refclock: improve precision with large offset

If a SHM or PHC refclock has a very large offset compensated by the
offset option, or ignored with the pps or local option, there is a
persistent loss of precision in the calculation of the sample offset
using the double format.

Rework the code to delay the calculation of the accumulated offset to
include the specificed compensation and remaining correction of the
system clock, where the calculation can be split to improve the
precision. In the pps mode ignore integer seconds competely.

The precision of the SOCK refclock is now limited to 1 nanosecond due to
the extra double->timespec->double conversion.

diff --git a/refclock.c b/refclock.c
index f0e2f106f6d206657c0e602571410d60e0a47a6a..cfa958cae2c758693e087b2392912f4330870e39 100644 (file)
--- a/refclock.c
+++ b/refclock.c
@@ -448,20 +448,24 @@ accumulate_sample(RCL_Instance instance, struct timespec *sample_time, double of
 }
 
 int
-RCL_AddSample(RCL_Instance instance, struct timespec *sample_time, double offset, int leap)
+RCL_AddSample(RCL_Instance instance, struct timespec *sample_time,
+              struct timespec *ref_time, int leap)
 {
-  double correction, dispersion;
+  double correction, dispersion, raw_offset, offset;
   struct timespec cooked_time;
 
   if (instance->pps_forced)
-    return RCL_AddPulse(instance, sample_time, -offset);
+    return RCL_AddPulse(instance, sample_time,
+                        1.0e-9 * (sample_time->tv_nsec - ref_time->tv_nsec));
+
+  raw_offset = UTI_DiffTimespecsToDouble(ref_time, sample_time);
 
   LCL_GetOffsetCorrection(sample_time, &correction, &dispersion);
   UTI_AddDoubleToTimespec(sample_time, correction, &cooked_time);
   dispersion += instance->precision;
 
   /* Make sure the timestamp and offset provided by the driver are sane */
-  if (!UTI_IsTimeOffsetSane(sample_time, offset) ||
+  if (!UTI_IsTimeOffsetSane(sample_time, raw_offset) ||
       !valid_sample_time(instance, &cooked_time))
     return 0;
 
@@ -476,18 +480,24 @@ RCL_AddSample(RCL_Instance instance, struct timespec *sample_time, double offset
       return 0;
   }
 
+  /* Calculate offset = raw_offset - correction + instance->offset
+     in parts to avoid loss of precision if there are large differences */
+  offset = ref_time->tv_sec - sample_time->tv_sec -
+           (time_t)correction + (time_t)instance->offset;
+  offset += 1.0e-9 * (ref_time->tv_nsec - sample_time->tv_nsec) -
+            (correction - (time_t)correction) + (instance->offset - (time_t)instance->offset);
+
   if (instance->tai && !convert_tai_offset(sample_time, &offset)) {
     DEBUG_LOG("refclock sample ignored unknown TAI offset");
     return 0;
   }
 
-  if (!accumulate_sample(instance, &cooked_time,
-                         offset - correction + instance->offset, dispersion))
+  if (!accumulate_sample(instance, &cooked_time, offset, dispersion))
     return 0;
 
   instance->pps_active = 0;
 
-  log_sample(instance, &cooked_time, 0, 0, offset, offset - correction + instance->offset, dispersion);
+  log_sample(instance, &cooked_time, 0, 0, raw_offset, offset, dispersion);
 
   /* for logging purposes */
   if (!instance->driver->poll)

diff --git a/refclock.h b/refclock.h
index 985f0a83f95f1ec5f11cbaa5b28d7e0aff094259..7947b6279037b7edde54db297a573b8220ae995b 100644 (file)
--- a/refclock.h
+++ b/refclock.h
@@ -75,7 +75,8 @@ extern void *RCL_GetDriverData(RCL_Instance instance);
 extern char *RCL_GetDriverParameter(RCL_Instance instance);
 extern void RCL_CheckDriverOptions(RCL_Instance instance, const char **options);
 extern char *RCL_GetDriverOption(RCL_Instance instance, char *name);
-extern int RCL_AddSample(RCL_Instance instance, struct timespec *sample_time, double offset, int leap);
+extern int RCL_AddSample(RCL_Instance instance, struct timespec *sample_time,
+                         struct timespec *ref_time, int leap);
 extern int RCL_AddPulse(RCL_Instance instance, struct timespec *pulse_time, double second);
 extern int RCL_AddCookedPulse(RCL_Instance instance, struct timespec *cooked_time,
                               double second, double dispersion, double raw_correction);

