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On the DSM, the ppstest program is helpful for gaining an understanding of the system and GPS clocks. It displays the system clock value when the interrupt function is called at the time of the assertion and the clear of the PPS square pulsesignal. Do ctrl-C to terminate ppstest.
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root@manitou root# ppstest /dev/ttyS3 trying PPS source "/dev/ttyS3" found PPS source #3 "serial3" on "/dev/ttyS3" ok, found 1 source(s), now start fetching data... source 0 - assert 1315494544.999995675, sequence: 37249847 - clear 1315494544.099998000, sequence: 37249862 source 0 - assert 1315494544.999995675, sequence: 37249847 - clear 1315494545.099995000, sequence: 37249863 source 0 - assert 1315494545.999994675, sequence: 37249848 - clear 1315494545.099995000, sequence: 37249863 source 0 - assert 1315494545.999994675, sequence: 37249848 - clear 1315494546.099993000, sequence: 37249864 source 0 - assert 1315494546.999994675, sequence: 37249849 - clear 1315494546.099993000, sequence: 37249864 ctrl-C |
The above sequence shows that the GPS system clock is ahead of behind the system clockGPS. The system time when the interrupt function is being called on the PPS assert is 5 microseconds before each the exact second (1.0 - 0.999995). This corresponds to a NTPClockOffset of 5 microsecond, which is positive 5 microseconds. This ss confirmed with the ntpq program (which reports its offset in milliseconds):
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ntpd -p root@manitou root# ntpq -p remote refid st t when poll reach delay offset jitter ============================================================================== xral 38.229.71.1 3 u 34 64 377 0.320 3.804 0.031 LOCAL(0) .LOCL. 10 l 93d 64 0 0.000 0.000 0.000 oGPS_NMEA(0) .GPS. 2 l 6 16 377 0.000 0.005 0.031 |
The ntpq output indictes indicates (with the leading 'o') that NTP is using the GPS as the system's reference clock. It also displays the offset of the RAL server's clock of 3.804 milliseconds, and indicates with an 'x' that it is not using that clock as a reference. The RAL server uses NTP over a WIFI connection to adjust its clock, so it is not as accurate as the DSM.
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55812 54504.454 0.000005000 39.301 0.000030518 0.001408 4 55812 54520.455 0.000006000 39.302 0.000030518 0.001415 4 55812 54536.454 0.000005000 39.303 0.000030518 0.001392 4 55812 54552.454 0.000005000 39.305 0.000030518 0.001372 4 |
I do not believe I've seen a jitter value less than 31 microseconds. Not sure why that is. I believe the jitter is the standard deviation of the offset, but the NTP documentation is rather unclear to me.