrony && \ 117 | sudo rm -f /var/log/chrony/*.log && \ 118 | sudo systemctl start --now chrony && sudo systemctl start --now gpsd && \ 119 | sleep 10 && \ 120 | gnuplot ~/RPi-GPS-PPS-StratumOne/gnuplot/99-calibrate-offset-gps0.gnuplot 121 | ``` 122 | the histogram will updated every minute. keep it running for at least 30 minutes. 123 | the longer you keep it running the better offset value you can find. 124 | (but not longer than 24h. every 24h a new log will started from zero) 125 | 126 | the x-value of the highest spike in the histogram is the offset value for the GPS0 you can 127 | once you got a good offset, you can use your RPi + GPS offline. 128 | 129 | for more information, see also:
130 | `/etc/chrony/chrony.conf`
131 | `/etc/chrony/statum1/99-calibrate-offset.gps0` 132 | 133 | ### note3: 134 | - **GPS0** (NMEA), has a mostly a low accuracy. 135 | 136 | - **PPS0**, has the highest accuracy.
137 | it is passed throught by the kernel to /dev/pps0.
138 | in chrony there is a specific timing offset requirement to PPS, that may cause the PPS0 to be seen as false-ticker by chrony and may be rejected.
139 | (see note2) 140 | 141 | - **PSM0**, is coming from the gpsd service via shared memory and is a combination of PPS0+NMEA, but handled by gpsd service.
142 | it has a similar accuracy as the PPS0 directly, but does not require the specific requirements as noted under note 2, because gpsd knows how the relationship of this.
143 | it is very accurate and does not need manual calibration. that's why it is selected by me as prefered refclock in `10-refclocks-pps0.conf`. 144 | 145 | - **PST0**, is used by gpsd socket to provide PPS0+NMEA information.
146 | it has the same accuracy as PSM0 because they have the same time source. 147 | 148 | - **GPS1, PPS1, PSM1, PST1**, same as above, but only for the second GPS/PPS device. 149 | 150 | to properly restart chrony, use:
151 | ``` 152 | sudo systemctl stop --now gpsd.{service,socket} && \ 153 | sudo systemctl restart --now chrony && \ 154 | sudo systemctl start --now gpsd 155 | ``` 156 | this will disconnect all connected gpsd-clients. 157 | 158 | ## enable second PPS: 159 | to enable a second PPS source (/dev/pps1), please uncomment the prepared lines in the following files: 160 | 161 | - `/boot/config.txt`
162 | uncomment the line to:
163 | `dtoverlay=pps-gpio,gpiopin=7,capture_clear # /dev/pps1` 164 | 165 | - `/etc/default/gpsd`
166 | uncomment the line to:
167 | `DEVICES="/dev/ttyAMA0 /dev/pps0 /dev/pps1"` 168 | 169 | - rename file `/etc/chrony/stratum1/11-refclocks-pps1.conf.disabled` to
170 | `/etc/chrony/stratum1/11-refclocks-pps1.conf` 171 | 172 | and reboot the system. 173 | 174 | **be warned:** as long the kernel of the RPi uses "soft"-interrupts for the second PPS its accuracy is questionable.
