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author | Matthias P. Braendli <matthias.braendli@mpb.li> | 2018-02-10 18:18:25 +0100 |
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committer | Matthias P. Braendli <matthias.braendli@mpb.li> | 2018-02-10 18:18:25 +0100 |
commit | 8e014a2e4b393fc388f7d64e99e13559267b8dc9 (patch) | |
tree | 9d433010b289d8e1fd24df6246f461ddc984712e | |
parent | ef1576780bc927b8611640091b15f3d051cb97ad (diff) | |
download | uhd-8e014a2e4b393fc388f7d64e99e13559267b8dc9.tar.gz uhd-8e014a2e4b393fc388f7d64e99e13559267b8dc9.tar.bz2 uhd-8e014a2e4b393fc388f7d64e99e13559267b8dc9.zip |
Add support for LEA-M8F GPSDO board
-rw-r--r-- | host/include/uhd/usrp/gps_ctrl.hpp | 6 | ||||
-rw-r--r-- | host/lib/usrp/b200/b200_cores.cpp | 8 | ||||
-rw-r--r-- | host/lib/usrp/b200/b200_cores.hpp | 1 | ||||
-rw-r--r-- | host/lib/usrp/b200/b200_impl.cpp | 8 | ||||
-rw-r--r-- | host/lib/usrp/common/adf4001_ctrl.cpp | 15 | ||||
-rw-r--r-- | host/lib/usrp/common/adf4001_ctrl.hpp | 1 | ||||
-rw-r--r-- | host/lib/usrp/gps_ctrl.cpp | 295 | ||||
-rw-r--r-- | host/utils/query_gpsdo_sensors.cpp | 36 |
8 files changed, 343 insertions, 27 deletions
diff --git a/host/include/uhd/usrp/gps_ctrl.hpp b/host/include/uhd/usrp/gps_ctrl.hpp index 6fda04f21..7af324119 100644 --- a/host/include/uhd/usrp/gps_ctrl.hpp +++ b/host/include/uhd/usrp/gps_ctrl.hpp @@ -54,6 +54,12 @@ public: */ virtual bool gps_detected(void) = 0; + /*! + * Return what reference clock the GPSDO outputs. + * \return 0 if not GPSDO available. Frequency in kHz if a GPSDO is installed. + */ + virtual int gps_refclock_frequency(void) = 0; + //TODO: other fun things you can do with a GPS. }; diff --git a/host/lib/usrp/b200/b200_cores.cpp b/host/lib/usrp/b200/b200_cores.cpp index dcfd41825..31a95021a 100644 --- a/host/lib/usrp/b200/b200_cores.cpp +++ b/host/lib/usrp/b200/b200_cores.cpp @@ -74,6 +74,14 @@ void b200_ref_pll_ctrl::set_lock_to_ext_ref(bool external) _spi->restore_perif(); } +bool b200_ref_pll_ctrl::set_refclk_frequency(int refclk_kHz) +{ + _spi->change_perif(b200_local_spi_core::PLL); + bool success = adf4001_ctrl::set_refclk_frequency(refclk_kHz); + _spi->restore_perif(); + return success; +} + b200_local_spi_core::sptr b200_local_spi_core::make( uhd::wb_iface::sptr iface, b200_local_spi_core::perif_t default_perif) diff --git a/host/lib/usrp/b200/b200_cores.hpp b/host/lib/usrp/b200/b200_cores.hpp index 54f5e5926..b97f99900 100644 --- a/host/lib/usrp/b200/b200_cores.hpp +++ b/host/lib/usrp/b200/b200_cores.hpp @@ -58,6 +58,7 @@ public: b200_ref_pll_ctrl(b200_local_spi_core::sptr spi); virtual void set_lock_to_ext_ref(bool external); + virtual bool set_refclk_frequency(int refclk_kHz); private: b200_local_spi_core::sptr _spi; diff --git a/host/lib/usrp/b200/b200_impl.cpp b/host/lib/usrp/b200/b200_impl.cpp index e2a0e0b70..e4ea372b3 100644 --- a/host/lib/usrp/b200/b200_impl.cpp +++ b/host/lib/usrp/b200/b200_impl.cpp @@ -716,6 +716,14 @@ b200_impl::b200_impl(const uhd::device_addr_t& device_addr, usb_device_handle::s _tree->access<std::string>(mb_path / "clock_source/value").set("internal"); _tree->access<std::string>(mb_path / "time_source/value").set("internal"); + //GPS installed: use external ref, time, and init time spec + if (_gps and _gps->gps_detected()) { + const int freq = _gps->gps_refclock_frequency(); + if (not _adf4001_iface->set_refclk_frequency(freq)) { + throw uhd::value_error("Could not set refclk frequency to " + std::to_string(freq)); + } + } + // Set the DSP chains to some safe value for (size_t i = 0; i < _radio_perifs.size(); i++) { _radio_perifs[i].ddc->set_host_rate(default_tick_rate / ad936x_manager::DEFAULT_DECIM); diff --git a/host/lib/usrp/common/adf4001_ctrl.cpp b/host/lib/usrp/common/adf4001_ctrl.cpp index 01a35dbec..8f2c47a23 100644 --- a/host/lib/usrp/common/adf4001_ctrl.cpp +++ b/host/lib/usrp/common/adf4001_ctrl.cpp @@ -125,6 +125,21 @@ void adf4001_ctrl::set_lock_to_ext_ref(bool external) { program_regs(); } +bool adf4001_ctrl::set_refclk_frequency(int refclk_kHz) { + if (refclk_kHz == 30720) { + adf4001_regs.ref_counter = 96; + adf4001_regs.n = 125; + } else if (refclk_kHz == 10000) { + adf4001_regs.ref_counter = 1; + adf4001_regs.n = 4; + } else { + return false; + } + + program_regs(); + return true; +} + void adf4001_ctrl::program_regs(void) { //no control over CE, only LE, therefore we use the initialization latch method write_reg(3); diff --git a/host/lib/usrp/common/adf4001_ctrl.hpp b/host/lib/usrp/common/adf4001_ctrl.hpp index c6813f43c..4becb329f 100644 --- a/host/lib/usrp/common/adf4001_ctrl.hpp +++ b/host/lib/usrp/common/adf4001_ctrl.hpp @@ -125,6 +125,7 @@ class adf4001_ctrl { public: adf4001_ctrl(uhd::spi_iface::sptr _spi, int slaveno); virtual void set_lock_to_ext_ref(bool external); + virtual bool set_refclk_frequency(int refclk_kHz); private: uhd::spi_iface::sptr spi_iface; diff --git a/host/lib/usrp/gps_ctrl.cpp b/host/lib/usrp/gps_ctrl.cpp index 447a13c33..12237ff43 100644 --- a/host/lib/usrp/gps_ctrl.cpp +++ b/host/lib/usrp/gps_ctrl.cpp @@ -40,6 +40,115 @@ using namespace boost::algorithm; using namespace boost::this_thread; /*! + * A NMEA and UBX Parser for the LEA-M8F and other GPSDOs + */ +class gps_ctrl_parser { + private: + std::deque<char> gps_data_input; + + std::string parse_ubx() { + // Assumptions: + // The deque now contains an UBX message in the format + // \xb6\x62<CLASS><ID><LEN><PAYLOAD><CRC> + // where + // <CLASS> is 1 byte + // <ID> is 1 byte + // <LEN> is 2 bytes (little-endian), length of <PAYLOAD> + // <CRC> is 2 bytes + + uint8_t ck_a = 0; + uint8_t ck_b = 0; + + if (gps_data_input.size() >= 8) { + uint8_t len_lo = gps_data_input[4]; + uint8_t len_hi = gps_data_input[5]; + size_t len = len_lo | (len_hi << 8); + + if (gps_data_input.size() >= len + 8) { + /* + std::cerr << "DATA: "; + for (size_t i=0; i < gps_data_input.size(); i++) { + uint8_t dat = gps_data_input[i]; + std::cerr << boost::format("%02x ") % (unsigned int)dat; + } + std::cerr << std::endl; + */ + + uint8_t ck_a_packet = gps_data_input[len+6]; + uint8_t ck_b_packet = gps_data_input[len+7]; + + // Range over which CRC is calculated is <CLASS><ID><LEN><PAYLOAD> + for (size_t i = 2; i < len+6; i++) { + ck_a += (uint8_t)(gps_data_input[i]); + ck_b += ck_a; + } + + std::string msg(gps_data_input.begin(), gps_data_input.begin() + (len + 8)); + gps_data_input.erase(gps_data_input.begin(), gps_data_input.begin() + (len + 8)); + + if (ck_a == ck_a_packet and ck_b == ck_b_packet) { + return msg; + } + } + } + + return std::string(); + } + + std::string parse_nmea() { + // Assumptions: + // The deque now contains an NMEA message in the format + // $G.................