B200: Adding separate B200 radio control code

6 files changed, 422 insertions, 10 deletions

diff --git a/host/lib/usrp/b200/CMakeLists.txt b/host/lib/usrp/b200/CMakeLists.txt
index 4b9e2de55..d953acb19 100644
--- a/host/lib/usrp/b200/CMakeLists.txt
+++ b/host/lib/usrp/b200/CMakeLists.txt
@@ -30,5 +30,6 @@ IF(ENABLE_B200)
         ${CMAKE_CURRENT_SOURCE_DIR}/b200_io_impl.cpp
         ${CMAKE_CURRENT_SOURCE_DIR}/b200_uart.cpp
         ${CMAKE_CURRENT_SOURCE_DIR}/b200_cores.cpp
+        ${CMAKE_CURRENT_SOURCE_DIR}/b200_radio_ctrl_core.cpp
     )
 ENDIF(ENABLE_B200)
diff --git a/host/lib/usrp/b200/b200_impl.cpp b/host/lib/usrp/b200/b200_impl.cpp
index b9905c0fc..ac113804c 100644
--- a/host/lib/usrp/b200/b200_impl.cpp
+++ b/host/lib/usrp/b200/b200_impl.cpp
@@ -466,7 +466,7 @@ b200_impl::b200_impl(const uhd::device_addr_t& device_addr, usb_device_handle::s
     ////////////////////////////////////////////////////////////////////
     // Local control endpoint
     ////////////////////////////////////////////////////////////////////
-    _local_ctrl = radio_ctrl_core_3000::make(false/*lilE*/, _ctrl_transport, zero_copy_if::sptr()/*null*/, B200_LOCAL_CTRL_SID);
+    _local_ctrl = b200_radio_ctrl_core::make(false/*lilE*/, _ctrl_transport, zero_copy_if::sptr()/*null*/, B200_LOCAL_CTRL_SID);
     _local_ctrl->hold_task(_async_task);
     _async_task_data->local_ctrl = _local_ctrl; //weak
     this->check_fpga_compat();
@@ -752,7 +752,7 @@ void b200_impl::setup_radio(const size_t dspno)
     ////////////////////////////////////////////////////////////////////
     // radio control
     ////////////////////////////////////////////////////////////////////
-    perif.ctrl = radio_ctrl_core_3000::make(
+    perif.ctrl = b200_radio_ctrl_core::make(
             false/*lilE*/,
             _ctrl_transport,
             zero_copy_if::sptr()/*null*/,
@@ -760,9 +760,9 @@ void b200_impl::setup_radio(const size_t dspno)
     perif.ctrl->hold_task(_async_task);
     _async_task_data->radio_ctrl[dspno] = perif.ctrl; //weak
     _tree->access<time_spec_t>(mb_path / "time" / "cmd")
-        .add_coerced_subscriber(boost::bind(&radio_ctrl_core_3000::set_time, perif.ctrl, _1));
+        .add_coerced_subscriber(boost::bind(&b200_radio_ctrl_core::set_time, perif.ctrl, _1));
     _tree->access<double>(mb_path / "tick_rate")
-        .add_coerced_subscriber(boost::bind(&radio_ctrl_core_3000::set_tick_rate, perif.ctrl, _1));
+        .add_coerced_subscriber(boost::bind(&b200_radio_ctrl_core::set_tick_rate, perif.ctrl, _1));
     this->register_loopback_self_test(perif.ctrl);
 
     ////////////////////////////////////////////////////////////////////
diff --git a/host/lib/usrp/b200/b200_impl.hpp b/host/lib/usrp/b200/b200_impl.hpp
index 130e93891..3ca76fce6 100644
--- a/host/lib/usrp/b200/b200_impl.hpp
+++ b/host/lib/usrp/b200/b200_impl.hpp
@@ -28,7 +28,7 @@
 #include "tx_vita_core_3000.hpp"
 #include "time_core_3000.hpp"
 #include "gpio_atr_3000.hpp"
-#include "radio_ctrl_core_3000.hpp"
+#include "b200_radio_ctrl_core.hpp"
 #include "rx_dsp_core_3000.hpp"
 #include "tx_dsp_core_3000.hpp"
 #include <uhd/device.hpp>
@@ -131,7 +131,7 @@ private:
 
     //controllers
     b200_iface::sptr _iface;
-    radio_ctrl_core_3000::sptr _local_ctrl;
+    b200_radio_ctrl_core::sptr _local_ctrl;
     uhd::usrp::ad9361_ctrl::sptr _codec_ctrl;
     uhd::usrp::ad936x_manager::sptr _codec_mgr;
     b200_local_spi_core::sptr _spi_iface;
@@ -154,8 +154,8 @@ private:
     struct AsyncTaskData
     {
         boost::shared_ptr<async_md_type> async_md;
-        boost::weak_ptr<radio_ctrl_core_3000> local_ctrl;
-        boost::weak_ptr<radio_ctrl_core_3000> radio_ctrl[2];
+        boost::weak_ptr<b200_radio_ctrl_core> local_ctrl;