175 | for tests i feeded both gpio-pins with the same signal from the same pps-device (shorted both pins) and noticed a time difference of about 20µs in chrony between /dev/pps0 and /dev/pps1
176 | see [(two gpio pins has different delays?)](https://www.raspberrypi.org/forums/viewtopic.php?f=28&t=277074) 177 | -------------------------------------------------------------------------------- /install-gps-pps.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | 3 | ###################################################################### 4 | # tested on RPi4B and 2021-10-30-raspios-bullseye-armhf.zip 5 | 6 | [ -e '/boot/firmware/' ] && BOOT_FIRMWARE=firmware 7 | 8 | ################################################################## 9 | BACKUP_FILE=backup.tar.xz 10 | BACKUP_TRANSFORM=s/^/$(date +%Y-%m-%dT%H_%M_%S)-stratum1\\// 11 | 12 | do_backup() { 13 | tar -ravf "$BACKUP_FILE" --transform="$BACKUP_TRANSFORM" -C / "$1" &>/dev/null 14 | } 15 | 16 | 17 | ################################################################## 18 | SCRIPT_DIR=`dirname "${BASH_SOURCE[0]}"` 19 | if ! [ -d "$SCRIPT_DIR/etc/chrony/stratum1" ]; then 20 | echo -e "\e[1;31m'$SCRIPT_DIR'\e[0m"; 21 | echo -e "\e[1;31mcan not find required files\e[0m"; 22 | exit 1 23 | fi 24 | 25 | 26 | ###################################################################### 27 | handle_update() { 28 | echo -e "\e[32mhandle_update()\e[0m"; 29 | 30 | sudo sync \ 31 | && echo -e "\e[32mupdate...\e[0m" && sudo apt update \ 32 | && echo -e "\e[32mupgrade...\e[0m" && sudo apt full-upgrade -y \ 33 | && echo -e "\e[32mautoremove...\e[0m" && sudo apt autoremove -y --purge \ 34 | && echo -e "\e[32mautoclean...\e[0m" && sudo apt autoclean \ 35 | && echo -e "\e[32mDone.\e[0m" \ 36 | && sudo sync; 37 | } 38 | 39 | 40 | ###################################################################### 41 | handle_gps() { 42 | echo -e "\e[32mhandle_gps()\e[0m"; 43 | 44 | ################################################################## 45 | echo -e "\e[36m prepare GPS\e[0m"; 46 | ################################################################## 47 | echo -e "\e[36m setup serial port: /dev/ttyAMA0\e[0m"; 48 | #sudo raspi-config nonint do_serial 2; 49 | sudo raspi-config nonint do_serial_hw 0 50 | sudo raspi-config nonint do_serial_cons 1 51 | sudo systemctl disable --now hciuart; 52 | 53 | ################################################################## 54 | echo -e "\e[36m install gpsd\e[0m"; 55 | sudo apt-get -y install gpsd gpsd-clients; 56 | sudo usermod -a -G dialout $USER 57 | 58 | ################################################################## 59 | echo -e "\e[36m setup gpsd\e[0m"; 60 | sudo systemctl stop --now gpsd.{service,socket}; 61 | 62 | do_backup etc/default/gpsd 63 | cat << EOF | sudo tee /etc/default/gpsd &>/dev/null 64 | # /etc/default/gpsd 65 | ## mod_install_stratum_one 66 | 67 | # Default settings for the gpsd init script and the hotplug wrapper. 68 | 69 | # Start the gpsd daemon automatically at boot time 70 | START_DAEMON="true" 71 | 72 | # Use USB hotplugging to add new USB devices automatically to the daemon 73 | USBAUTO="true" 74 | 75 | # Devices gpsd should collect to at boot time. 76 | # They need to be read/writeable, either by user gpsd or the group dialout. 77 | DEVICES="/dev/ttyAMA0 /dev/pps0" 78 | # in case you have two pps devices connected 79 | #DEVICES="/dev/ttyAMA0 /dev/pps0 /dev/pps1" 80 | 81 | # Other options you want to pass to gpsd 82 | GPSD_OPTIONS="--listenany --nowait --badtime --passive" 83 | #GPSD_OPTIONS="--listenany --nowait --badtime --passive --speed 9600" 84 | #GPSD_OPTIONS="--listenany --nowait --badtime --passive --speed 115200" 85 | EOF 86 | 87 | ################################################################## 88 | grep -q mod_install_stratum_one /lib/systemd/system/gpsd.socket &>/dev/null || { 89 | echo -e "\e[36m fix gpsd to listen to all connection requests\e[0m"; 90 | do_backup lib/systemd/system/gpsd.socket 91 | sudo sed /lib/systemd/system/gpsd.socket -i -e "s/^ListenStream=\[::1\]:2947/ListenStream=2947/"; 92 | sudo sed /lib/systemd/system/gpsd.socket -i -e "s/^ListenStream=127.0.0.1:2947/#ListenStream=0.0.0.0:2947/"; 93 | sudo sed /lib/systemd/system/gpsd.socket -i -e "s/^BindIPv6Only=yes/#BindIPv6Only=yes/"; 94 | cat << EOF | sudo tee -a /lib/systemd/system/gpsd.socket &>/dev/null 95 | ;; mod_install_stratum_one 96 | EOF 97 | } 98 | 99 | sudo systemctl daemon-reload; 100 | sudo systemctl enable gpsd; 101 | sudo systemctl restart gpsd; 102 | 103 | [ -f "/etc/dhcp/dhclient-exit-hooks.d/ntp" ] && { 104 | do_backup etc/dhcp/dhclient-exit-hooks.d/ntp 105 | sudo rm -f /etc/dhcp/dhclient-exit-hooks.d/ntp; 106 | } 107 | } 108 | 109 | 110 | ###################################################################### 