B200: UHD support for FPGPIO connector on REV6+ boards.

- GPIO on UART connector all board Revs
- Consolidated fpgpio_bitbang into fpgpio example and renamed it gpio
- Changed FP_GPIO readback address to match X300

3 files changed, 463 insertions, 419 deletions

diff --git a/host/examples/CMakeLists.txt b/host/examples/CMakeLists.txt
index 598e42302..92947d86c 100644
--- a/host/examples/CMakeLists.txt
+++ b/host/examples/CMakeLists.txt
@@ -35,7 +35,7 @@ SET(example_sources
     tx_waveforms.cpp
     txrx_loopback_to_file.cpp
     latency_test.cpp
-    fpgpio.cpp
+    gpio.cpp
 )
 
 IF(ENABLE_OCTOCLOCK)
diff --git a/host/examples/fpgpio.cpp b/host/examples/fpgpio.cpp
deleted file mode 100644
index c57893669..000000000
--- a/host/examples/fpgpio.cpp
+++ /dev/null
@@ -1,418 +0,0 @@
-//
-// Copyright 2014 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/>.
-//
-
-// Example for front panel GPIO.
-// Bits are set as follows:
-// FPGPIO[0] = ATR output 1 at idle
-// FPGPIO[1] = ATR output 1 during RX
-// FPGPIO[2] = ATR output 1 during TX
-// FPGPIO[3] = ATR output 1 during full duplex
-// FPGPIO[4] = output
-// FPGPIO[5] = input
-// FPGPIO[6] = input (X series only)
-// FPGPIO[7] = input (X series only)
-// FPGPIO[8] = input (X series only)
-// FPGPIO[9] = input (X series only)
-// FPGPIO[10] = input (X series only)
-// The example cycles through idle, TX, RX, and full duplex, spending 2 seconds for each.
-// Outputs can be physically looped back to inputs for verification testing.
-
-#include <uhd/utils/thread_priority.hpp>
-#include <uhd/utils/safe_main.hpp>
-#include <uhd/usrp/multi_usrp.hpp>
-#include <uhd/convert.hpp>
-#include <boost/program_options.hpp>
-#include <boost/format.hpp>
-#include <boost/cstdint.hpp>
-#include <boost/thread.hpp>
-#include <csignal>
-#include <iostream>
-
-static const std::string FPGPIO_DEFAULT_CPU_FORMAT = "fc32";
-static const std::string FPGPIO_DEFAULT_OTW_FORMAT = "sc16";
-static const double      FPGPIO_DEFAULT_RX_RATE    = 500e3;
-static const double      FPGPIO_DEFAULT_TX_RATE    = 500e3;
-static const double      FPGPIO_DEFAULT_DWELL_TIME = 2.0;
-static const std::string FPGPIO_DEFAULT_GPIO       = "FP0";
-static const size_t      FPGPIO_DEFAULT_NUM_BITS   = 11;
-
-static UHD_INLINE boost::uint32_t FPGPIO_BIT(const size_t x)
-{
-    return (1 << x);
-}
-
-namespace po = boost::program_options;
-
-static bool stop_signal_called = false;
-void sig_int_handler(int){stop_signal_called = true;}
-
-std::string to_bit_string(boost::uint32_t val, const size_t num_bits)
-{
-    std::string out;
-    for (int i = num_bits - 1; i >= 0; i--)
-    {
-        std::string bit = ((val >> i) & 1) ? "1" : "0";
-        out += "  ";
-        out += bit;
-    }
-    return out;
-}
-
-void output_reg_values(
-    const std::string bank,
-    const uhd::usrp::multi_usrp::sptr &usrp,
-    const size_t num_bits)
-{
-    std::cout << (boost::format("Bit       "));
-    for (int i = num_bits - 1; i >= 0; i--)
-        std::cout << (boost::format(" %s%d") % (i < 10 ? " " : "") % i);
-    std::cout << std::endl;
-    std::cout << "CTRL:     " << to_bit_string(
-                                     boost::uint32_t(usrp->get_gpio_attr(bank, std::string("CTRL"))),
-                                     num_bits)
-                              << std::endl;
-
-    std::cout << "DDR:      " << to_bit_string(
-                                     boost::uint32_t(usrp->get_gpio_attr(bank, std::string("DDR"))),
-                                     num_bits)
-                              << std::endl;
-
-    std::cout << "ATR_0X:   " << to_bit_string(
-                                     boost::uint32_t(usrp->get_gpio_attr(bank, std::string("ATR_0X"))),
-                                     num_bits)
-                              << std::endl;
-
-    std::cout << "ATR_RX:   " << to_bit_string(
-                                     boost::uint32_t(usrp->get_gpio_attr(bank, std::string("ATR_RX"))),
-                                     num_bits)
-                              << std::endl;
-
-    std::cout << "ATR_TX:   " << to_bit_string(
-                                     boost::uint32_t(usrp->get_gpio_attr(bank, std::string("ATR_TX"))),
-                                     num_bits)
-                              << std::endl;
-
-    std::cout << "ATR_XX:   " << to_bit_string(