+        boost::weak_ptr<b200_radio_ctrl_core> radio_ctrl[2];
         b200_uart::sptr gpsdo_uart;
     };
     boost::shared_ptr<AsyncTaskData> _async_task_data;
@@ -179,7 +179,7 @@ private:
     //perifs in the radio core
     struct radio_perifs_t
     {
-        radio_ctrl_core_3000::sptr ctrl;
+        b200_radio_ctrl_core::sptr ctrl;
         uhd::usrp::gpio_atr::gpio_atr_3000::sptr atr;
         uhd::usrp::gpio_atr::gpio_atr_3000::sptr fp_gpio;
         time_core_3000::sptr time64;
diff --git a/host/lib/usrp/b200/b200_io_impl.cpp b/host/lib/usrp/b200/b200_io_impl.cpp
index 283091140..d186ec907 100644
--- a/host/lib/usrp/b200/b200_io_impl.cpp
+++ b/host/lib/usrp/b200/b200_io_impl.cpp
@@ -318,7 +318,7 @@ boost::optional<uhd::msg_task::msg_type_t> b200_impl::handle_async_task(
     case B200_RESP1_MSG_SID:
     case B200_LOCAL_RESP_SID:
     {
-    	radio_ctrl_core_3000::sptr ctrl;
+    	b200_radio_ctrl_core::sptr ctrl;
         if (sid == B200_RESP0_MSG_SID) ctrl = data->radio_ctrl[0].lock();
         if (sid == B200_RESP1_MSG_SID) ctrl = data->radio_ctrl[1].lock();
         if (sid == B200_LOCAL_RESP_SID) ctrl = data->local_ctrl.lock();
diff --git a/host/lib/usrp/b200/b200_radio_ctrl_core.cpp b/host/lib/usrp/b200/b200_radio_ctrl_core.cpp
new file mode 100644
index 000000000..b6d8f95df
--- /dev/null
+++ b/host/lib/usrp/b200/b200_radio_ctrl_core.cpp
@@ -0,0 +1,347 @@
+//
+// Copyright 2012-2015 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/>.
+//
+
+#include "b200_radio_ctrl_core.hpp"
+#include "async_packet_handler.hpp"
+#include <uhd/exception.hpp>
+#include <uhd/utils/msg.hpp>
+#include <uhd/utils/byteswap.hpp>
+#include <uhd/utils/safe_call.hpp>
+#include <uhd/transport/bounded_buffer.hpp>
+#include <uhd/transport/vrt_if_packet.hpp>
+#include <boost/thread/mutex.hpp>
+#include <boost/thread/thread.hpp>
+#include <boost/format.hpp>
+#include <boost/bind.hpp>
+#include <queue>
+
+using namespace uhd;
+using namespace uhd::usrp;
+using namespace uhd::transport;
+
+static const double ACK_TIMEOUT = 2.0; //supposed to be worst case practical timeout
+static const double MASSIVE_TIMEOUT = 10.0; //for when we wait on a timed command
+static const size_t SR_READBACK = 32;
+
+b200_radio_ctrl_core::~b200_radio_ctrl_core(void){
+    /* NOP */
+}
+
+class b200_radio_ctrl_core_impl: public b200_radio_ctrl_core
+{
+public:
+
+    b200_radio_ctrl_core_impl(const bool big_endian,
+            uhd::transport::zero_copy_if::sptr ctrl_xport,
+            uhd::transport::zero_copy_if::sptr resp_xport,
+            const boost::uint32_t sid, const std::string &name) :
+            _link_type(vrt::if_packet_info_t::LINK_TYPE_CHDR), _packet_type(
+                    vrt::if_packet_info_t::PACKET_TYPE_CONTEXT), _bige(
+                    big_endian), _ctrl_xport(ctrl_xport), _resp_xport(
+                    resp_xport), _sid(sid), _name(name), _seq_out(0), _timeout(
+                    ACK_TIMEOUT), _resp_queue(128/*max response msgs*/), _resp_queue_size(
+                    _resp_xport ? _resp_xport->get_num_recv_frames() : 15)
+    {
+        if (resp_xport)
+        {
+            while (resp_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
+    }
+
+    ~b200_radio_ctrl_core_impl(void)
+    {
+        _timeout = ACK_TIMEOUT; //reset timeout to something small
+        UHD_SAFE_CALL(
+            this->peek32(0);//dummy peek with the purpose of ack'ing all packets
+            _async_task.reset();//now its ok to release the task
+        )
+    }
+
+    /*******************************************************************
+     * Peek and poke 32 bit implementation
+     ******************************************************************/
+    void poke32(const wb_addr_type addr, const boost::uint32_t data)