diff --git a/refclock_phc.c b/refclock_phc.c
index e516b861ebb89e3daed2fd986f7fdc60358e9930..3efc6675d20963ff46adb16243b8078a8d4e00a4 100644 (file)
--- a/refclock_phc.c
+++ b/refclock_phc.c
@@ -143,7 +143,7 @@ static int phc_poll(RCL_Instance instance)
 {
   struct phc_instance *phc;
   struct timespec phc_ts, sys_ts, local_ts;
-  double offset, phc_err, local_err;
+  double phc_err, local_err;
 
   phc = (struct phc_instance *)RCL_GetDriverData(instance);
 
@@ -157,11 +157,10 @@ static int phc_poll(RCL_Instance instance)
     return 0;
   }
 
-  offset = UTI_DiffTimespecsToDouble(&phc_ts, &sys_ts);
+  DEBUG_LOG("PHC offset: %+.9f err: %.9f",
+            UTI_DiffTimespecsToDouble(&phc_ts, &sys_ts), phc_err);
 
-  DEBUG_LOG("PHC offset: %+.9f err: %.9f", offset, phc_err);
-
-  return RCL_AddSample(instance, &sys_ts, offset, LEAP_Normal);
+  return RCL_AddSample(instance, &sys_ts, &phc_ts, LEAP_Normal);
 }
 
 RefclockDriver RCL_PHC_driver = {

diff --git a/refclock_shm.c b/refclock_shm.c
index ed68095f64ba05f45bf54e064e974352d83b46c5..ee13e871c9141ee5450c23f8d75f0726d845d3ae 100644 (file)
--- a/refclock_shm.c
+++ b/refclock_shm.c
@@ -95,7 +95,6 @@ static int shm_poll(RCL_Instance instance)
 {
   struct timespec receive_ts, clock_ts;
   struct shmTime t, *shm;
-  double offset;
 
   shm = (struct shmTime *)RCL_GetDriverData(instance);
 
@@ -124,9 +123,8 @@ static int shm_poll(RCL_Instance instance)
 
   UTI_NormaliseTimespec(&clock_ts);
   UTI_NormaliseTimespec(&receive_ts);
-  offset = UTI_DiffTimespecsToDouble(&clock_ts, &receive_ts);
 
-  return RCL_AddSample(instance, &receive_ts, offset, t.leap);
+  return RCL_AddSample(instance, &receive_ts, &clock_ts, t.leap);
 }
 
 RefclockDriver RCL_SHM_driver = {

diff --git a/refclock_sock.c b/refclock_sock.c
index 86143cf46423eebc672fadddb7c602e400a05d79..f0d91c5bc593db9e15a2b5bbe2a7407c92329d2c 100644 (file)
--- a/refclock_sock.c
+++ b/refclock_sock.c
@@ -60,8 +60,8 @@ struct sock_sample {
 
 static void read_sample(int sockfd, int event, void *anything)
 {
+  struct timespec sys_ts, ref_ts;
   struct sock_sample sample;
-  struct timespec ts;
   RCL_Instance instance;
   int s;
 
@@ -86,13 +86,18 @@ static void read_sample(int sockfd, int event, void *anything)
     return;
   }
 
-  UTI_TimevalToTimespec(&sample.tv, &ts);
-  UTI_NormaliseTimespec(&ts);
+  UTI_TimevalToTimespec(&sample.tv, &sys_ts);
+  UTI_NormaliseTimespec(&sys_ts);
+
+  if (!UTI_IsTimeOffsetSane(&sys_ts, sample.offset))
+    return;
+
+  UTI_AddDoubleToTimespec(&sys_ts, sample.offset, &ref_ts);
 
   if (sample.pulse) {
-    RCL_AddPulse(instance, &ts, sample.offset);
+    RCL_AddPulse(instance, &sys_ts, sample.offset);
   } else {
-    RCL_AddSample(instance, &ts, sample.offset, sample.leap);
+    RCL_AddSample(instance, &sys_ts, &ref_ts, sample.leap);
   }
 }