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authorBen Hilburn <ben.hilburn@ettus.com>2013-12-19 16:13:41 -0800
committerBen Hilburn <ben.hilburn@ettus.com>2013-12-19 16:13:41 -0800
commit6f26689e35fa17d1befc9124bf12e93aee774670 (patch)
treedfab3ccb0378117eb1766b30b593964ac8a6bd15 /host/lib/usrp/gps_ctrl.cpp
parent92b0b7ab6b8fcc795612054a07064351aa969e3a (diff)
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cleaning up gpsdo docs
Diffstat (limited to 'host/lib/usrp/gps_ctrl.cpp')
-rw-r--r--host/lib/usrp/gps_ctrl.cpp40
1 files changed, 19 insertions, 21 deletions
diff --git a/host/lib/usrp/gps_ctrl.cpp b/host/lib/usrp/gps_ctrl.cpp
index 105a52b30..98bc90a3f 100644
--- a/host/lib/usrp/gps_ctrl.cpp
+++ b/host/lib/usrp/gps_ctrl.cpp
@@ -38,7 +38,7 @@ using namespace boost::algorithm;
using namespace boost::this_thread;
/*!
- * A GPS control for Jackson Labs devices (and other NMEA compatible GPS's)
+ * A GPS control for NMEA compatible GPSes
*/
class gps_ctrl_impl : public gps_ctrl{
@@ -63,7 +63,7 @@ private:
}
std::string update_cached_sensors(const std::string sensor) {
- if(not gps_detected() || (gps_type != GPS_TYPE_JACKSON_LABS)) {
+ if(not gps_detected() || (gps_type != GPS_TYPE_ER_GPSDO)) {
UHD_MSG(error) << "get_stat(): unsupported GPS or no GPS detected";
return std::string();
}
@@ -105,19 +105,18 @@ public:
bool i_heard_some_nmea = false, i_heard_something_weird = false;
gps_type = GPS_TYPE_NONE;
- //first we look for a Jackson Labs Firefly (since that's what we provide...)
_flush(); //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
+ _send("HAAAY GUYYYYS\n"); //to elicit a response from the GPSDO
//wait for _send(...) to return
- sleep(milliseconds(FIREFLY_STUPID_DELAY_MS));
+ sleep(milliseconds(200));
//then we loop until we either timeout, or until we get a response that indicates we're a JL device
const boost::system_time comm_timeout = boost::get_system_time() + milliseconds(GPS_COMM_TIMEOUT_MS);
while(boost::get_system_time() < comm_timeout) {
reply = _recv();
if(reply.find("Command Error") != std::string::npos) {
- gps_type = GPS_TYPE_JACKSON_LABS;
+ gps_type = GPS_TYPE_ER_GPSDO;
break;
}
else if(reply.substr(0, 3) == "$GP") i_heard_some_nmea = true; //but keep looking for that "Command Error" response
@@ -125,16 +124,16 @@ public:
sleep(milliseconds(GPS_TIMEOUT_DELAY_MS));
}
- if((i_heard_some_nmea) && (gps_type != GPS_TYPE_JACKSON_LABS)) gps_type = GPS_TYPE_GENERIC_NMEA;
+ if((i_heard_some_nmea) && (gps_type != GPS_TYPE_ER_GPSDO)) gps_type = GPS_TYPE_GENERIC_NMEA;
if((gps_type == GPS_TYPE_NONE) && i_heard_something_weird) {
UHD_MSG(error) << "GPS invalid reply \"" << reply << "\", assuming none available" << std::endl;
}
switch(gps_type) {
- case GPS_TYPE_JACKSON_LABS:
- UHD_MSG(status) << "Found a Jackson Labs GPS" << std::endl;
- init_firefly();
+ case GPS_TYPE_ER_GPSDO:
+ UHD_MSG(status) << "Found an Ettus Research NMEA-capable GPSDO" << std::endl;
+ init_gpsdo();
break;
case GPS_TYPE_GENERIC_NMEA:
@@ -186,23 +185,23 @@ public:
}
private:
- void init_firefly(void) {
+ void init_gpsdo(void) {
//issue some setup stuff so it spits out the appropriate data
//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.
- sleep(milliseconds(FIREFLY_STUPID_DELAY_MS));
+ sleep(milliseconds(200));
_send("SYST:COMM:SER:ECHO OFF\n");
- sleep(milliseconds(FIREFLY_STUPID_DELAY_MS));
+ sleep(milliseconds(200));
_send("SYST:COMM:SER:PRO OFF\n");
- sleep(milliseconds(FIREFLY_STUPID_DELAY_MS));
+ sleep(milliseconds(200));
_send("GPS:GPGGA 1\n");
- sleep(milliseconds(FIREFLY_STUPID_DELAY_MS));
+ sleep(milliseconds(200));
_send("GPS:GGAST 0\n");
- sleep(milliseconds(FIREFLY_STUPID_DELAY_MS));
+ sleep(milliseconds(200));
_send("GPS:GPRMC 1\n");
- sleep(milliseconds(FIREFLY_STUPID_DELAY_MS));
+ sleep(milliseconds(200));
_send("SERV:TRAC 0\n");
- sleep(milliseconds(FIREFLY_STUPID_DELAY_MS));
+ sleep(milliseconds(200));
}
//retrieve a raw NMEA sentence
@@ -305,7 +304,7 @@ private:
//enable servo reporting
_send("SERV:TRAC 1\n");
- sleep(milliseconds(FIREFLY_STUPID_DELAY_MS));
+ sleep(milliseconds(200));
std::string reply;
@@ -340,7 +339,7 @@ private:
}
enum {
- GPS_TYPE_JACKSON_LABS,
+ GPS_TYPE_ER_GPSDO,
GPS_TYPE_GENERIC_NMEA,
GPS_TYPE_NONE
} gps_type;
@@ -352,7 +351,6 @@ private:
static const int GPS_SERVO_FRESHNESS = 2500;
static const int GPS_LOCK_FRESHNESS = 2500;
static const int GPS_TIMEOUT_DELAY_MS = 200;
- static const int FIREFLY_STUPID_DELAY_MS = 200;
};
/***********************************************************************