next: generalized the GPS interface to any USRP device. just give it a function to write/read strings to UART.

not sure if i'm happy with the interface; maybe inheriting is cleaner. this works though.
gps interface for usrp2 is disabled right now in mboard_impl.

10 files changed, 56 insertions, 31 deletions

diff --git a/host/include/uhd/usrp/CMakeLists.txt b/host/include/uhd/usrp/CMakeLists.txt
index c8d7281d3..f60b35e59 100644
--- a/host/include/uhd/usrp/CMakeLists.txt
+++ b/host/include/uhd/usrp/CMakeLists.txt
@@ -34,6 +34,7 @@ INSTALL(FILES
 
     ### utilities ###
     dsp_utils.hpp
+    gps_ctrl.hpp
     mboard_eeprom.hpp
     misc_utils.hpp
     subdev_spec.hpp
diff --git a/host/lib/usrp/usrp2/gps_ctrl.hpp b/host/include/uhd/usrp/gps_ctrl.hpp
index 5936a6fb6..74f984ee0 100644
--- a/host/lib/usrp/usrp2/gps_ctrl.hpp
+++ b/host/include/uhd/usrp/gps_ctrl.hpp
@@ -18,21 +18,24 @@
 #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/function.hpp>
 #include <boost/date_time/posix_time/posix_time_types.hpp>
 
 using namespace boost::posix_time;
 
-class usrp2_gps_ctrl : boost::noncopyable{
+typedef boost::function<void(std::string)> gps_send_fn_t;
+typedef boost::function<std::string(void)> gps_recv_fn_t;
+
+class gps_ctrl : boost::noncopyable{
 public:
-  typedef boost::shared_ptr<usrp2_gps_ctrl> sptr;
+  typedef boost::shared_ptr<gps_ctrl> sptr;
 
   /*!
    * Make a GPS config for Jackson Labs or generic NMEA GPS devices
    */
-  static sptr make(usrp2_iface::sptr iface);
+  static sptr make(gps_send_fn_t, gps_recv_fn_t);
 
   /*!
    * Get the current GPS time and date
@@ -50,4 +53,4 @@ public:
 
 };
 
-#endif /* INCLUDED_CLOCK_CTRL_HPP */
+#endif /* INCLUDED_GPS_CTRL_HPP */
diff --git a/host/lib/usrp/CMakeLists.txt b/host/lib/usrp/CMakeLists.txt
index 9dc74a5fe..bd25aec2b 100644
--- a/host/lib/usrp/CMakeLists.txt
+++ b/host/lib/usrp/CMakeLists.txt
@@ -25,6 +25,7 @@ LIBUHD_APPEND_SOURCES(
     ${CMAKE_CURRENT_SOURCE_DIR}/dboard_iface.cpp
     ${CMAKE_CURRENT_SOURCE_DIR}/dboard_manager.cpp
     ${CMAKE_CURRENT_SOURCE_DIR}/dsp_utils.cpp
+    ${CMAKE_CURRENT_SOURCE_DIR}/gps_ctrl.cpp
     ${CMAKE_CURRENT_SOURCE_DIR}/mboard_eeprom.cpp
     ${CMAKE_CURRENT_SOURCE_DIR}/misc_utils.cpp
     ${CMAKE_CURRENT_SOURCE_DIR}/multi_usrp.cpp
diff --git a/host/lib/usrp/usrp2/gps_ctrl.cpp b/host/lib/usrp/gps_ctrl.cpp
index 9f9b27954..3c7c00134 100644
--- a/host/lib/usrp/usrp2/gps_ctrl.cpp
+++ b/host/lib/usrp/gps_ctrl.cpp
@@ -15,7 +15,7 @@
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
 //
 
-#include "gps_ctrl.hpp"
+#include <uhd/usrp/gps_ctrl.hpp>
 #include <uhd/utils/assert.hpp>
 #include <boost/cstdint.hpp>
 #include <string>
@@ -30,14 +30,15 @@ using namespace boost::posix_time;
 using namespace boost::algorithm;
 