111 | handle_pps() { 112 | echo -e "\e[32mhandle_pps()\e[0m"; 113 | 114 | ################################################################## 115 | echo -e "\e[36m install PPS tools\e[0m"; 116 | sudo apt-get -y install pps-tools; 117 | 118 | ################################################################## 119 | grep -q pps-gpio /boot/$BOOT_FIRMWARE/config.txt &>/dev/null || { 120 | echo -e "\e[36m setup config.txt for PPS\e[0m"; 121 | do_backup boot/$BOOT_FIRMWARE/config.txt 122 | cat << EOF | sudo tee -a /boot/$BOOT_FIRMWARE/config.txt &>/dev/null 123 | [all] 124 | ######################################### 125 | # https://www.raspberrypi.com/documentation/computers/config_txt.html 126 | # https://github.com/raspberrypi/firmware/tree/master/boot/overlays 127 | ## mod_install_stratum_one 128 | 129 | # gps + pps + ntp settings 130 | 131 | #Name: disable-bt 132 | #Info: Disable onboard Bluetooth on Pi 3B, 3B+, 3A+, 4B and Zero W, restoring 133 | # UART0/ttyAMA0 over GPIOs 14 & 15. 134 | # N.B. To disable the systemd service that initialises the modem so it 135 | # doesn't use the UART, use 'sudo systemctl disable hciuart'. 136 | #Load: dtoverlay=disable-bt 137 | #Params: 138 | dtoverlay=disable-bt 139 | 140 | 141 | #Name: pps-gpio 142 | #Info: Configures the pps-gpio (pulse-per-second time signal via GPIO). 143 | #Load: dtoverlay=pps-gpio,= 144 | #Params: gpiopin Input GPIO (default "18") 145 | # assert_falling_edge When present, assert is indicated by a falling 146 | # edge, rather than by a rising edge (default 147 | # off) 148 | # capture_clear Generate clear events on the trailing edge 149 | # (default off) 150 | # note, the last listed entry will become /dev/pps0 151 | # 152 | #dtoverlay=pps-gpio,gpiopin=7,capture_clear # /dev/pps1 153 | dtoverlay=pps-gpio,gpiopin=4,capture_clear # /dev/pps0 154 | EOF 155 | } 156 | 157 | ################################################################## 158 | grep -q pps-gpio /etc/modules &>/dev/null || { 159 | echo -e "\e[36m add pps-gpio to modules for PPS\e[0m"; 160 | do_backup etc/modules 161 | echo 'pps-gpio' | sudo tee -a /etc/modules &>/dev/null 162 | } 163 | } 164 | 165 | 166 | ###################################################################### 167 | disable_ntp() { 168 | echo -e "\e[32mdisable_ntp()\e[0m"; 169 | sudo systemctl disable --now ntp &>/dev/null; 170 | } 171 | 172 | 173 | 174 | ###################################################################### 175 | install_chrony() { 176 | echo -e "\e[32minstall_chrony()\e[0m"; 177 | sudo apt-get -y install chrony; 178 | sudo apt install -y --no-install-recommends gnuplot; 179 | } 180 | 181 | 182 | ###################################################################### 183 | setup_chrony() { 184 | echo -e "\e[32msetup_chrony()\e[0m"; 185 | 186 | sudo systemctl stop chrony; 187 | 188 | do_backup etc/chrony/chrony.conf 189 | sudo mv /etc/chrony/chrony.conf{,.original} 190 | 191 | sudo cp -Rv $SCRIPT_DIR/etc/chrony/* /etc/chrony/; 192 | 193 | sudo systemctl enable chrony; 194 | sudo systemctl restart chrony; 195 | } 196 | 197 | 198 | ###################################################################### 199 | install_ptp() { 200 | echo -e "\e[32minstall_ptp()\e[0m"; 201 | sudo apt-get -y install linuxptp; 202 | sudo ethtool --set-eee eth0 eee off &>/dev/null; 203 | sudo systemctl enable --now ptp4l.service; 204 | } 205 | 206 | 207 | ###################################################################### 208 | # kernel config 209 | ###################################################################### 210 | #nohz=off intel_idle.max_cstate=0 211 | # 212 | ### PPS (default in Raspberry Pi OS) 213 | #CONFIG_PPS=y 214 | #CONFIG_PPS_CLIENT_LDISC=y 215 | #CONFIG_PPS_CLIENT_GPIO=y 216 | #CONFIG_GPIO_SYSFS=y 217 | # 218 | ### PTP (optional addition) 219 | #CONFIG_DP83640_PHY=y 220 | #CONFIG_PTP_1588_CLOCK_PCH=y 221 | # 222 | ### KPPS + tuning (optional addition) 223 | #CONFIG_NTP_PPS=y 224 | #CONFIG_PREEMPT_NONE=y 225 | ## CONFIG_PREEMPT_VOLUNTARY is not set 226 | ## CONFIG_NO_HZ is not set 227 | ## CONFIG_HZ_100 is not set 228 | #CONFIG_HZ_1000=y 229 | #CONFIG_HZ=1000 230 | ###################################################################### 231 | 232 | ###################################################################### 233 | ## test commands 234 | ###################################################################### 235 | #dmesg | grep pps 236 | #sudo ppstest /dev/pps* 237 | #sudo ppswatch -a /dev/pps0 238 | # 239 | #sudo gpsd -D 5 -N -n /dev/ttyAMA0 /dev/pps0 -F /var/run/gpsd.sock 240 | #sudo systemctl stop gpsd.* 241 | #sudo killall -9 gpsd 242 | #sudo dpkg-reconfigure -plow gpsd 243 | #minicom -b 9600 -o -D /dev/ttyAMA0 244 | #cgps 245 | #xgps 246 | #gpsmon 247 | #ipcs -m 248 | #ntpshmmon 249 | # 250 | #sudo systemctl stop gpsd.