usrp2: implementation of timed commands working

4 files changed, 49 insertions, 7 deletions

diff --git a/host/lib/usrp/multi_usrp.cpp b/host/lib/usrp/multi_usrp.cpp
index 42c654e6b..fd556c9f8 100644
--- a/host/lib/usrp/multi_usrp.cpp
+++ b/host/lib/usrp/multi_usrp.cpp
@@ -356,12 +356,24 @@ public:
         return true;
     }
 
-    void set_command_time(const time_spec_t &, size_t){
-        throw uhd::not_implemented_error("Not implemented yet, but we have a very good idea of how to do it.");
+    void set_command_time(const time_spec_t &time_spec, size_t mboard){
+        if (mboard != ALL_MBOARDS){
+            _tree->access<time_spec_t>(mb_root(mboard) / "time/cmd").set(time_spec);
+            return;
+        }
+        for (size_t m = 0; m < get_num_mboards(); m++){
+            set_command_time(time_spec, m);
+        }
     }
 
-    void clear_command_time(size_t){
-        throw uhd::not_implemented_error("Not implemented yet, but we have a very good idea of how to do it.");
+    void clear_command_time(size_t mboard){
+        if (mboard != ALL_MBOARDS){
+            _tree->access<time_spec_t>(mb_root(mboard) / "time/cmd").set(time_spec_t(0.0));
+            return;
+        }
+        for (size_t m = 0; m < get_num_mboards(); m++){
+            clear_command_time(m);
+        }
     }
 
     void issue_stream_cmd(const stream_cmd_t &stream_cmd, size_t chan){
diff --git a/host/lib/usrp/usrp2/usrp2_fifo_ctrl.cpp b/host/lib/usrp/usrp2/usrp2_fifo_ctrl.cpp
index e19e7d5e7..e761e3d91 100644
--- a/host/lib/usrp/usrp2/usrp2_fifo_ctrl.cpp
+++ b/host/lib/usrp/usrp2/usrp2_fifo_ctrl.cpp
@@ -28,7 +28,8 @@ using namespace uhd::transport;
 static const size_t POKE32_CMD = (1 << 8);
 static const size_t PEEK32_CMD = 0;
 static const double ACK_TIMEOUT = 0.5;
-static const boost::uint32_t MAX_SEQS_OUT = 16;
+static const double MASSIVE_TIMEOUT = 10.0; //for when we wait on a timed command
+static const boost::uint32_t MAX_SEQS_OUT = 64;
 
 class usrp2_fifo_ctrl_impl : public usrp2_fifo_ctrl{
 public:
@@ -38,6 +39,8 @@ public:
         _seq(0), _last_seq_ack(0)
     {
         while (_xport->get_recv_buff(0.0)){} //flush
+        this->set_time(uhd::time_spec_t(0.0));
+        this->set_tick_rate(1.0); //something possible but bogus
     }
 
     UHD_INLINE void send_pkt(wb_addr_type addr, boost::uint32_t data, int cmd){
@@ -55,12 +58,13 @@ public:
         packet_info.num_payload_words32 = 2;
         packet_info.num_payload_bytes = packet_info.num_payload_words32*sizeof(boost::uint32_t);
         packet_info.packet_count = _seq;
+        packet_info.tsf = _time.to_ticks(_tick_rate);
         packet_info.sob = false;
         packet_info.eob = false;
         packet_info.has_sid = false;
         packet_info.has_cid = false;
         packet_info.has_tsi = false;
-        packet_info.has_tsf = false;
+        packet_info.has_tsf = _use_time;
         packet_info.has_tlr = false;
 
         //load header
@@ -94,7 +98,7 @@ public:
     boost::uint32_t wait_for_ack(const boost::int16_t seq_to_ack){
 
         while (_last_seq_ack < seq_to_ack){
-            managed_recv_buffer::sptr buff = _xport->get_recv_buff(ACK_TIMEOUT);
+            managed_recv_buffer::sptr buff = _xport->get_recv_buff(_use_time? MASSIVE_TIMEOUT : ACK_TIMEOUT);
             if (not buff){
                 throw uhd::runtime_error("fifo ctrl timed out looking for acks");
             }
@@ -119,11 +123,25 @@ public:
         throw uhd::not_implemented_error("peek16 not implemented in fifo ctrl module");
     }
 
+    void set_time(const uhd::time_spec_t &time){
+        boost::mutex::scoped_lock lock(_mutex);
+        _time = time;
+        _use_time = _time != uhd::time_spec_t(0.0);
+    }
+
+    void set_tick_rate(const double rate){
+        boost::mutex::scoped_lock lock(_mutex);
+        _tick_rate = rate;
+    }
+
 private:
     zero_copy_if::sptr _xport;
     boost::mutex _mutex;
     boost::uint32_t _seq;
     boost::uint16_t _last_seq_ack;
+    uhd::time_spec_t _time;
+    bool _use_time;
+    double _tick_rate;
 };
 
 
diff --git a/host/lib/usrp/usrp2/usrp2_fifo_ctrl.hpp b/host/lib/usrp/usrp2/usrp2_fifo_ctrl.hpp
index 8cdfb11a2..0f52f523e 100644
--- a/host/lib/usrp/usrp2/usrp2_fifo_ctrl.hpp
+++ b/host/lib/usrp/usrp2/usrp2_fifo_ctrl.hpp
@@ -18,6 +18,7 @@
 #ifndef INCLUDED_USRP2_FIFO_CTRL_HPP
 #define INCLUDED_USRP2_FIFO_CTRL_HPP
 
+#include <uhd/types/time_spec.hpp>
 #include <uhd/transport/zero_copy.hpp>
 #include <boost/shared_ptr.hpp>
 #include <boost/utility.hpp>
@@ -34,6 +35,12 @@ public:
 
     //! Make a new FIFO control object
     static sptr make(uhd::transport::zero_copy_if::sptr xport);
+
+    //! Set the command time that will activate
+    virtual void set_time(const uhd::time_spec_t &time) = 0;
+
+    //! Set the tick rate (converting time into ticks)
+    virtual void set_tick_rate(const double rate) = 0;
 };
 
 #endif /* INCLUDED_USRP2_FIFO_CTRL_HPP */
diff --git a/host/lib/usrp/usrp2/usrp2_impl.cpp b/host/lib/usrp/usrp2/usrp2_impl.cpp
index 59cf65828..68ee8044c 100644
--- a/host/lib/usrp/usrp2/usrp2_impl.cpp
+++ b/host/lib/usrp/usrp2/usrp2_impl.cpp
@@ -579,6 +579,11 @@ usrp2_impl::usrp2_impl(const device_addr_t &_device_addr){
             .subscribe(boost::bind(&usrp2_impl::update_clock_source, this, mb, _1));
         static const std::vector<std::string> clock_sources = boost::assign::list_of("internal")("external")("mimo");
         _tree->create<std::vector<std::string> >(mb_path / "clock_source/options").set(clock_sources);
+        //plug timed commands into tree here
+        _tree->create<time_spec_t>(mb_path / "time/cmd")
+            .subscribe(boost::bind(&usrp2_fifo_ctrl::set_time, _mbc[mb].fifo_ctrl, _1));
+        _tree->access<double>(mb_path / "tick_rate")
+            .subscribe(boost::bind(&usrp2_fifo_ctrl::set_tick_rate, _mbc[mb].fifo_ctrl, _1));
 
         ////////////////////////////////////////////////////////////////////
         // create user-defined control objects