 /*!
- * A usrp2 GPS control for Jackson Labs devices
+ * A GPS control for Jackson Labs devices (and other NMEA compatible GPS's)
  */
 
 //TODO: multiple baud rate support (requires mboard_impl changes for poking UART registers)
-class usrp2_gps_ctrl_impl : public usrp2_gps_ctrl{
+class gps_ctrl_impl : public gps_ctrl{
 public:
-  usrp2_gps_ctrl_impl(usrp2_iface::sptr iface){
-    _iface = iface;
+  gps_ctrl_impl(gps_send_fn_t send, gps_recv_fn_t recv){
+    _send = send;
+    _recv = recv;
 
     std::string reply;
     bool i_heard_some_nmea = false, i_heard_something_weird = false;
@@ -47,8 +48,8 @@ public:
 //    set_uart_baud_rate(GPS_UART, 115200);
     //first we look for a Jackson Labs Firefly (since that's what we sell with the USRP2+...)
 
-    _iface->read_uart(GPS_UART); //get whatever junk is in the rx buffer right now, and throw it away
-    _iface->write_uart(GPS_UART, "HAAAY GUYYYYS\n"); //to elicit a response from the Firefly
+    _recv(); //get whatever junk is in the rx buffer right now, and throw it away
+    _send("HAAAY GUYYYYS\n"); //to elicit a response from the Firefly
 
     //then we loop until we either timeout, or until we get a response that indicates we're a JL device
     int timeout = GPS_TIMEOUT_TRIES;
@@ -60,7 +61,7 @@ public:
       }
       else if(reply.substr(0, 3) == "$GP") i_heard_some_nmea = true; //but keep looking for that "Command Error" response
       else if(reply.length() != 0) i_heard_something_weird = true; //probably wrong baud rate
-      boost::this_thread::sleep(boost::posix_time::milliseconds(FIREFLY_STUPID_DELAY_MS));
+      boost::this_thread::sleep(boost::posix_time::milliseconds(200));
     }
 
     if((i_heard_some_nmea) && (gps_type != GPS_TYPE_JACKSON_LABS)) gps_type = GPS_TYPE_GENERIC_NMEA;
@@ -79,15 +80,15 @@ public:
       //none of these should issue replies so we don't bother looking for them
       //we have to sleep between commands because the JL device, despite not acking, takes considerable time to process each command.
        boost::this_thread::sleep(boost::posix_time::milliseconds(FIREFLY_STUPID_DELAY_MS));
-      _iface->write_uart(GPS_UART, "SYST:COMM:SER:ECHO OFF\n");
+      _send("SYST:COMM:SER:ECHO OFF\n");
        boost::this_thread::sleep(boost::posix_time::milliseconds(FIREFLY_STUPID_DELAY_MS));
-      _iface->write_uart(GPS_UART, "SYST:COMM:SER:PRO OFF\n");
+      _send("SYST:COMM:SER:PRO OFF\n");
        boost::this_thread::sleep(boost::posix_time::milliseconds(FIREFLY_STUPID_DELAY_MS));
-      _iface->write_uart(GPS_UART, "GPS:GPGGA 0\n");
+      _send("GPS:GPGGA 0\n");
        boost::this_thread::sleep(boost::posix_time::milliseconds(FIREFLY_STUPID_DELAY_MS));
-      _iface->write_uart(GPS_UART, "GPS:GGAST 0\n");
+      _send("GPS:GGAST 0\n");
        boost::this_thread::sleep(boost::posix_time::milliseconds(FIREFLY_STUPID_DELAY_MS));
-      _iface->write_uart(GPS_UART, "GPS:GPRMC 1\n");
+      _send("GPS:GPRMC 1\n");
        boost::this_thread::sleep(boost::posix_time::milliseconds(FIREFLY_STUPID_DELAY_MS));
 
 //      break;
@@ -120,15 +121,15 @@ public:
 