+    {
+        boost::mutex::scoped_lock lock(_mutex);
+        this->send_pkt(addr/4, data);
+        this->wait_for_ack(false);
+    }
+
+    boost::uint32_t peek32(const wb_addr_type addr)
+    {
+        boost::mutex::scoped_lock lock(_mutex);
+        this->send_pkt(SR_READBACK, addr/8);
+        const boost::uint64_t res = this->wait_for_ack(true);
+        const boost::uint32_t lo = boost::uint32_t(res & 0xffffffff);
+        const boost::uint32_t hi = boost::uint32_t(res >> 32);
+        return ((addr/4) & 0x1)? hi : lo;
+    }
+
+    boost::uint64_t peek64(const wb_addr_type addr)
+    {
+        boost::mutex::scoped_lock lock(_mutex);
+        this->send_pkt(SR_READBACK, addr/8);
+        return this->wait_for_ack(true);
+    }
+
+    /*******************************************************************
+     * Update methods for time
+     ******************************************************************/
+    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);
+        if (_use_time) _timeout = MASSIVE_TIMEOUT; //permanently sets larger timeout
+    }
+
+    uhd::time_spec_t get_time(void)
+    {
+        boost::mutex::scoped_lock lock(_mutex);
+        return _time;
+    }
+
+    void set_tick_rate(const double rate)
+    {
+        boost::mutex::scoped_lock lock(_mutex);
+        _tick_rate = rate;
+    }
+
+private:
+    // This is the buffer type for messages in radio control core.
+    struct resp_buff_type
+    {
+        boost::uint32_t data[8];
+    };
+
+    /*******************************************************************
+     * Primary control and interaction private methods
+     ******************************************************************/
+    UHD_INLINE void send_pkt(const boost::uint32_t addr, const boost::uint32_t data = 0)
+    {
+        managed_send_buffer::sptr buff = _ctrl_xport->get_send_buff(0.0);
+        if (not buff) {
+            throw uhd::runtime_error("fifo ctrl timed out getting a send buffer");
+        }
+        boost::uint32_t *pkt = buff->cast<boost::uint32_t *>();
+
+        //load packet info
+        vrt::if_packet_info_t packet_info;
+        packet_info.link_type = _link_type;
+        packet_info.packet_type = _packet_type;
+        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_out;
+        packet_info.tsf = _time.to_ticks(_tick_rate);
+        packet_info.sob = false;
+        packet_info.eob = false;
+        packet_info.sid = _sid;
+        packet_info.has_sid = true;
+        packet_info.has_cid = false;
+        packet_info.has_tsi = false;
+        packet_info.has_tsf = _use_time;
+        packet_info.has_tlr = false;
+
+        //load header
+        if (_bige) vrt::if_hdr_pack_be(pkt, packet_info);
+        else vrt::if_hdr_pack_le(pkt, packet_info);
+
+        //load payload
+        pkt[packet_info.num_header_words32+0] = (_bige)? uhd::htonx(addr) : uhd::htowx(addr);
+        pkt[packet_info.num_header_words32+1] = (_bige)? uhd::htonx(data) : uhd::htowx(data);
+        //UHD_MSG(status) << boost::format("0x%08x, 0x%08x\n") % addr % data;
+        //send the buffer over the interface
+        _outstanding_seqs.push(_seq_out);
+        buff->commit(sizeof(boost::uint32_t)*(packet_info.num_packet_words32));
+
+        _seq_out++;//inc seq for next call
+    }
+
+    UHD_INLINE boost::uint64_t wait_for_ack(const bool readback)
+    {
+        while (readback or (_outstanding_seqs.size() >= _resp_queue_size))
+        {
+            //get seq to ack from outstanding packets list
+            UHD_ASSERT_THROW(not _outstanding_seqs.empty());
+            const size_t seq_to_ack = _outstanding_seqs.front();
+            _outstanding_seqs.pop();
+
+            //parse the packet