-                                     boost::uint32_t(usrp->get_gpio_attr(bank, std::string("ATR_XX"))),
-                                     num_bits)
-                              << std::endl;
-
-    std::cout << "OUT:      " << to_bit_string(
-                                     boost::uint32_t(usrp->get_gpio_attr(bank, std::string("OUT"))),
-                                     num_bits)
-                              << std::endl;
-
-    std::cout << "READBACK: " << to_bit_string(
-                                     boost::uint32_t(usrp->get_gpio_attr(bank, std::string("READBACK"))),
-                                     num_bits)
-                              << std::endl;
-}
-
-int UHD_SAFE_MAIN(int argc, char *argv[])
-{
-    uhd::set_thread_priority_safe();
-
-    //variables to be set by po
-    std::string args;
-    std::string cpu, otw;
-    double rx_rate, tx_rate, dwell;
-    std::string fpgpio;
-    size_t num_bits;
-
-    //setup the program options
-    po::options_description desc("Allowed options");
-    desc.add_options()
-        ("help", "help message")
-        ("args", po::value<std::string>(&args)->default_value(""), "multi uhd device address args")
-        ("repeat", "repeat loop until Ctrl-C is pressed")
-        ("cpu", po::value<std::string>(&cpu)->default_value(FPGPIO_DEFAULT_CPU_FORMAT), "cpu data format")
-        ("otw", po::value<std::string>(&otw)->default_value(FPGPIO_DEFAULT_OTW_FORMAT), "over the wire data format")
-        ("rx_rate", po::value<double>(&rx_rate)->default_value(FPGPIO_DEFAULT_RX_RATE), "rx sample rate")
-        ("tx_rate", po::value<double>(&tx_rate)->default_value(FPGPIO_DEFAULT_TX_RATE), "tx sample rate")
-        ("dwell", po::value<double>(&dwell)->default_value(FPGPIO_DEFAULT_DWELL_TIME), "dwell time in seconds for each test case")
-        ("gpio", po::value<std::string>(&fpgpio)->default_value(FPGPIO_DEFAULT_GPIO), "name of gpio bank")
-        ("bits", po::value<size_t>(&num_bits)->default_value(FPGPIO_DEFAULT_NUM_BITS), "number of bits in gpio bank")
-    ;
-    po::variables_map vm;
-    po::store(po::parse_command_line(argc, argv, desc), vm);
-    po::notify(vm);
-
-    //print the help message
-    if (vm.count("help")){
-        std::cout << boost::format("Front Panel GPIO %s") % desc << std::endl;
-        return ~0;
-    }
-
-    //create a usrp device
-    std::cout << std::endl;
-    std::cout << boost::format("Creating the usrp device with: %s...") % args << std::endl;
-    uhd::usrp::multi_usrp::sptr usrp = uhd::usrp::multi_usrp::make(args);
-    std::cout << boost::format("Using Device: %s") % usrp->get_pp_string() << std::endl;
-
-    //print out initial unconfigured state of FP GPIO
-    std::cout << "Unconfigured GPIO values:" << std::endl;
-    output_reg_values(fpgpio, usrp, num_bits);
-
-    //configure GPIO registers
-    boost::uint32_t ctrl = 0;      // default all as manual
-    boost::uint32_t ddr = 0;       // default all as input
-    boost::uint32_t atr_idle = 0;
-    boost::uint32_t atr_rx = 0;
-    boost::uint32_t atr_tx = 0;
-    boost::uint32_t atr_duplex = 0;
-    boost::uint32_t mask = 0x7ff;
-
-    //set up FPGPIO outputs:
-    //FPGPIO[0] = ATR output 1 at idle
-    ctrl |= FPGPIO_BIT(0);
-    atr_idle |= FPGPIO_BIT(0);
-    ddr |= FPGPIO_BIT(0);
-
-    //FPGPIO[1] = ATR output 1 during RX
-    ctrl |= FPGPIO_BIT(1);
-    ddr |= FPGPIO_BIT(1);
-    atr_rx |= FPGPIO_BIT(1);
-
-    //FPGPIO[2] = ATR output 1 during TX
-    ctrl |= FPGPIO_BIT(2);
-    ddr |= FPGPIO_BIT(2);
-    atr_tx |= FPGPIO_BIT(2);
-
-    //FPGPIO[3] = ATR output 1 during full duplex
-    ctrl |= FPGPIO_BIT(3);
-    ddr |= FPGPIO_BIT(3);
-    atr_duplex |= FPGPIO_BIT(3);
-
-    //FPGPIO[4] = output
-    ddr |= FPGPIO_BIT(4);
-
-    //set data direction register (DDR)
-    usrp->set_gpio_attr(fpgpio, std::string("DDR"), ddr, mask);
-
-    //set ATR registers
-    usrp->set_gpio_attr(fpgpio, std::string("ATR_0X"), atr_idle, mask);
-    usrp->set_gpio_attr(fpgpio, std::string("ATR_RX"), atr_rx, mask);
-    usrp->set_gpio_attr(fpgpio, std::string("ATR_TX"), atr_tx, mask);
-    usrp->set_gpio_attr(fpgpio, std::string("ATR_XX"), atr_duplex, mask);
-
-    //set control register
-    usrp->set_gpio_attr(fpgpio, std::string("CTRL"), ctrl, mask);
-
-    //print out initial state of FP GPIO
-    std::cout << "\nConfigured GPIO values:" << std::endl;
-    output_reg_values(fpgpio, usrp, num_bits);
