Support for NMEA reads. Uses NMEA parsing instead of Jackson Labs parsing.

No multibaud support yet. read/write_uart() now do multiple-packet writes in multiples of 20 bytes (hardcoded).

4 files changed, 62 insertions, 38 deletions

diff --git a/host/lib/usrp/usrp2/gps_ctrl.cpp b/host/lib/usrp/usrp2/gps_ctrl.cpp
index 7152800aa..20d670f81 100644
--- a/host/lib/usrp/usrp2/gps_ctrl.cpp
+++ b/host/lib/usrp/usrp2/gps_ctrl.cpp
@@ -20,10 +20,14 @@
 #include <boost/cstdint.hpp>
 #include <string>
 #include <boost/date_time/posix_time/posix_time.hpp>
+#include <boost/thread.hpp>
+#include <boost/algorithm/string/trim.hpp>
+#include <boost/tokenizer.hpp>
 
 using namespace uhd;
 using namespace boost::gregorian;
 using namespace boost::posix_time;
+using namespace boost::algorithm;
 
 /*!
  * A usrp2 GPS control for Jackson Labs devices
@@ -42,9 +46,10 @@ public:
 
     //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->read_uart(GPS_UART); //flush it out
     _iface->write_uart(GPS_UART, "HAAAY GUYYYYS\n");
     try {
-      reply = _iface->read_uart(GPS_UART, 20);
+      reply = _iface->read_uart(GPS_UART);
 	//std::cerr << "Got reply from GPS: " << reply.c_str() << " with length = " << reply.length() << std::endl;
     } catch (std::runtime_error err) {
       if(err.what() != std::string("usrp2 no control response")) throw; //sorry can't cope with that
@@ -53,7 +58,7 @@ public:
       }
     }
 
-    if(reply == "Command Error") gps_type = GPS_TYPE_JACKSON_LABS;
+    if(trim_right_copy(reply) == "Command Error") gps_type = GPS_TYPE_JACKSON_LABS;
     else gps_type = GPS_TYPE_NONE; //we'll add NMEA support later
 
     switch(gps_type) {
@@ -61,12 +66,18 @@ public:
       std::cerr << "Found a Jackson Labs GPS" << std::endl;
       //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");
+      //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(200));
+      _iface->write_uart(GPS_UART, "SYST:COMM:SER:ECHO OFF\n");
+       boost::this_thread::sleep(boost::posix_time::milliseconds(200));
+      _iface->write_uart(GPS_UART, "SYST:COMM:SER:PRO OFF\n");
+       boost::this_thread::sleep(boost::posix_time::milliseconds(200));
       _iface->write_uart(GPS_UART, "GPS:GPGGA 0\n");
+       boost::this_thread::sleep(boost::posix_time::milliseconds(200));
       _iface->write_uart(GPS_UART, "GPS:GGAST 0\n");
+       boost::this_thread::sleep(boost::posix_time::milliseconds(200));
+      _iface->write_uart(GPS_UART, "GPS:GPRMC 1\n");
+       boost::this_thread::sleep(boost::posix_time::milliseconds(200));
       break;
 
     case GPS_TYPE_GENERIC_NMEA:
@@ -84,13 +95,27 @@ public:
   ptime get_time(void) {
     std::string reply;
     ptime now;
+    boost::tokenizer<boost::escaped_list_separator<char> > tok(reply);
+    std::vector<std::string> toked;
     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_JACKSON_LABS: //deprecated in favor of a single NMEA parser
     case GPS_TYPE_GENERIC_NMEA:
+      while(reply.length() == 0) reply = _iface->read_uart(GPS_UART); //loop until we hear something
+      tok.assign(reply);
+      toked.assign(tok.begin(), tok.end());
+
+      UHD_ASSERT_THROW(toked.size() == 11); //if it's not we got something weird in there
+
+      now = ptime( date( 
+                         greg_year(boost::lexical_cast<int>(toked[8].substr(4, 2)) + 2000), //just trust me on this one
+                         greg_month(boost::lexical_cast<int>(toked[8].substr(2, 2))), 
+                         greg_day(boost::lexical_cast<int>(toked[8].substr(0, 2))) 
+                       ),
+                   hours(  boost::lexical_cast<int>(toked[1].substr(0, 2)))
+                 + minutes(boost::lexical_cast<int>(toked[1].substr(2, 2)))
+                 + seconds(boost::lexical_cast<int>(toked[1].substr(4, 2)))
+                 );
+      break;
     case GPS_TYPE_NONE:
     default:
       throw std::runtime_error("get_time(): Unsupported GPS or no GPS detected\n");
@@ -99,24 +124,6 @@ public:
     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);
   }
diff --git a/host/lib/usrp/usrp2/mboard_impl.cpp b/host/lib/usrp/usrp2/mboard_impl.cpp
index ed6398405..6c4234641 100644
--- a/host/lib/usrp/usrp2/mboard_impl.cpp
+++ b/host/lib/usrp/usrp2/mboard_impl.cpp
@@ -26,9 +26,11 @@
 #include <boost/bind.hpp>
 #include <boost/asio/ip/address_v4.hpp>
 #include <iostream>
+#include <boost/date_time/posix_time/posix_time.hpp>
 
 using namespace uhd;
 using namespace uhd::usrp;
+using namespace boost::posix_time;
 
