first stab at a GPS driver in gps_ctrl.cpp. not the most expandable thing in the world but there's only so many GPS interfaces out there.

8 files changed, 209 insertions, 6 deletions

diff --git a/firmware/microblaze/apps/txrx_uhd.c b/firmware/microblaze/apps/txrx_uhd.c
index 2065830ff..9fe17e262 100644
--- a/firmware/microblaze/apps/txrx_uhd.c
+++ b/firmware/microblaze/apps/txrx_uhd.c
@@ -324,6 +324,9 @@ void handle_udp_ctrl_packet(
     case USRP2_CTRL_ID_HEY_WRITE_THIS_UART_FOR_ME_BRO:{
       int num_bytes = ctrl_data_in->data.uart_args.bytes;
       if(num_bytes > 20) num_bytes = 20;
+      //before we write to the UART, we flush the receive buffer
+      //this assumes that we're interested in the reply
+      hal_uart_rx_flush(ctrl_data_in->data.uart_args.dev);
       fnputstr(ctrl_data_in->data.uart_args.dev, (char *) ctrl_data_in->data.uart_args.data, num_bytes);
       ctrl_data_out.id = USRP2_CTRL_ID_MAN_I_TOTALLY_WROTE_THAT_UART_DUDE;
       ctrl_data_out.data.uart_args.bytes = num_bytes;
diff --git a/firmware/microblaze/lib/hal_uart.c b/firmware/microblaze/lib/hal_uart.c
index a8344daf5..8f7f83a68 100644
--- a/firmware/microblaze/lib/hal_uart.c
+++ b/firmware/microblaze/lib/hal_uart.c
@@ -101,3 +101,10 @@ hal_uart_getc(hal_uart_name_t u)
   return uart_regs[u].rxchar;
 }
 
+int hal_uart_rx_flush(hal_uart_name_t u)
+{
+  char x;
+  while(uart_regs[u].rxlevel) x = uart_regs[u].rxchar;
+  return x;
+}
+
diff --git a/firmware/microblaze/lib/hal_uart.h b/firmware/microblaze/lib/hal_uart.h
index 81f4a6777..051dffe92 100644
--- a/firmware/microblaze/lib/hal_uart.h
+++ b/firmware/microblaze/lib/hal_uart.h
@@ -82,5 +82,6 @@ void hal_uart_putc_nowait(hal_uart_name_t u, int ch);
  */
 int hal_uart_getc(hal_uart_name_t u);
 
+int hal_uart_rx_flush(hal_uart_name_t u);
 