-    std::cout << std::endl;
-
-    //set up streams
-    uhd::stream_args_t rx_args(cpu, otw);
-    uhd::stream_args_t tx_args(cpu, otw);
-    uhd::rx_streamer::sptr rx_stream = usrp->get_rx_stream(rx_args);
-    uhd::tx_streamer::sptr tx_stream = usrp->get_tx_stream(tx_args);
-    uhd::stream_cmd_t rx_cmd(uhd::stream_cmd_t::STREAM_MODE_START_CONTINUOUS);
-    rx_cmd.stream_now = true;
-    usrp->set_rx_rate(rx_rate);
-    usrp->set_tx_rate(tx_rate);
-
-    //set up buffers for tx and rx
-    const size_t max_samps_per_packet = rx_stream->get_max_num_samps();
-    const size_t nsamps_per_buff = max_samps_per_packet;
-    std::vector<char> rx_buff(max_samps_per_packet*uhd::convert::get_bytes_per_item(cpu));
-    std::vector<char> tx_buff(max_samps_per_packet*uhd::convert::get_bytes_per_item(cpu));
-    std::vector<void *> rx_buffs, tx_buffs;
-    for (size_t ch = 0; ch < rx_stream->get_num_channels(); ch++)
-        rx_buffs.push_back(&rx_buff.front()); //same buffer for each channel
-    for (size_t ch = 0; ch < tx_stream->get_num_channels(); ch++)
-        tx_buffs.push_back(&tx_buff.front()); //same buffer for each channel
-
-    uhd::rx_metadata_t rx_md;
-    uhd::tx_metadata_t tx_md;
-    tx_md.has_time_spec = false;
-    tx_md.start_of_burst = true;
-    uhd::time_spec_t stop_time;
-    double timeout = 0.01;
-    uhd::time_spec_t dwell_time(dwell);
-    int loop = 0;
-    boost::uint32_t rb, expected;
-
-    //register singal handler
-    std::signal(SIGINT, &sig_int_handler);
-
-    //Test the mask - only need to test once with no dwell time
-    std::cout << "\nTesting mask..." << std::flush;
-    //send a value of all 1's to the DDR with a mask for only bit 10
-    usrp->set_gpio_attr(fpgpio, std::string("DDR"), ~0, FPGPIO_BIT(10));
-    //bit 10 should now be 1, but all the other bits should be unchanged
-    rb = usrp->get_gpio_attr(fpgpio, std::string("DDR")) & mask;
-    expected = ddr | FPGPIO_BIT(10);
-    if (rb == expected)
-        std::cout << "pass" << std::endl;
-    else
-        std::cout << "fail" << std::endl;
-    std::cout << std::endl;
-    output_reg_values(fpgpio, usrp, num_bits);
-    usrp->set_gpio_attr(fpgpio, std::string("DDR"), ddr, mask);
-
-    while (not stop_signal_called)
-    {
-        int failures = 0;
-
-        if (vm.count("repeat"))
-            std::cout << "Press Ctrl + C to quit..." << std::endl;
-
-        // test user controlled GPIO and ATR idle by setting bit 4 high for 1 second
-        std::cout << "\nTesting user controlled GPIO and ATR idle output..." << std::flush;
-        usrp->set_gpio_attr(fpgpio, "OUT", 1 << 4, 1 << 4);
-        stop_time = usrp->get_time_now() + dwell_time;
-        while (not stop_signal_called and usrp->get_time_now() < stop_time)
-        {
-            boost::this_thread::sleep(boost::posix_time::milliseconds(100));
-        }
-        rb = usrp->get_gpio_attr(fpgpio, "READBACK");
-        expected = FPGPIO_BIT(4) | FPGPIO_BIT(0);
-        if ((rb & expected) != expected)
-        {
-            ++failures;
-            std::cout << "fail" << std::endl;
-            if ((rb & FPGPIO_BIT(0)) == 0)
-                std::cout << "Bit 0 should be set, but is not" << std::endl;
-            if ((rb & FPGPIO_BIT(4)) == 0)
-                std::cout << "Bit 4 should be set, but is not" << std::endl;
-        } else {
-            std::cout << "pass" << std::endl;
-        }
-        std::cout << std::endl;
-        output_reg_values(fpgpio, usrp, num_bits);
-        usrp->set_gpio_attr(fpgpio, "OUT", 0, FPGPIO_BIT(4));
-        if (stop_signal_called)
-            break;
-
-        // test ATR RX by receiving for 1 second
-        std::cout << "\nTesting ATR RX output..." << std::flush;
-        rx_cmd.stream_mode = uhd::stream_cmd_t::STREAM_MODE_START_CONTINUOUS;
-        rx_stream->issue_stream_cmd(rx_cmd);
-        stop_time = usrp->get_time_now() + dwell_time;
-        while (not stop_signal_called and usrp->get_time_now() < stop_time)
-        {
-            try {
-                rx_stream->recv(rx_buffs, nsamps_per_buff, rx_md, timeout);
-            } catch(...){}
-        }
-        rb = usrp->get_gpio_attr(fpgpio, "READBACK");
-        expected = FPGPIO_BIT(1);
-        if ((rb & expected) != expected)
-        {
-            ++failures;
-            std::cout << "fail" << std::endl;
-            std::cout << "Bit 1 should be set, but is not" << std::endl;