   }
 
-  ~usrp2_gps_ctrl_impl(void){
+  ~gps_ctrl_impl(void){
 
   }
 
+//TODO: this isn't generalizeable to non-USRP2 USRPs.
   std::string safe_gps_read() {
     std::string reply;
     try {
-        reply = _iface->read_uart(GPS_UART);
-  	    //std::cerr << "Got reply from GPS: " << reply.c_str() << " with length = " << reply.length() << std::endl;
+        reply = _recv();
     } 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
@@ -186,7 +187,8 @@ public:
   }
 
 private:
-  usrp2_iface::sptr _iface;
+  gps_send_fn_t _send;
+  gps_recv_fn_t _recv;
 
   enum {
     GPS_TYPE_JACKSON_LABS,
@@ -194,8 +196,8 @@ private:
     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
   static const int GPS_TIMEOUT_TRIES = 5;
+  static const int GPS_TIMEOUT_DELAY_MS = 200;
   static const int FIREFLY_STUPID_DELAY_MS = 200;
 
 };
@@ -203,6 +205,6 @@ private:
 /***********************************************************************
  * 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));
+gps_ctrl::sptr gps_ctrl::make(gps_send_fn_t send, gps_recv_fn_t recv){
+    return sptr(new gps_ctrl_impl(send, recv));
 }
diff --git a/host/lib/usrp/usrp2/CMakeLists.txt b/host/lib/usrp/usrp2/CMakeLists.txt
index d83c82063..e8811a8fb 100644
--- a/host/lib/usrp/usrp2/CMakeLists.txt
+++ b/host/lib/usrp/usrp2/CMakeLists.txt
@@ -34,8 +34,6 @@ IF(ENABLE_USRP2)
         ${CMAKE_CURRENT_SOURCE_DIR}/dboard_impl.cpp
         ${CMAKE_CURRENT_SOURCE_DIR}/dboard_iface.cpp
         ${CMAKE_CURRENT_SOURCE_DIR}/dsp_impl.cpp
-        ${CMAKE_CURRENT_SOURCE_DIR}/gps_ctrl.hpp
-        ${CMAKE_CURRENT_SOURCE_DIR}/gps_ctrl.cpp
         ${CMAKE_CURRENT_SOURCE_DIR}/io_impl.cpp
         ${CMAKE_CURRENT_SOURCE_DIR}/mboard_impl.cpp
         ${CMAKE_CURRENT_SOURCE_DIR}/usrp2_iface.cpp
diff --git a/host/lib/usrp/usrp2/codec_impl.cpp b/host/lib/usrp/usrp2/codec_impl.cpp
index eda15697b..df4975bb1 100644
--- a/host/lib/usrp/usrp2/codec_impl.cpp
+++ b/host/lib/usrp/usrp2/codec_impl.cpp
@@ -28,7 +28,7 @@ using namespace uhd;
 using namespace uhd::usrp;
 using namespace boost::assign;
 
-//this only applies to USRP2P
+//this only applies to N2XX
 static const uhd::dict<std::string, gain_range_t> codec_rx_gain_ranges = map_list_of
                                   ("analog", gain_range_t(0, 3.5, 3.5))
                                   ("digital", gain_range_t(0, 6.0, 0.5))
diff --git a/host/lib/usrp/usrp2/mboard_impl.cpp b/host/lib/usrp/usrp2/mboard_impl.cpp
index 95a3819b3..95f7013e7 100644
--- a/host/lib/usrp/usrp2/mboard_impl.cpp
+++ b/host/lib/usrp/usrp2/mboard_impl.cpp
@@ -17,6 +17,7 @@
 
 #include "usrp2_impl.hpp"
 #include "usrp2_regs.hpp"
+#include <uhd/usrp/gps_ctrl.hpp>
 #include <uhd/usrp/misc_utils.hpp>
 #include <uhd/usrp/dsp_utils.hpp>
 #include <uhd/usrp/mboard_props.hpp>
@@ -65,7 +66,9 @@ usrp2_mboard_impl::usrp2_mboard_impl(
     //contruct the interfaces to mboard perifs
     _clock_ctrl = usrp2_clock_ctrl::make(_iface);
     _codec_ctrl = usrp2_codec_ctrl::make(_iface);
-    _gps_ctrl = usrp2_gps_ctrl::make(_iface);
+    //_gps_ctrl = gps_ctrl::make(
+    //    _iface->get_gps_write_fn(),
+    //    _iface->get_gps_read_fn());
 
