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-========================================================================
-UHD - Synchronization Application Notes
-========================================================================
-
-.. contents:: Table of Contents
-
-The following application notes explain how to synchronize multiple USRP
-devices with the goal of transmitting or receiving time-aligned samples for MIMO
-or other applications requiring multiple USRP devices operating synchronously.
-
-**Note:** The following synchronization notes do not apply to USRP1,
-which does not support the advanced features available in newer products.
-
-------------------------------------------------------------------------
-Common Reference Signals
-------------------------------------------------------------------------
-USRP devices take two reference signals in order to synchronize clocks and time:
-
-* A 10MHz reference to provide a single frequency reference for both devices.
-* A pulse-per-second (PPS) to synchronize the sample time across devices.
-* A MIMO cable transmits an encoded time message from one device to another.
-
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-PPS and 10 MHz reference signals
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-Connect the front panel SMA connectors to the reference sources.
-Typically, these signals are provided by an external GPSDO.
-However, some USRP models can provide these signals from an optional internal GPSDO.
-
-::
-
-    usrp->set_clock_source("external");
-    usrp->set_time_source("external");
-
-**Note:**
-Sometimes the delay on the PPS signal will cause it to arrive inside the timing
-margin the FPGA sampling clock, causing PPS edges to be separated by less or
-more than 100 million cycles of the FPGA clock. If this is the case,
-you can change the edge reference of the PPS signal with this parameter:
-
-::
-
-    usrp->set_time_source("_external_");
-
-**Note2:**
-For users generating their own signals for the external SMA connectors,
-the PPS should be clocked from the 10MHz reference.
-See the application notes for your device for specific signal requirements.
-
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-MIMO cable reference signals
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-Use the MIMO expansion cable to share reference sources (USRP2 and N-Series).
-The MIMO cable can be used synchronize one device to another device.
-Users of the MIMO cable may use Method 1 (explained below) to synchronize multiple pairs of devices.
-
-::
-
-    usrp->set_clock_source("mimo");
-    usrp->set_time_source("mimo");
-
-------------------------------------------------------------------------
-Synchronizing the Device Time
-------------------------------------------------------------------------
-The purpose of the PPS signal is to synchronously latch a time into the device.
-You can use the **set_time_next_pps(...)** function to either initialize the sample time to 0
-or an absolute time, such as GPS time or UTC time.
-For the purposes of synchronizing devices,
-it doesn't matter what time you initialize to when using **set_time_next_pps(...)**.
-
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-Method 1 - poll the USRP time registers
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-One way to initialize the PPS edge is to poll the "last PPS" time from the USRP device.
-When the last PPS time increments, the user can determine that a PPS has occurred:
-
-::
-
-    const uhd::time_spec_t last_pps_time = usrp->get_time_last_pps();
-    while (last_pps_time == usrp->get_time_last_pps()){
-        //sleep 100 milliseconds (give or take)
-    }
-    usrp->set_time_next_pps(uhd::time_spec_t(0.0));
-
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-Method 2 - query the GPSDO for seconds
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-Most GPSDOs can be configured to output a NMEA string over the serial port once every PPS.
-The user can wait for this string to determine the PPS edge,
-and the user can also parse this string to determine GPS time:
-
-::
-
-    //call user's function to wait for NMEA message...
-    usrp->set_time_next_pps(uhd::time_spec_t(0.0));
-
-    -- OR --
-
-    //call user's function to wait for NMEA message...
-    //call user's function to parse the NMEA message...
-    usrp->set_time_next_pps(uhd::time_spec_t(gps_time+1));
-
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-Method 3 - internal GPSDO
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-USRP devices with internal GPSDOs properly configured will automatically
-configure themselves to set the VITA time to current UTC time.
-See the `GPSDO Application Notes <./gpsdo.html>`_ for more details.
-
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-Method 4 - MIMO cable
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-A USRP device can synchronize its time to another USRP device via the MIMO cable.
-Unlike the other methods, this does not use a real "pulse per second".
-Rather, the USRP device sends an encoded time message over the MIMO cable.
-The slave device will automatically synchronize to the time on the master device.
-See the `MIMO Cable Application Notes <./usrp2.html#using-the-mimo-cable>`_ for more detail.
-
-------------------------------------------------------------------------
-Synchronizing Channel Phase
-------------------------------------------------------------------------
-
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-Align CORDICs in the DSP
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-In order to achieve phase alignment between USRP devices, the CORDICS in both
-devices must be aligned with respect to each other. This is easily achieved
-by issuing stream commands with a time spec property, which instructs the
-streaming to begin at a specified time. Since the devices are already
-synchronized via the 10MHz and PPS inputs, the streaming will start at exactly
-the same time on both devices. The CORDICs are reset at each start-of-burst
-command, so users should ensure that every start-of-burst also has a time spec set.
-
-For receive, a burst is started when the user issues a stream command. This stream command should have a time spec set:
-::
-
-    uhd::stream_cmd_t stream_cmd(uhd::stream_cmd_t::STREAM_MODE_NUM_SAMPS_AND_DONE);
-    stream_cmd.num_samps = samps_to_recv;
-    stream_cmd.stream_now = false;
-    stream_cmd.time_spec = time_to_recv;
-    usrp->issue_stream_cmd(stream_cmd);
-
-For transmit, a burst is started when the user calls send(). The metadata should have a time spec set:
-::
-
-    uhd::tx_metadata_t md;
-    md.start_of_burst = true;
-    md.end_of_burst = false;
-    md.has_time_spec = true;
-    md.time_spec = time_to_send;
-
-    //send a single packet
-    size_t num_tx_samps = tx_streamer->send(buffs, samps_to_send, md);
-
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-Align LOs in the front-end (SBX, WBX, CBX)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-Using timed commands, multiple frontends can be tuned at a specific time.
-This timed-tuning ensures that the phase offsets between VCO/PLL chains
-will remain constant after each re-tune. See notes below:
-
-* There is a random phase offset between any two frontends
-* This phase offset is different for different LO frequencies
-* This phase offset remains constant after retuning
-
-  * Due to a divider, WBX phase offset will be randomly +/- 180 deg after re-tune
-
-* This phase offset will drift over time due to thermal and other characteristics
-* Periodic calibration will be necessary for phase-coherent applications
-
-Code snippet example, tuning with timed commands:
-::
-
-    //we will tune the frontends in 100ms from now
-    uhd::time_spec_t cmd_time = usrp->get_time_now() + uhd::time_spec_t(0.1);
-
-    //sets command time on all devices
-    //the next commands are all timed
-    usrp->set_command_time(cmd_time);
-
-    //tune channel 0 and channel 1
-    usrp->set_rx_freq(1.03e9, 0/*ch0*/);
-    usrp->set_rx_freq(1.03e9, 1/*ch1*/);
-
-    //end timed commands
-    usrp->clear_command_time();
-
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-Align LOs in the front-end (others)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-After tuning the RF front-ends,
-each local oscillator may have a random phase offset due to the dividers
-in the VCO/PLL chains. This offset will remain constant after the device
-has been initialized, and will remain constant until the device is closed
-or re-tuned. This phase offset is typically removed by the user in MIMO
-applications, using a training sequence to estimate the offset. It will
-be necessary to re-align the LOs after each tune command.