* && sudo systemctl restart chrony && sudo systemctl start gpsd && echo Done. 251 | # 252 | #chronyc sources 253 | #chronyc sourcestats 254 | #chronyc tracking 255 | #watch -n 10 -p sudo chronyc -m tracking sources sourcestats clients; 256 | ###################################################################### 257 | 258 | 259 | handle_update 260 | 261 | handle_gps 262 | handle_pps 263 | 264 | disable_ntp; 265 | 266 | install_chrony; 267 | setup_chrony; 268 | 269 | #install_ptp; 270 | 271 | 272 | ###################################################################### 273 | echo -e "\e[32mDone.\e[0m"; 274 | echo -e "\e[1;31mPlease reboot\e[0m"; 275 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | GNU GENERAL PUBLIC LICENSE 2 | Version 3, 29 June 2007 3 | 4 | Copyright (C) 2007 Free Software Foundation, Inc. 5 | Everyone is permitted to copy and distribute verbatim copies 6 | of this license document, but changing it is not allowed. 7 | 8 | Preamble 9 | 10 | The GNU General Public License is a free, copyleft license for 11 | software and other kinds of works. 12 | 13 | The licenses for most software and other practical works are designed 14 | to take away your freedom to share and change the works. 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You may not convey a covered 525 | work if you are a party to an arrangement with a third party that is 526 | in the business of distributing software, under which you make payment 527 | to the third party based on the extent of your activity of conveying 528 | the work, and under which the third party grants, to any of the 529 | parties who would receive the covered work from you, a discriminatory 530 | patent license (a) in connection with copies of the covered work 531 | conveyed by you (or copies made from those copies), or (b) primarily 532 | for and in connection with specific products or compilations that 533 | contain the covered work, unless you entered into that arrangement, 534 | or that patent license was granted, prior to 28 March 2007. 535 | 536 | Nothing in this License shall be construed as excluding or limiting 537 | any implied license or other defenses to infringement that may 538 | otherwise be available to you under applicable patent law. 539 | 540 | 12. No Surrender of Others' Freedom. 541 | 542 | If conditions are imposed on you (whether by court order, agreement or 543 | otherwise) that contradict the conditions of this License, they do not 544 | excuse you from the conditions of this License. If you cannot convey a 545 | covered work so as to satisfy simultaneously your obligations under this 546 | License and any other pertinent obligations, then as a consequence you may 547 | not convey it at all. For example, if you agree to terms that obligate you 548 | to collect a royalty for further conveying from those to whom you convey 549 | the Program, the only way you could satisfy both those terms and this 550 | License would be to refrain entirely from conveying the Program. 551 | 552 | 13. Use with the GNU Affero General Public License. 553 | 554 | Notwithstanding any other provision of this License, you have 555 | permission to link or combine any covered work with a work licensed 556 | under version 3 of the GNU Affero General Public License into a single 557 | combined work, and to convey the resulting work. The terms of this 558 | License will continue to apply to the part which is the covered work, 559 | but the special requirements of the GNU Affero General Public License, 560 | section 13, concerning interaction through a network will apply to the 561 | combination as such. 562 | 563 | 14. Revised Versions of this License. 564 | 565 | The Free Software Foundation may publish revised and/or new versions of 566 | the GNU General Public License from time to time. Such new versions will 567 | be similar in spirit to the present version, but may differ in detail to 568 | address new problems or concerns. 569 | 570 | Each version is given a distinguishing version number. If the 571 | Program specifies that a certain numbered version of the GNU General 572 | Public License "or any later version" applies to it, you have the 573 | option of following the terms and conditions either of that numbered 574 | version or of any later version published by the Free Software 575 | Foundation. If the Program does not specify a version number of the 576 | GNU General Public License, you may choose any version ever published 577 | by the Free Software Foundation. 