-        } else {
-            std::cout << "pass" << std::endl;
-        }
-        std::cout << std::endl;
-        output_reg_values(fpgpio, usrp, num_bits);
-        rx_stream->issue_stream_cmd(uhd::stream_cmd_t::STREAM_MODE_STOP_CONTINUOUS);
-        //clear out any data left in the rx stream
-        try {
-            rx_stream->recv(rx_buffs, nsamps_per_buff, rx_md, timeout);
-        } catch(...){}
-        if (stop_signal_called)
-            break;
-
-        // test ATR TX by transmitting for 1 second
-        std::cout << "\nTesting ATR TX output..." << std::flush;
-        stop_time = usrp->get_time_now() + dwell_time;
-        tx_md.start_of_burst = true;
-        tx_md.end_of_burst = false;
-        while (not stop_signal_called and usrp->get_time_now() < stop_time)
-        {
-            try {
-                tx_stream->send(tx_buffs, nsamps_per_buff, tx_md, timeout);
-                tx_md.start_of_burst = false;
-            } catch(...){}
-        }
-        rb = usrp->get_gpio_attr(fpgpio, "READBACK");
-        expected = FPGPIO_BIT(2);
-        if ((rb & expected) != expected)
-        {
-            ++failures;
-            std::cout << "fail" << std::endl;
-            std::cout << "Bit 2 should be set, but is not" << std::endl;
-        } else {
-            std::cout << "pass" << std::endl;
-        }
-        std::cout << std::endl;
-        output_reg_values(fpgpio, usrp, num_bits);
-        tx_md.end_of_burst = true;
-        try {
-            tx_stream->send(tx_buffs, nsamps_per_buff, tx_md, timeout);
-        } catch(...){}
-        if (stop_signal_called)
-            break;
-
-        // test ATR RX by transmitting and receiving for 1 second
-        std::cout << "\nTesting ATR full duplex output..." << std::flush;
-        rx_cmd.stream_mode = uhd::stream_cmd_t::STREAM_MODE_START_CONTINUOUS;
-        rx_stream->issue_stream_cmd(rx_cmd);
-        tx_md.start_of_burst = true;
-        tx_md.end_of_burst = false;
-        stop_time = usrp->get_time_now() + dwell_time;
-        while (not stop_signal_called and usrp->get_time_now() < stop_time)
-        {
-            try {
-                tx_stream->send(rx_buffs, nsamps_per_buff, tx_md, timeout);
-                tx_md.start_of_burst = false;
-                rx_stream->recv(tx_buffs, nsamps_per_buff, rx_md, timeout);
-            } catch(...){}
-        }
-        rb = usrp->get_gpio_attr(fpgpio, "READBACK");
-        expected = FPGPIO_BIT(3);
-        if ((rb & expected) != expected)
-        {
-            ++failures;
-            std::cout << "fail" << std::endl;
-            std::cout << "Bit 3 should be set, but is not" << std::endl;
-        } else {
-            std::cout << "pass" << std::endl;
-        }
-        std::cout << std::endl;
-        output_reg_values(fpgpio, usrp, num_bits);
-        rx_stream->issue_stream_cmd(uhd::stream_cmd_t::STREAM_MODE_STOP_CONTINUOUS);
-        tx_md.end_of_burst = true;
-        try {
-            tx_stream->send(tx_buffs, nsamps_per_buff, tx_md, timeout);
-        } catch(...){}
-        //clear out any data left in the rx stream
-        try {
-            rx_stream->recv(rx_buffs, nsamps_per_buff, rx_md, timeout);
-        } catch(...){}
-
-        std::cout << std::endl;
-        if (failures)
-            std::cout << failures << " tests failed" << std::endl;
-        else
-            std::cout << "All tests passed!" << std::endl;
-
-        if (!vm.count("repeat"))
-            break;
-
-        std::cout << (boost::format("\nLoop %d completed")  % ++loop) << std::endl;
-    }
-
-    //finished
-    std::cout << std::endl << "Done!" << std::endl << std::endl;
-
-    return EXIT_SUCCESS;
-}
diff --git a/host/examples/gpio.cpp b/host/examples/gpio.cpp
new file mode 100644
index 000000000..b0d15f35a
--- /dev/null
+++ b/host/examples/gpio.cpp
@@ -0,0 +1,462 @@
+//
+// Copyright 2014-15 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/>.
+//
+
+// Example for GPIO testing and bit banging.
+//
+// This example was originally designed to test the 11 bit wide front panel
+// GPIO on the X300 series and has since been adapted to work with any GPIO
+// bank on any USRP and provide optional bit banging.  Please excuse the
+// clutter.  Also, there is no current way to detect the width of the
+// specified GPIO bank, so the user must specify the width with the --bits
+// flag if more than 11 bits.