 #endif /* INCLUDED_HAL_UART_H */
diff --git a/host/lib/usrp/usrp2/CMakeLists.txt b/host/lib/usrp/usrp2/CMakeLists.txt
index b4a90a6ba..47d74cec8 100644
--- a/host/lib/usrp/usrp2/CMakeLists.txt
+++ b/host/lib/usrp/usrp2/CMakeLists.txt
@@ -26,6 +26,8 @@ LIBUHD_APPEND_SOURCES(
     ${CMAKE_SOURCE_DIR}/lib/usrp/usrp2/dboard_impl.cpp
     ${CMAKE_SOURCE_DIR}/lib/usrp/usrp2/dboard_iface.cpp
     ${CMAKE_SOURCE_DIR}/lib/usrp/usrp2/dsp_impl.cpp
+    ${CMAKE_SOURCE_DIR}/lib/usrp/usrp2/gps_ctrl.hpp
+    ${CMAKE_SOURCE_DIR}/lib/usrp/usrp2/gps_ctrl.cpp
     ${CMAKE_SOURCE_DIR}/lib/usrp/usrp2/io_impl.cpp
     ${CMAKE_SOURCE_DIR}/lib/usrp/usrp2/mboard_impl.cpp
     ${CMAKE_SOURCE_DIR}/lib/usrp/usrp2/serdes_ctrl.cpp
diff --git a/host/lib/usrp/usrp2/gps_ctrl.cpp b/host/lib/usrp/usrp2/gps_ctrl.cpp
new file mode 100644
index 000000000..5c015be14
--- /dev/null
+++ b/host/lib/usrp/usrp2/gps_ctrl.cpp
@@ -0,0 +1,140 @@
+//
+// Copyright 2010 Ettus Research LLC
+//
+// This program is free software: you can redistribute it and/or modify
+// it under the terms of the GNU General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// (at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+
+#include "gps_ctrl.hpp"
+#include <uhd/utils/assert.hpp>
+#include <boost/cstdint.hpp>
+#include <string>
+#include <boost/date_time/posix_time/posix_time.hpp>
+
+using namespace uhd;
+using namespace boost::gregorian;
+using namespace boost::posix_time;
+
+/*!
+ * A usrp2 GPS control for Jackson Labs devices
+ */
+
+//TODO: multiple baud rate support (requires mboard_impl changes for poking UART registers), NMEA support, better autodetection
+class usrp2_gps_ctrl_impl : public usrp2_gps_ctrl{
+public:
+  usrp2_gps_ctrl_impl(usrp2_iface::sptr iface){
+    _iface = iface;
+    //do init here
+    //so the Jackson Labs Firefly (and Fury) don't acknowledge successful commands -- only invalid ones.
+    //first we test to see if there's a Firefly/Fury connected by sending an invalid packet and listening for the response
+
+    std::string reply;
+
+    //TODO: try multiple baud rates (many GPS's are set up for 4800bps, you're fixed at 115200bps 8N1 right now)
+    //you have to poke registers in order to set baud rate, there's no dude/bro interface for it
+    _iface->write_uart(GPS_UART, "HAAAY GUYYYYS\n"); 
+    try {
+      reply = _iface->read_uart(GPS_UART, 20);
+    } catch (std::runtime_error err) {
+      if(err.what() != std::string("usrp2 no control response")) throw; //sorry can't cope with that
+      else { //we don't actually have a GPS installed
+        gps_type = GPS_TYPE_NONE;
+      }
+    }
+
+    if(reply == "Command Error") gps_type = GPS_TYPE_JACKSON_LABS;
+    else gps_type = GPS_TYPE_NONE; //we'll add NMEA support later
+
+    switch(gps_type) {
+    case GPS_TYPE_JACKSON_LABS:
+      //issue some setup stuff so it quits spewing data out when not asked to
+      //none of these should issue replies so we don't bother looking for it
+      _iface->write_uart(GPS_UART, "SYST:COMM:SER:");
+      _iface->write_uart(GPS_UART, "ECHO OFF\n"); //we split lines before 20 chars right now -- TODO: fix driver to split writes/reads for you
+      _iface->write_uart(GPS_UART, "SYST:COMM:SER:");
+      _iface->write_uart(GPS_UART, "PRO OFF\n");
+      _iface->write_uart(GPS_UART, "GPS:GPGGA 0\n");
+      _iface->write_uart(GPS_UART, "GPS:GGAST 0\n");
+      break;
+
+    case GPS_TYPE_GENERIC_NMEA:
+    case GPS_TYPE_NONE:
+    default:
+
+      break;
+    }
+  }
+
+  ~usrp2_gps_ctrl_impl(void){
+
+  }
+
+  ptime get_time(void) {
+    std::string reply;
+    ptime now;
+    switch(gps_type) {
+    case GPS_TYPE_JACKSON_LABS:
+      _iface->write_uart(GPS_UART, "PTIME:TIME\n");
+      reply = _iface->read_uart(GPS_UART, 20);
+      now = ptime(get_date(), duration_from_string(reply));
+      break;
+    case GPS_TYPE_GENERIC_NMEA:
+    case GPS_TYPE_NONE:
+    default:
+      throw std::runtime_error("get_time(): Unsupported GPS or no GPS detected\n");
+      break;
+    }
+    return now;
+  }
+
+  date get_date(void) {
+    std::string reply;
+    date today;
+    switch(gps_type) {
+    case GPS_TYPE_JACKSON_LABS:
+      _iface->write_uart(GPS_UART, "PTIME:DATE\n");
+      reply = _iface->read_uart(GPS_UART, 20);
+      today = from_string(reply);
+      break;
+    case GPS_TYPE_GENERIC_NMEA:
+    case GPS_TYPE_NONE:
+    default:
+      throw std::runtime_error("get_date(): Unsupported GPS or no GPS detected\n");
+      break;
+    }
+    return today;
+  }
+
+  bool gps_detected(void) {
+    return (gps_type != GPS_TYPE_NONE);
+  }
+
+private:
+  usrp2_iface::sptr _iface;
+
+  enum {
+    GPS_TYPE_JACKSON_LABS,
+    GPS_TYPE_GENERIC_NMEA,
+    GPS_TYPE_NONE
+  } gps_type;
+
+  static const int GPS_UART = 2; //TODO: this should be plucked from fw_common.h or memory_map.h or somewhere in common with the firmware
+
+};
+
+/***********************************************************************
+ * Public make function for the GPS control
+ **********************************************************************/
+usrp2_gps_ctrl::sptr usrp2_gps_ctrl::make(usrp2_iface::sptr iface){
+    return sptr(new usrp2_gps_ctrl_impl(iface));
+}
diff --git a/host/lib/usrp/usrp2/gps_ctrl.hpp b/host/lib/usrp/usrp2/gps_ctrl.hpp
new file mode 100644
index 000000000..5936a6fb6
--- /dev/null
+++ b/host/lib/usrp/usrp2/gps_ctrl.hpp
@@ -0,0 +1,53 @@
+//
+// Copyright 2010 Ettus Research LLC
+//
+// This program is free software: you can redistribute it and/or modify
+// it under the terms of the GNU General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// (at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+
+#ifndef INCLUDED_GPS_CTRL_HPP
+#define INCLUDED_GPS_CTRL_HPP
+
+#include "usrp2_iface.hpp"
+#include <boost/shared_ptr.hpp>
+#include <boost/utility.hpp>
+#include <boost/date_time/posix_time/posix_time_types.hpp>
+
+using namespace boost::posix_time;
+
+class usrp2_gps_ctrl : boost::noncopyable{
+public:
+  typedef boost::shared_ptr<usrp2_gps_ctrl> sptr;
+
+  /*!
+   * Make a GPS config for Jackson Labs or generic NMEA GPS devices
+   */
+  static sptr make(usrp2_iface::sptr iface);
+
+  /*!
+   * Get the current GPS time and date
+   * \return current GPS time and date as boost::posix_time::ptime object
+   */
+  virtual ptime get_time(void) = 0;
+
+  /*!
+   * Tell you if there's a supported GPS connected or not
+   * \return true if a supported GPS is connected
+   */
+  virtual bool gps_detected(void) = 0;
+
+  //TODO: other fun things you can do with a GPS.
+
+};
+
+#endif /* INCLUDED_CLOCK_CTRL_HPP */
diff --git a/host/lib/usrp/usrp2/mboard_impl.cpp b/host/lib/usrp/usrp2/mboard_impl.cpp
index 96c98f6c5..ed6398405 100644
--- a/host/lib/usrp/usrp2/mboard_impl.cpp
+++ b/host/lib/usrp/usrp2/mboard_impl.cpp
@@ -51,16 +51,11 @@ usrp2_mboard_impl::usrp2_mboard_impl(
     //set the device revision (USRP2 or USRP2+) based on the above
     _iface->set_hw_rev((_rev_hi << 8) | _rev_lo);
 