*XX<CR><LF> + // the checksum XX is dropped from the message + + std::deque<char>::iterator star; + star = std::find(gps_data_input.begin() + 2, gps_data_input.end(), '*'); + if (star != gps_data_input.end()) { + std::string msg(gps_data_input.begin(), star); + + // The parser will take care of the leftover *XX<CR><LF> + gps_data_input.erase(gps_data_input.begin(), star); + return msg; + } + + return std::string(); + } + + public: + template <class InputIterator> + void push_data(InputIterator first, InputIterator last) { + gps_data_input.insert(gps_data_input.end(), first, last); + } + + std::string get_next_message() { + while (gps_data_input.size() >= 2) { + char header1 = gps_data_input[0]; + char header2 = gps_data_input[1]; + + std::string parsed; + + if (header1 == '$' and header2 == 'G') { + parsed = parse_nmea(); + } + else if (header1 == '\xb5' and header2 == '\x62') { + parsed = parse_ubx(); + } + + if (parsed.empty()) { + gps_data_input.pop_front(); + } + else { + return parsed; + } + } + return std::string(); + } + + size_t size() { return gps_data_input.size(); } +}; + + +/*! * A control for GPSDO devices */ @@ -53,6 +162,8 @@ private: boost::mutex cache_mutex; boost::system_time _last_cache_update; + gps_ctrl_parser _gps_parser; + std::string get_sentence(const std::string which, const int max_age_ms, const int timeout, const bool wait_for_next = false) { std::string sentence; @@ -138,44 +249,131 @@ private: return; } - const std::list<std::string> keys = boost::assign::list_of("GPGGA")("GPRMC")("SERVO"); - static const boost::regex servo_regex("^\\d\\d-\\d\\d-\\d\\d.*$"); - static const boost::regex gp_msg_regex("^\\$GP.*,\\*[0-9A-F]{2}$"); + std::list<std::string> keys; std::map<std::string,std::string> msgs; - // Get all GPSDO messages available - // Creating a map here because we only want the latest of each message type - for (std::string msg = _recv(0); not msg.empty(); msg = _recv(0)) - { + if (_gps_type == GPS_TYPE_LEA_M8F) { + keys = {"GNGGA", "GNRMC", "TIMELOCK"}; + + // Concatenate all incoming data into the deque + for (std::string msg = _recv(); msg.length() > 0; msg = _recv()) + { + _gps_parser.push_data(msg.begin(), msg.end()); + } + + // Get all GPSDO messages available + // Creating a map here because we only want the latest of each message type + for (std::string msg = _gps_parser.get_next_message(); + not msg.empty(); + msg = _gps_parser.get_next_message()) + { + /* + if (msg[0] != '$') { + std::stringstream ss; + ss << "Got message "; + for (size_t m = 0; m < msg.size(); m++) { + ss << std::hex << (unsigned int)(unsigned char)msg[m] << " " << std::dec; + } + UHD_MSG(warning) << ss.str() << ":" << std::endl; + } // */ + + const uint8_t tim_tos_head[4] = {0xb5, 0x62, 0x0D, 0x12}; + const std::string tim_tos_head_str(reinterpret_cast<const char *>(tim_tos_head), 4); + + // Try to get NMEA first + if (msg[0] == '$') { + msgs[msg.substr(1,5)] = msg; + } + else if (msg.find(tim_tos_head_str) == 0 and msg.length() == 56 + 8) { + // header size == 6, field offset == 4, 32-bit field + uint8_t flags1 = msg[6 + 4]; + uint8_t flags2 = msg[6 + 5]; + uint8_t flags3 = msg[6 + 5]; + uint8_t flags4 = msg[6 + 5]; + + uint32_t flags = flags1 | (flags2 << 8) | (flags3 << 16) | (flags4 << 24); + /* bits in flags are: + leapNow 0 + leapSoon 1 + leapPositive 2 + timeInLimit 3 + intOscInLimit 4 + extOscInLimit 5 + gnssTimeValid 6 + UTCTimeValid 7 + DiscSrc 