+//
+// GPIO Testing:
+// For testing, GPIO bits are set as follows:
+// GPIO[0] = ATR output 1 at idle
+// GPIO[1] = ATR output 1 during RX
+// GPIO[2] = ATR output 1 during TX
+// GPIO[3] = ATR output 1 during full duplex
+// GPIO[4] = output
+// GPIO[n:5] = input (all other pins)
+// The testing cycles through idle, TX, RX, and full duplex, dwelling on each
+// test case (default 2 seconds), and then comparing the readback register with
+// the expected values of the outputs for verification.  The values of all GPIO
+// registers are displayed at the end of each test case.  Outputs can be
+// physically looped back to inputs to manually verify the inputs.
+//
+// GPIO Bit Banging:
+// GPIO banks have the standard registers of DDR for data direction and OUT
+// for output values.  Users can bit bang the GPIO bits by using this example
+// with the --bitbang flag and specifying the --ddr and --out flags to set the
+// values of the corresponding registers.  The READBACK register is
+// continuously read for the duration of the dwell time (default 2 seconds) so
+// users can monitor changes on the inputs.
+//
+// Automatic Transmit/Receive (ATR):
+// In addition to the standard DDR and OUT registers, the GPIO banks also
+// have ATR (Automatic Transmit/Receive) control registers that allow the
+// GPIO pins to be automatically set to specific values when the USRP is
+// idle, transmitting, receiving, or operating in full duplex mode.  The
+// description of these registers is below:
+// CTRL - Control (0=manual, 1=ATR)
+// ATR_0X - Values to be set when idle
+// ATR_RX - Output values to be set when receiving
+// ATR_TX - Output values to be set when transmitting
+// ATR_XX - Output values to be set when operating in full duplex
+// This code below contains examples of setting all these registers.  On
+// devices with multiple radios, the ATR for the front panel GPIO is driven
+// by the state of the first radio (0 or A).
+//
+// The UHD API
+// The multi_usrp::set_gpio_attr() method is the UHD API for configuring and
+// controlling the GPIO banks.  The parameters to the method are:
+// bank - the name of the GPIO bank (typically "FP0" for front panel GPIO,
+//                                   "TX<n>" for TX daughter card GPIO, or
+//                                   "RX<n>" for RX daughter card GPIO)
+// attr - attribute (register) to change ("DDR", "OUT", "CTRL", "ATR_0X",
+//                                        "ATR_RX", "ATR_TX", "ATR_XX")
+// value - the value to be set
+// mask - a mask indicating which bits in the specified attribute register are
+//          to be changed (default is all bits).
+
+#include <uhd/utils/thread_priority.hpp>
+#include <uhd/utils/safe_main.hpp>
+#include <uhd/usrp/multi_usrp.hpp>
+#include <uhd/convert.hpp>
+#include <boost/assign.hpp>
+#include <boost/program_options.hpp>
+#include <boost/format.hpp>
+#include <boost/cstdint.hpp>
+#include <boost/thread.hpp>
+#include <csignal>
+#include <iostream>
+#include <stdlib.h>
+
+static const std::string        GPIO_DEFAULT_CPU_FORMAT = "fc32";
+static const std::string        GPIO_DEFAULT_OTW_FORMAT = "sc16";
+static const double             GPIO_DEFAULT_RX_RATE    = 500e3;
+static const double             GPIO_DEFAULT_TX_RATE    = 500e3;
+static const double             GPIO_DEFAULT_DWELL_TIME = 2.0;
+static const std::string        GPIO_DEFAULT_GPIO       = "FP0";
+static const size_t             GPIO_DEFAULT_NUM_BITS   = 11;
+static const std::string        GPIO_DEFAULT_CTRL       = "0x0";    // all as user controlled
+static const std::string        GPIO_DEFAULT_DDR        = "0x0";    // all as inputs
+static const std::string        GPIO_DEFAULT_OUT        = "0x0";
+
+static UHD_INLINE boost::uint32_t GPIO_BIT(const size_t x)
+{
+    return (1 << x);
+}
+
+namespace po = boost::program_options;
+
+static bool stop_signal_called = false;
+void sig_int_handler(int){stop_signal_called = true;}
+
+std::string to_bit_string(boost::uint32_t val, const size_t num_bits)
+{
+    std::string out;
+    for (int i = num_bits - 1; i >= 0; i--)
+    {
+        std::string bit = ((val >> i) & 1) ? "1" : "0";
+        out += "  ";
+        out += bit;
+    }
+    return out;
+}
+
+void output_reg_values(
+    const std::string bank,
+    const uhd::usrp::multi_usrp::sptr &usrp,
+    const size_t num_bits)
+{
+    std::vector<std::string> attrs = boost::assign::list_of("CTRL")("DDR")("ATR_0X")("ATR_RX")("ATR_TX")("ATR_XX")("OUT")("READBACK");
+    std::cout << (boost::format("%10s ") % "Bit");
+    for (int i = num_bits - 1; i >= 0; i--)