-    //TODO DEBUG! this is just here to test writing to and reading from the UART.
-    std::string mystr = "PTIME:TIME?\n";
-    _iface->write_uart(2, mystr);
-    mystr = _iface->read_uart(2, 20);
-    std::cout << "what time is it? " << mystr.c_str();
-
     //contruct the interfaces to mboard perifs
     _clock_ctrl = usrp2_clock_ctrl::make(_iface);
     _codec_ctrl = usrp2_codec_ctrl::make(_iface);
     _serdes_ctrl = usrp2_serdes_ctrl::make(_iface);
+    _gps_ctrl = usrp2_gps_ctrl::make(_iface);
 
     //TODO move to dsp impl...
     //load the allowed decim/interp rates
diff --git a/host/lib/usrp/usrp2/usrp2_impl.hpp b/host/lib/usrp/usrp2/usrp2_impl.hpp
index 21a56cb67..b37c61488 100644
--- a/host/lib/usrp/usrp2/usrp2_impl.hpp
+++ b/host/lib/usrp/usrp2/usrp2_impl.hpp
@@ -21,6 +21,7 @@
 #include "usrp2_iface.hpp"
 #include "clock_ctrl.hpp"
 #include "codec_ctrl.hpp"
+#include "gps_ctrl.hpp"
 #include "serdes_ctrl.hpp"
 #include <uhd/device.hpp>
 #include <uhd/utils/pimpl.hpp>
@@ -151,6 +152,7 @@ private:
     usrp2_clock_ctrl::sptr _clock_ctrl;
     usrp2_codec_ctrl::sptr _codec_ctrl;
     usrp2_serdes_ctrl::sptr _serdes_ctrl;
+    usrp2_gps_ctrl::sptr _gps_ctrl;
 
     //rx and tx dboard methods and objects
     uhd::usrp::dboard_manager::sptr _dboard_manager;