578 | 579 | If the Program specifies that a proxy can decide which future 580 | versions of the GNU General Public License can be used, that proxy's 581 | public statement of acceptance of a version permanently authorizes you 582 | to choose that version for the Program. 583 | 584 | Later license versions may give you additional or different 585 | permissions. However, no additional obligations are imposed on any 586 | author or copyright holder as a result of your choosing to follow a 587 | later version. 588 | 589 | 15. Disclaimer of Warranty. 590 | 591 | THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY 592 | APPLICABLE LAW. EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT 593 | HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY 594 | OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, 595 | THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR 596 | PURPOSE. THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM 597 | IS WITH YOU. SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF 598 | ALL NECESSARY SERVICING, REPAIR OR CORRECTION. 599 | 600 | 16. Limitation of Liability. 601 | 602 | IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING 603 | WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS 604 | THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY 605 | GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE 606 | USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF 607 | DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD 608 | PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS), 609 | EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF 610 | SUCH DAMAGES. 611 | 612 | 17. Interpretation of Sections 15 and 16. 613 | 614 | If the disclaimer of warranty and limitation of liability provided 615 | above cannot be given local legal effect according to their terms, 616 | reviewing courts shall apply local law that most closely approximates 617 | an absolute waiver of all civil liability in connection with the 618 | Program, unless a warranty or assumption of liability accompanies a 619 | copy of the Program in return for a fee. 620 | 621 | END OF TERMS AND CONDITIONS 622 | 623 | How to Apply These Terms to Your New Programs 624 | 625 | If you develop a new program, and you want it to be of the greatest 626 | possible use to the public, the best way to achieve this is to make it 627 | free software which everyone can redistribute and change under these terms. 628 | 629 | To do so, attach the following notices to the program. It is safest 630 | to attach them to the start of each source file to most effectively 631 | state the exclusion of warranty; and each file should have at least 632 | the "copyright" line and a pointer to where the full notice is found. 633 | 634 | 635 | Copyright (C) 636 | 637 | This program is free software: you can redistribute it and/or modify 638 | it under the terms of the GNU General Public License as published by 639 | the Free Software Foundation, either version 3 of the License, or 640 | (at your option) any later version. 641 | 642 | This program is distributed in the hope that it will be useful, 643 | but WITHOUT ANY WARRANTY; without even the implied warranty of 644 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 645 | GNU General Public License for more details. 646 | 647 | You should have received a copy of the GNU General Public License 648 | along with this program. If not, see . 649 | 650 | Also add information on how to contact you by electronic and paper mail. 651 | 652 | If the program does terminal interaction, make it output a short 653 | notice like this when it starts in an interactive mode: 654 | 655 | Copyright (C) 656 | This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. 657 | This is free software, and you are welcome to redistribute it 658 | under certain conditions; type `show c' for details. 659 | 660 | The hypothetical commands `show w' and `show c' should show the appropriate 661 | parts of the General Public License. Of course, your program's commands 662 | might be different; for a GUI interface, you would use an "about box". 663 | 664 | You should also get your employer (if you work as a programmer) or school, 665 | if any, to sign a "copyright disclaimer" for the program, if necessary. 666 | For more information on this, and how to apply and follow the GNU GPL, see 667 | . 668 | 669 | The GNU General Public License does not permit incorporating your program 670 | into proprietary programs. If your program is a subroutine library, you 671 | may consider it more useful to permit linking proprietary applications with 672 | the library. If this is what you want to do, use the GNU Lesser General 673 | Public License instead of this License. But first, please read 674 | . 675 | --------------------------------------------------------------------------------