+        std::cout << (boost::format(" %2d") % i);
+    std::cout << std::endl;
+    BOOST_FOREACH(std::string &attr, attrs)
+    {
+        std::cout << (boost::format("%10s:%s")
+            % attr % to_bit_string(boost::uint32_t(usrp->get_gpio_attr(bank, attr)), num_bits))
+            << std::endl;
+    }
+}
+
+int UHD_SAFE_MAIN(int argc, char *argv[])
+{
+    uhd::set_thread_priority_safe();
+
+    //variables to be set by po
+    std::string args;
+    std::string cpu, otw;
+    double rx_rate, tx_rate, dwell;
+    std::string gpio;
+    size_t num_bits;
+    std::string ctrl_str;
+    std::string ddr_str;
+    std::string out_str;
+
+    //setup the program options
+    po::options_description desc("Allowed options");
+    desc.add_options()
+        ("help", "help message")
+        ("args", po::value<std::string>(&args)->default_value(""), "multi uhd device address args")
+        ("repeat", "repeat loop until Ctrl-C is pressed")
+        ("cpu", po::value<std::string>(&cpu)->default_value(GPIO_DEFAULT_CPU_FORMAT), "cpu data format")
+        ("otw", po::value<std::string>(&otw)->default_value(GPIO_DEFAULT_OTW_FORMAT), "over the wire data format")
+        ("rx_rate", po::value<double>(&rx_rate)->default_value(GPIO_DEFAULT_RX_RATE), "rx sample rate")
+        ("tx_rate", po::value<double>(&tx_rate)->default_value(GPIO_DEFAULT_TX_RATE), "tx sample rate")
+        ("dwell", po::value<double>(&dwell)->default_value(GPIO_DEFAULT_DWELL_TIME), "dwell time in seconds for each test case")
+        ("bank", po::value<std::string>(&gpio)->default_value(GPIO_DEFAULT_GPIO), "name of gpio bank")
+        ("bits", po::value<size_t>(&num_bits)->default_value(GPIO_DEFAULT_NUM_BITS), "number of bits in gpio bank")
+        ("bitbang", "single test case where user sets values for CTRL, DDR, and OUT registers")
+        ("ddr", po::value<std::string>(&ddr_str)->default_value(GPIO_DEFAULT_DDR), "GPIO DDR reg value")
+        ("out", po::value<std::string>(&out_str)->default_value(GPIO_DEFAULT_OUT), "GPIO OUT reg value")
+    ;
+    po::variables_map vm;
+    po::store(po::parse_command_line(argc, argv, desc), vm);
+    po::notify(vm);
+
+    //print the help message
+    if (vm.count("help")){
+        std::cout << boost::format("gpio %s") % desc << std::endl;
+        return ~0;
+    }
+
+    //create a usrp device
+    std::cout << std::endl;
+    std::cout << boost::format("Creating the usrp device with: %s...") % args << std::endl;
+    uhd::usrp::multi_usrp::sptr usrp = uhd::usrp::multi_usrp::make(args);
+    std::cout << boost::format("Using Device: %s") % usrp->get_pp_string() << std::endl;
+
+    //print out initial unconfigured state of FP GPIO
+    std::cout << "Initial GPIO values:" << std::endl;
+    output_reg_values(gpio, usrp, num_bits);
+
+    //configure GPIO registers
+    boost::uint32_t ddr = strtoul(ddr_str.c_str(), NULL, 0);
+    boost::uint32_t out = strtoul(out_str.c_str(), NULL, 0);
+    boost::uint32_t ctrl = 0;
+    boost::uint32_t atr_idle = 0;
+    boost::uint32_t atr_rx = 0;
+    boost::uint32_t atr_tx = 0;
+    boost::uint32_t atr_duplex = 0;
+    boost::uint32_t mask = (1 << num_bits) - 1;
+
+    if (!vm.count("bitbang"))
+    {
+        //set up GPIO outputs:
+        //GPIO[0] = ATR output 1 at idle
+        ctrl |= GPIO_BIT(0);
+        atr_idle |= GPIO_BIT(0);
+        ddr |= GPIO_BIT(0);
+
+        //GPIO[1] = ATR output 1 during RX
+        ctrl |= GPIO_BIT(1);
+        ddr |= GPIO_BIT(1);
+        atr_rx |= GPIO_BIT(1);
+
+        //GPIO[2] = ATR output 1 during TX
+        ctrl |= GPIO_BIT(2);
+        ddr |= GPIO_BIT(2);
+        atr_tx |= GPIO_BIT(2);
+
+        //GPIO[3] = ATR output 1 during full duplex
+        ctrl |= GPIO_BIT(3);
+        ddr |= GPIO_BIT(3);
+        atr_duplex |= GPIO_BIT(3);
+
+        //GPIO[4] = output
+        ddr |= GPIO_BIT(4);
+    }
+
+    //set data direction register (DDR)
+    usrp->set_gpio_attr(gpio, "DDR", ddr, mask);
+
+    //set output values (OUT)
+    usrp->set_gpio_attr(gpio, "OUT", out, mask);
+
+    //set ATR registers
+    usrp->set_gpio_attr(gpio, "ATR_0X", atr_idle, mask);
+    usrp->set_gpio_attr(gpio, "ATR_RX", atr_rx, mask);
+    usrp->set_gpio_attr(gpio, "ATR_TX", atr_tx, mask);
+    usrp->set_gpio_attr(gpio, "ATR_XX", atr_duplex, mask);
+
+    //set control register
+    usrp->set_gpio_attr(gpio, "CTRL", ctrl, mask);
+
+    //print out initial state of FP GPIO
+    std::cout << "\nConfigured GPIO values:" << std::endl;
+    output_reg_values(gpio, usrp, num_bits);
+    std::cout << std::endl;
+
+    //set up streams