 /***********************************************************************
  * Structors
@@ -57,6 +59,8 @@ usrp2_mboard_impl::usrp2_mboard_impl(
     _serdes_ctrl = usrp2_serdes_ctrl::make(_iface);
     _gps_ctrl = usrp2_gps_ctrl::make(_iface);
 
+    if(_gps_ctrl->gps_detected()) std::cout << "GPS time: " << _gps_ctrl->get_time() << std::endl;
+
     //TODO move to dsp impl...
     //load the allowed decim/interp rates
     //_USRP2_RATES = range(4, 128+1, 1) + range(130, 256+1, 2) + range(260, 512+1, 4)
diff --git a/host/lib/usrp/usrp2/usrp2_iface.cpp b/host/lib/usrp/usrp2/usrp2_iface.cpp
index f4d354204..0771c4945 100644
--- a/host/lib/usrp/usrp2/usrp2_iface.cpp
+++ b/host/lib/usrp/usrp2/usrp2_iface.cpp
@@ -24,6 +24,7 @@
 #include <boost/asio.hpp> //used for htonl and ntohl
 #include <boost/assign/list_of.hpp>
 #include <boost/format.hpp>
+#include <boost/tokenizer.hpp>
 #include <stdexcept>
 #include <algorithm>
 
@@ -176,40 +177,52 @@ public:
  * UART
  **********************************************************************/
     void write_uart(boost::uint8_t dev, const std::string &buf){
+      //first tokenize the string into 20-byte substrings
+      boost::offset_separator f(20, 1, true, true);
+      boost::tokenizer<boost::offset_separator> tok(buf, f);
+      std::vector<std::string> queue(tok.begin(), tok.end());
+
+      BOOST_FOREACH(std::string item, queue) {
         //setup the out data
         usrp2_ctrl_data_t out_data;
         out_data.id = htonl(USRP2_CTRL_ID_HEY_WRITE_THIS_UART_FOR_ME_BRO);
         out_data.data.uart_args.dev = dev;
-        out_data.data.uart_args.bytes = buf.size();
+        out_data.data.uart_args.bytes = item.size();
 
         //limitation of uart transaction size
-        UHD_ASSERT_THROW(buf.size() <= sizeof(out_data.data.uart_args.data));
+        UHD_ASSERT_THROW(item.size() <= sizeof(out_data.data.uart_args.data));
 
         //copy in the data
-        std::copy(buf.begin(), buf.end(), out_data.data.uart_args.data);
+        std::copy(item.begin(), item.end(), out_data.data.uart_args.data);
 
         //send and recv
         usrp2_ctrl_data_t in_data = this->ctrl_send_and_recv(out_data);
         UHD_ASSERT_THROW(ntohl(in_data.id) == USRP2_CTRL_ID_MAN_I_TOTALLY_WROTE_THAT_UART_DUDE);
+      }
     }
 
-    std::string read_uart(boost::uint8_t dev, size_t num_bytes){
+    std::string read_uart(boost::uint8_t dev){
+    	int readlen = 20;
+      std::string result;
+    	while(readlen == 20) { //while we keep receiving full packets
         //setup the out data
         usrp2_ctrl_data_t out_data;
         out_data.id = htonl(USRP2_CTRL_ID_SO_LIKE_CAN_YOU_READ_THIS_UART_BRO);
         out_data.data.uart_args.dev = dev;
-        out_data.data.uart_args.bytes = num_bytes;
+        out_data.data.uart_args.bytes = 20;
 
         //limitation of uart transaction size
-        UHD_ASSERT_THROW(num_bytes <= sizeof(out_data.data.uart_args.data));
+        //UHD_ASSERT_THROW(num_bytes <= sizeof(out_data.data.uart_args.data));
 
         //send and recv
         usrp2_ctrl_data_t in_data = this->ctrl_send_and_recv(out_data);
         UHD_ASSERT_THROW(ntohl(in_data.id) == USRP2_CTRL_ID_I_HELLA_READ_THAT_UART_DUDE);
+        readlen = in_data.data.uart_args.bytes;
 
         //copy out the data
-        std::string result((const char *)in_data.data.uart_args.data, (size_t)in_data.data.uart_args.bytes);
-        return result;
+        result += std::string((const char *)in_data.data.uart_args.data, (size_t)readlen);
+      }
+      return result;
     }
 
 /***********************************************************************
diff --git a/host/lib/usrp/usrp2/usrp2_iface.hpp b/host/lib/usrp/usrp2/usrp2_iface.hpp
index cb247f074..55fbfa7e4 100644
--- a/host/lib/usrp/usrp2/usrp2_iface.hpp
+++ b/host/lib/usrp/usrp2/usrp2_iface.hpp
@@ -106,7 +106,7 @@ public:
 
     virtual void write_uart(boost::uint8_t dev, const std::string &buf) = 0;
 
-    virtual std::string read_uart(boost::uint8_t dev, size_t num_bytes) = 0;
+    virtual std::string read_uart(boost::uint8_t dev) = 0;
 
     /*!
      * Set the hardware revision number. Also selects the proper register set for the device.