     //if(_gps_ctrl->gps_detected()) std::cout << "GPS time: " << _gps_ctrl->get_time() << std::endl;
 
diff --git a/host/lib/usrp/usrp2/usrp2_iface.cpp b/host/lib/usrp/usrp2/usrp2_iface.cpp
index dcb25dc54..149c5011f 100644
--- a/host/lib/usrp/usrp2/usrp2_iface.cpp
+++ b/host/lib/usrp/usrp2/usrp2_iface.cpp
@@ -218,6 +218,14 @@ public:
       }
       return result;
     }
+    
+    gps_send_fn_t get_gps_write_fn(void) {
+        return boost::bind(&usrp2_iface_impl::write_uart, this, 2, _1); //2 is the GPS UART port on USRP2
+    }
+    
+    gps_recv_fn_t get_gps_read_fn(void) {
+        return boost::bind(&usrp2_iface_impl::read_uart, this, 2); //2 is the GPS UART port on USRP2
+    }
 
 /***********************************************************************
  * Send/Recv over control
diff --git a/host/lib/usrp/usrp2/usrp2_iface.hpp b/host/lib/usrp/usrp2/usrp2_iface.hpp
index 2b4378ddf..49cb0e6dc 100644
--- a/host/lib/usrp/usrp2/usrp2_iface.hpp
+++ b/host/lib/usrp/usrp2/usrp2_iface.hpp
@@ -24,11 +24,17 @@
 #include <boost/shared_ptr.hpp>
 #include <boost/utility.hpp>
 #include <boost/cstdint.hpp>
+#include <boost/function.hpp>
 #include <utility>
 #include <string>
 #include "fw_common.h"
 #include "usrp2_regs.hpp"
 
+
+//TODO: kill this crap when you have the top level GPS include file
+typedef boost::function<void(std::string)> gps_send_fn_t;
+typedef boost::function<std::string(void)> gps_recv_fn_t;
+
 /*!
  * The usrp2 interface class:
  * Provides a set of functions to implementation layer.
@@ -100,6 +106,9 @@ public:
     virtual void write_uart(boost::uint8_t dev, const std::string &buf) = 0;
 
     virtual std::string read_uart(boost::uint8_t dev) = 0;
+    
+    virtual gps_recv_fn_t get_gps_read_fn(void) = 0;
+    virtual gps_send_fn_t get_gps_write_fn(void) = 0;
 
     //! The list of possible revision types
     enum rev_type {
diff --git a/host/lib/usrp/usrp2/usrp2_impl.hpp b/host/lib/usrp/usrp2/usrp2_impl.hpp
index d0f5ecf37..ad95b2a4a 100644
--- a/host/lib/usrp/usrp2/usrp2_impl.hpp
+++ b/host/lib/usrp/usrp2/usrp2_impl.hpp
@@ -21,7 +21,7 @@
 #include "usrp2_iface.hpp"
 #include "clock_ctrl.hpp"
 #include "codec_ctrl.hpp"
-#include "gps_ctrl.hpp"
+#include <uhd/usrp/gps_ctrl.hpp>
 #include <uhd/device.hpp>
 #include <uhd/utils/pimpl.hpp>
 #include <uhd/types/dict.hpp>
@@ -106,7 +106,7 @@ private:
     usrp2_iface::sptr _iface;
     usrp2_clock_ctrl::sptr _clock_ctrl;
     usrp2_codec_ctrl::sptr _codec_ctrl;
-    usrp2_gps_ctrl::sptr _gps_ctrl;
+    gps_ctrl::sptr _gps_ctrl;
 
     //properties for this mboard
     void get(const wax::obj &, wax::obj &);