+    uhd::stream_args_t rx_args(cpu, otw);
+    uhd::stream_args_t tx_args(cpu, otw);
+    uhd::rx_streamer::sptr rx_stream = usrp->get_rx_stream(rx_args);
+    uhd::tx_streamer::sptr tx_stream = usrp->get_tx_stream(tx_args);
+    uhd::stream_cmd_t rx_cmd(uhd::stream_cmd_t::STREAM_MODE_START_CONTINUOUS);
+    rx_cmd.stream_now = true;
+    usrp->set_rx_rate(rx_rate);
+    usrp->set_tx_rate(tx_rate);
+
+    //set up buffers for tx and rx
+    const size_t max_samps_per_packet = rx_stream->get_max_num_samps();
+    const size_t nsamps_per_buff = max_samps_per_packet;
+    std::vector<char> rx_buff(max_samps_per_packet*uhd::convert::get_bytes_per_item(cpu));
+    std::vector<char> tx_buff(max_samps_per_packet*uhd::convert::get_bytes_per_item(cpu));
+    std::vector<void *> rx_buffs, tx_buffs;
+    for (size_t ch = 0; ch < rx_stream->get_num_channels(); ch++)
+        rx_buffs.push_back(&rx_buff.front()); //same buffer for each channel
+    for (size_t ch = 0; ch < tx_stream->get_num_channels(); ch++)
+        tx_buffs.push_back(&tx_buff.front()); //same buffer for each channel
+
+    uhd::rx_metadata_t rx_md;
+    uhd::tx_metadata_t tx_md;
+    tx_md.has_time_spec = false;
+    tx_md.start_of_burst = true;
+    uhd::time_spec_t stop_time;
+    double timeout = 0.01;
+    uhd::time_spec_t dwell_time(dwell);
+    int loop = 0;
+    boost::uint32_t rb, expected;
+
+    //register signal handler
+    std::signal(SIGINT, &sig_int_handler);
+
+    if (!vm.count("bitbang"))
+    {
+        // Test the mask parameter of the multi_usrp::set_gpio_attr API
+        // We only need to test once with no dwell time
+        std::cout << "\nTesting mask..." << std::flush;
+        //send a value of all 1's to the DDR with a mask for only upper most bit
+        usrp->set_gpio_attr(gpio, "DDR", ~0, GPIO_BIT(num_bits - 1));
+        //upper most bit should now be 1, but all the other bits should be unchanged
+        rb = usrp->get_gpio_attr(gpio, "DDR") & mask;
+        expected = ddr | GPIO_BIT(num_bits - 1);
+        if (rb == expected)
+            std::cout << "pass:" << std::endl;
+        else
+            std::cout << "fail:" << std::endl;
+        output_reg_values(gpio, usrp, num_bits);
+        //restore DDR value
+        usrp->set_gpio_attr(gpio, "DDR", ddr, mask);
+    }
+
+    while (not stop_signal_called)
+    {
+        int failures = 0;
+
+        if (vm.count("repeat"))
+            std::cout << "Press Ctrl + C to quit..." << std::endl;
+
+        if (vm.count("bitbang"))
+        {
+            // dwell and continuously read back GPIO values
+            stop_time = usrp->get_time_now() + dwell_time;
+            while (not stop_signal_called and usrp->get_time_now() < stop_time)
+            {
+                rb = usrp->get_gpio_attr(gpio, "READBACK");
+                std::cout << "\rREADBACK: " << to_bit_string(rb, num_bits);
+                boost::this_thread::sleep(boost::posix_time::milliseconds(10));
+            }
+            std::cout << std::endl;
+        }
+        else
+        {
+            // test user controlled GPIO and ATR idle by setting bit 4 high for 1 second
+            std::cout << "\nTesting user controlled GPIO and ATR idle output..." << std::flush;
+            usrp->set_gpio_attr(gpio, "OUT", 1 << 4, 1 << 4);
+            stop_time = usrp->get_time_now() + dwell_time;
+            while (not stop_signal_called and usrp->get_time_now() < stop_time)
+            {
+                boost::this_thread::sleep(boost::posix_time::milliseconds(100));
+            }
+            rb = usrp->get_gpio_attr(gpio, "READBACK");
+            expected = GPIO_BIT(4) | GPIO_BIT(0);
+            if ((rb & expected) != expected)
+            {
+                ++failures;
+                std::cout << "fail:" << std::endl;
+                if ((rb & GPIO_BIT(0)) == 0)
+                    std::cout << "Bit 0 should be set, but is not" << std::endl;
+                if ((rb & GPIO_BIT(4)) == 0)
+                    std::cout << "Bit 4 should be set, but is not" << std::endl;
+            } else {
+                std::cout << "pass:" << std::endl;
+            }
+            output_reg_values(gpio, usrp, num_bits);
+            usrp->set_gpio_attr(gpio, "OUT", 0, GPIO_BIT(4));
+            if (stop_signal_called)
+                break;
+
+            // test ATR RX by receiving for 1 second
+            std::cout << "\nTesting ATR RX output..." << std::flush;
+            rx_cmd.stream_mode = uhd::stream_cmd_t::STREAM_MODE_START_CONTINUOUS;
+            rx_stream->issue_stream_cmd(rx_cmd);