10 + raim 11 + cohPulse 12 + lockedPulse 13 + */ + + bool lockedPulse = (flags & (1 << 13)); + bool timeInLimit = (flags & (1 << 3)); + bool intOscInLimit = (flags & (1 << 4)); + + if (lockedPulse and timeInLimit and intOscInLimit) { + msgs["TIMELOCK"] = "TIME LOCKED"; + } + else { + std::stringstream ss; + ss << + (lockedPulse ? "" : "no" ) << "lockedPulse " << + (timeInLimit ? "" : "no" ) << "timeInLimit " << + (intOscInLimit ? "" : "no" ) << "intOscInLimit "; + + msgs["TIMELOCK"] = ss.str(); + } + } + else if (msg[0] == '\xb5' and msg[1] == '\x62') { /* Ignore unsupported UBX message */ } + else { + std::stringstream ss; + ss << "Unknown message "; + for (size_t m = 0; m < msg.size(); m++) { + ss << std::hex << (unsigned int)(unsigned char)msg[m] << " " << std::dec; + } + UHD_MSG(warning) << ss.str() << ":" << std::endl << msg << std::endl; + } + } + } + else { + keys = {"GPGGA", "GPRMC", "SERVO"}; + static const boost::regex servo_regex("^\\d\\d-\\d\\d-\\d\\d.*$"); + static const boost::regex gp_msg_regex("^\\$GP.*,\\*[0-9A-F]{2}$"); + + // Get all GPSDO messages available + // Creating a map here because we only want the latest of each message type + for (std::string msg = _recv(0); not msg.empty(); msg = _recv(0)) + { // Strip any end of line characters erase_all(msg, "\r"); erase_all(msg, "\n"); if (msg.empty()) { - // Ignore empty strings - continue; + // Ignore empty strings + continue; } if (msg.length() < 6) { - UHD_LOGV(regularly) << __FUNCTION__ << ": Short GPSDO string: " << msg << std::endl; - continue; + UHD_LOGV(regularly) << __FUNCTION__ << ": Short GPSDO string: " << msg << std::endl; + continue; } // Look for SERVO message if (boost::regex_search(msg, servo_regex, boost::regex_constants::match_continuous)) { - msgs["SERVO"] = msg; + msgs["SERVO"] = msg; } else if (boost::regex_match(msg, gp_msg_regex) and is_nmea_checksum_ok(msg)) { - msgs[msg.substr(1,5)] = msg; + msgs[msg.substr(1,5)] = msg; } else { - UHD_LOGV(regularly) << __FUNCTION__ << ": Malformed GPSDO string: " << msg << std::endl; + UHD_LOGV(regularly) << __FUNCTION__ << ": Malformed GPSDO string: " << msg << std::endl; } + } } boost::system_time time = boost::get_system_time(); @@ -183,10 +381,10 @@ private: // Update sentences with newly read data BOOST_FOREACH(std::string key, keys) { - if (not msgs[key].empty()) - { - sentences[key] = boost::make_tuple(msgs[key], time, false); - } + if (not msgs[key].empty()) + { + sentences[key] = boost::make_tuple(msgs[key], time, false); + } } _last_cache_update = time; @@ -219,6 +417,11 @@ public: break; } else if(reply.substr(0, 3) == "$GP") { i_heard_some_nmea = true; //but keep looking + } else if(reply.substr(0, 3) == "$GN" + or reply.substr(0, 2) == "\xB5""\x62") { + // The u-blox LEA-M8F outputs UBX protocol messages + _gps_type = GPS_TYPE_LEA_M8F; + break; } else if(not reply.empty()) { // wrong baud rate or firmware still initializing i_heard_something_weird = true; @@ -250,6 +453,11 @@ public: UHD_MSG(status) << "Found a generic NMEA GPS device" << std::endl; break; + case GPS_TYPE_LEA_M8F: + UHD_MSG(status) << "Found a LEA-M8F GPS device" << std::endl; + init_lea_m8f(); + break; + case GPS_TYPE_NONE: default: UHD_MSG(status) << "No GPSDO found" << std::endl; @@ -270,15 +478,21 @@ public: std::vector<std::string> ret = boost::assign::list_of ("gps_gpgga") ("gps_gprmc") + ("gps_gngga") + ("gps_gnrmc") ("gps_time") ("gps_locked") - ("gps_servo"); + ("gps_servo") + ("gps_timelock"); return ret; } uhd::sensor_value_t get_sensor(std::string key) { if(key == "gps_gpgga" - or key == "gps_gprmc") { + or key == "gps_gprmc" + or key == "gps_gngga" + or key == "gps_gnrmc" + or key == "gps_timelock") { return sensor_value_t( boost::to_upper_copy(key), get_sentence(boost::to_upper_copy(key.substr(4,8)), GPS_NMEA_NORMAL_FRESHNESS, GPS_TIMEOUT_DELAY_MS), @@ -321,6 +535,22 @@ private: sleep(milliseconds(GPSDO_COMMAND_DELAY_MS)); } + void init_lea_m8f(void) { + // Send a GNSS-only hotstart to make sure we're not in holdover right now + const uint8_t cfg_rst_hotstart[12] = {0xb5, 0x62, 0x06, 0x04, 0x04, 0x00, 0x00, 0x00, 0x02, 0x00, 0x10, 0x68}; + _send(std::string(reinterpret_cast<const char *>(cfg_rst_hotstart), sizeof(cfg_rst_hotstart))); + + // Give time to module to reboot + sleep(milliseconds(2000)); + + // Enable the UBX-TIM-TOS and the $GNRMC messages + const uint8_t en_tim_tos[11] = {0xb5, 0x62, 0x06, 0x01, 0x03, 0x00, 0x0d, 0x12, 0x01, 0x2a, 0x8b}; + _send(std::string(reinterpret_cast<const char *>(en_tim_tos), sizeof(en_tim_tos))); + + const uint8_t en_gnrmc[11] = {0xb5, 0x62, 0x06, 0x01, 0x03, 0x00, 0xf0, 0x04, 0x01, 0xff, 0x18}; + _send(std::string(reinterpret_cast<const char *>(en_gnrmc), sizeof(en_gnrmc))); + } + //helper function to retrieve a field from an NMEA sentence std::string get_token(std::string sentence, size_t offset) { boost::tokenizer<boost::escaped_list_separator<char> > tok(sentence); @@ -337,10 +567,11 @@ private: ptime get_time(void) { int error_cnt = 0; ptime gps_time; + const std::string rmc = (_gps_type == GPS_TYPE_LEA_M8F) ? "GNRMC" : "GPRMC"; while(error_cnt < 2) { try { // wait for next GPRMC string - std::string reply = get_sentence("GPRMC", GPS_NMEA_NORMAL_FRESHNESS, GPS_COMM_TIMEOUT_MS, true); + std::string reply = get_sentence(rmc, GPS_NMEA_NORMAL_FRESHNESS, GPS_COMM_TIMEOUT_MS, true); std::string datestr = get_token(reply, 9); std::string timestr = get_token(reply, 1); @@ -379,15 +610,32 @@ private: return (_gps_type != GPS_TYPE_NONE); } + int gps_refclock_frequency(void) { + if (_gps_type == GPS_TYPE_LEA_M8F) { + return 30720; + } + else if (_gps_type != GPS_TYPE_NONE) { + return 10000; + } + return 0; + } + bool locked(void) { int error_cnt = 0; + const std::string locksentence = (_gps_type == GPS_TYPE_LEA_M8F) ? "TIMELOCK" : "GPGGA"; while(error_cnt < 3) { try { - std::string reply = get_sentence("GPGGA", GPS_LOCK_FRESHNESS, GPS_COMM_TIMEOUT_MS); + std::string reply = get_sentence(locksentence, GPS_LOCK_FRESHNESS, GPS_COMM_TIMEOUT_MS); if(reply.empty()) error_cnt++; - else + else { + if (_gps_type == GPS_TYPE_LEA_M8F) { + return reply == "TIME LOCKED"; + } + else { return (get_token(reply, 6) != "0"); + } + } } catch(std::exception &e) { UHD_LOGV(often) << "locked: " << e.what(); error_cnt++; @@ -415,6 +663,7 @@ private: enum { GPS_TYPE_INTERNAL_GPSDO, GPS_TYPE_GENERIC_NMEA, + GPS_TYPE_LEA_M8F, GPS_TYPE_NONE } _gps_type; diff --git a/host/utils/query_gpsdo_sensors.cpp b/host/utils/query_gpsdo_sensors.cpp index 9091bcb24..b89365bcf 100644 --- a/host/utils/query_gpsdo_sensors.cpp +++ b/host/utils/query_gpsdo_sensors.cpp @@ -35,6 +35,7 @@ namespace po = boost::program_options; namespace fs = boost::filesystem; const size_t WARMUP_TIMEOUT_MS = 30000; +const size_t LOCK_TIMEOUT_MS = 60000; void print_notes(void) { // Helpful notes @@ -52,18 +53,23 @@ int query_clock_sensors(const std::string &args) { std::vector<std::string> sensor_names = clock->get_sensor_names(0); if(std::find(sensor_names.begin(), sensor_names.end(), "gps_locked") == sensor_names.end()) { std::cout << boost::format("\ngps_locked sensor not found. This could mean that this unit does not have a GPSDO.