+            stop_time = usrp->get_time_now() + dwell_time;
+            while (not stop_signal_called and usrp->get_time_now() < stop_time)
+            {
+                try {
+                    rx_stream->recv(rx_buffs, nsamps_per_buff, rx_md, timeout);
+                } catch(...){}
+            }
+            rb = usrp->get_gpio_attr(gpio, "READBACK");
+            expected = GPIO_BIT(1);
+            if ((rb & expected) != expected)
+            {
+                ++failures;
+                std::cout << "fail:" << std::endl;
+                std::cout << "Bit 1 should be set, but is not" << std::endl;
+            } else {
+                std::cout << "pass:" << std::endl;
+            }
+            output_reg_values(gpio, usrp, num_bits);
+            rx_stream->issue_stream_cmd(uhd::stream_cmd_t::STREAM_MODE_STOP_CONTINUOUS);
+            //clear out any data left in the rx stream
+            try {
+                rx_stream->recv(rx_buffs, nsamps_per_buff, rx_md, timeout);
+            } catch(...){}
+            if (stop_signal_called)
+                break;
+
+            // test ATR TX by transmitting for 1 second
+            std::cout << "\nTesting ATR TX output..." << std::flush;
+            stop_time = usrp->get_time_now() + dwell_time;
+            tx_md.start_of_burst = true;
+            tx_md.end_of_burst = false;
+            while (not stop_signal_called and usrp->get_time_now() < stop_time)
+            {
+                try {
+                    tx_stream->send(tx_buffs, nsamps_per_buff, tx_md, timeout);
+                    tx_md.start_of_burst = false;
+                } catch(...){}
+            }
+            rb = usrp->get_gpio_attr(gpio, "READBACK");
+            expected = GPIO_BIT(2);
+            if ((rb & expected) != expected)
+            {
+                ++failures;
+                std::cout << "fail:" << std::endl;
+                std::cout << "Bit 2 should be set, but is not" << std::endl;
+            } else {
+                std::cout << "pass:" << std::endl;
+            }
+            output_reg_values(gpio, usrp, num_bits);
+            tx_md.end_of_burst = true;
+            try {
+                tx_stream->send(tx_buffs, nsamps_per_buff, tx_md, timeout);
+            } catch(...){}
+            if (stop_signal_called)
+                break;
+
+            // test ATR RX by transmitting and receiving for 1 second
+            std::cout << "\nTesting ATR full duplex output..." << std::flush;
+            rx_cmd.stream_mode = uhd::stream_cmd_t::STREAM_MODE_START_CONTINUOUS;
+            rx_stream->issue_stream_cmd(rx_cmd);
+            tx_md.start_of_burst = true;
+            tx_md.end_of_burst = false;
+            stop_time = usrp->get_time_now() + dwell_time;
+            while (not stop_signal_called and usrp->get_time_now() < stop_time)
+            {
+                try {
+                    tx_stream->send(rx_buffs, nsamps_per_buff, tx_md, timeout);
+                    tx_md.start_of_burst = false;
+                    rx_stream->recv(tx_buffs, nsamps_per_buff, rx_md, timeout);
+                } catch(...){}
+            }
+            rb = usrp->get_gpio_attr(gpio, "READBACK");
+            expected = GPIO_BIT(3);
+            if ((rb & expected) != expected)
+            {
+                ++failures;
+                std::cout << "fail:" << std::endl;
+                std::cout << "Bit 3 should be set, but is not" << std::endl;
+            } else {
+                std::cout << "pass:" << std::endl;
+            }
+            output_reg_values(gpio, usrp, num_bits);
+            rx_stream->issue_stream_cmd(uhd::stream_cmd_t::STREAM_MODE_STOP_CONTINUOUS);
+            tx_md.end_of_burst = true;
+            try {
+                tx_stream->send(tx_buffs, nsamps_per_buff, tx_md, timeout);
+            } catch(...){}
+            //clear out any data left in the rx stream
+            try {
+                rx_stream->recv(rx_buffs, nsamps_per_buff, rx_md, timeout);
+            } catch(...){}
+
+            std::cout << std::endl;
+            if (failures)
+                std::cout << failures << " tests failed" << std::endl;
+            else
+                std::cout << "All tests passed!" << std::endl;
+        }
+
+        if (!vm.count("repeat"))
+            break;
+
+        if (not stop_signal_called)
+            std::cout << (boost::format("\nLoop %d completed")  % ++loop) << std::endl;
+    }
+
+    //finished
+    std::cout << std::endl << "Done!" << std::endl << std::endl;
+
+    return EXIT_SUCCESS;
+}