\n\n"); - return EXIT_FAILURE; } // Print NMEA strings try { - uhd::sensor_value_t gga_string = clock->get_sensor("gps_gpgga"); - uhd::sensor_value_t rmc_string = clock->get_sensor("gps_gprmc"); + uhd::sensor_value_t gpgga_string = clock->get_sensor("gps_gpgga"); + uhd::sensor_value_t gprmc_string = clock->get_sensor("gps_gprmc"); + uhd::sensor_value_t gngga_string = clock->get_sensor("gps_gngga"); + uhd::sensor_value_t gnrmc_string = clock->get_sensor("gps_gnrmc"); uhd::sensor_value_t servo_string = clock->get_sensor("gps_servo"); + uhd::sensor_value_t timelock_string = clock->get_sensor("gps_timelock"); std::cout << boost::format("\nPrinting available NMEA strings:\n"); - std::cout << boost::format("%s\n%s\n") % gga_string.to_pp_string() % rmc_string.to_pp_string(); + std::cout << boost::format("%s\n%s\n") % gpgga_string.to_pp_string() % gprmc_string.to_pp_string(); + std::cout << boost::format("%s\n%s\n") % gngga_string.to_pp_string() % gnrmc_string.to_pp_string(); std::cout << boost::format("\nPrinting GPS servo status:\n"); std::cout << boost::format("%s\n\n") % servo_string.to_pp_string(); + std::cout << boost::format("\nPrinting GPS timelock:\n"); + std::cout << boost::format("%s\n\n") % timelock_string.to_pp_string(); } catch (uhd::lookup_error &e) { std::cout << "NMEA strings not implemented for this device." << std::endl; } @@ -114,6 +120,12 @@ int UHD_SAFE_MAIN(int argc, char *argv[]){ //Verify GPS sensors are present (i.e. EEPROM has been burnt) std::vector<std::string> sensor_names = usrp->get_mboard_sensor_names(0); + std::cout << " Sensors: " << std::endl; + for (const auto& name : sensor_names) { + std::cout << " Sensor: " << name << std::endl; + } + + if (std::find(sensor_names.begin(), sensor_names.end(), "gps_locked") == sensor_names.end()) { std::cout << boost::format("\ngps_locked sensor not found. This could mean that you have not installed the GPSDO correctly.\n\n"); std::cout << boost::format("Visit one of these pages if the problem persists:\n"); @@ -185,6 +197,7 @@ int UHD_SAFE_MAIN(int argc, char *argv[]){ std::cout << "." << std::flush; } std::cout << std::endl; + try { usrp->get_mboard_sensor("gps_locked",0); } catch (std::exception &) { @@ -194,6 +207,21 @@ int UHD_SAFE_MAIN(int argc, char *argv[]){ std::cout << "The GPSDO is warmed up and talking." << std::endl; //Check for GPS lock + exit_time = boost::get_system_time() + + boost::posix_time::milliseconds(LOCK_TIMEOUT_MS); + while (boost::get_system_time() < exit_time) { + uhd::sensor_value_t gps_locked = usrp->get_mboard_sensor("gps_locked",0);; + + if (gps_locked.to_bool()) { + break; + } + else { + std::cout << "gps_locked = " << gps_locked.value << std::endl; + } + + boost::this_thread::sleep(boost::posix_time::seconds(1)); + } + uhd::sensor_value_t gps_locked = usrp->get_mboard_sensor("gps_locked",0);; if(not gps_locked.to_bool()) { std::cout << boost::format("\nGPS does not have lock. Wait a few minutes and try again.\n"); |