+            vrt::if_packet_info_t packet_info;
+            resp_buff_type resp_buff;
+            memset(&resp_buff, 0x00, sizeof(resp_buff));
+            boost::uint32_t const *pkt = NULL;
+            managed_recv_buffer::sptr buff;
+
+            //get buffer from response endpoint - or die in timeout
+            if (_resp_xport)
+            {
+                buff = _resp_xport->get_recv_buff(_timeout);
+                try
+                {
+                    UHD_ASSERT_THROW(bool(buff));
+                    UHD_ASSERT_THROW(buff->size() > 0);
+                }
+                catch(const std::exception &ex)
+                {
+                    throw uhd::io_error(str(boost::format("Radio ctrl (%s) no response packet - %s") % _name % ex.what()));
+                }
+                pkt = buff->cast<const boost::uint32_t *>();
+                packet_info.num_packet_words32 = buff->size()/sizeof(boost::uint32_t);
+            }
+
+            //get buffer from response endpoint - or die in timeout
+            else
+            {
+                /*
+                 * Couldn't get message with haste.
+                 * Now check both possible queues for messages.
+                 * Messages should come in on _resp_queue,
+                 * but could end up in dump_queue.
+                 * If we don't get a message --> Die in timeout.
+                 */
+                double accum_timeout = 0.0;
+                const double short_timeout = 0.005; // == 5ms
+                while(not ((_resp_queue.pop_with_haste(resp_buff))
+                        || (check_dump_queue(resp_buff))
+                        || (_resp_queue.pop_with_timed_wait(resp_buff, short_timeout))
+                        )){
+                    /*
+                     * If a message couldn't be received within a given timeout
+                     * --> throw AssertionError!
+                     */
+                    accum_timeout += short_timeout;
+                    UHD_ASSERT_THROW(accum_timeout < _timeout);
+                }
+
+                pkt = resp_buff.data;
+                packet_info.num_packet_words32 = sizeof(resp_buff)/sizeof(boost::uint32_t);
+            }
+
+            //parse the buffer
+            try
+            {
+                packet_info.link_type = _link_type;
+                if (_bige) vrt::if_hdr_unpack_be(pkt, packet_info);
+                else vrt::if_hdr_unpack_le(pkt, packet_info);
+            }
+            catch(const std::exception &ex)
+            {
+                UHD_MSG(error) << "Radio ctrl bad VITA packet: " << ex.what() << std::endl;
+                if (buff){
+                    UHD_VAR(buff->size());
+                }
+                else{
+                    UHD_MSG(status) << "buff is NULL" << std::endl;
+                }
+                UHD_MSG(status) << std::hex << pkt[0] << std::dec << std::endl;
+                UHD_MSG(status) << std::hex << pkt[1] << std::dec << std::endl;
+                UHD_MSG(status) << std::hex << pkt[2] << std::dec << std::endl;
+                UHD_MSG(status) << std::hex << pkt[3] << std::dec << std::endl;
+            }
+
+            //check the buffer
+            try
+            {
+                UHD_ASSERT_THROW(packet_info.has_sid);
+                UHD_ASSERT_THROW(packet_info.sid == boost::uint32_t((_sid >> 16) | (_sid << 16)));
+                UHD_ASSERT_THROW(packet_info.packet_count == (seq_to_ack & 0xfff));
+                UHD_ASSERT_THROW(packet_info.num_payload_words32 == 2);
+                UHD_ASSERT_THROW(packet_info.packet_type == _packet_type);
+            }
+            catch(const std::exception &ex)
+            {
+                throw uhd::io_error(str(boost::format("Radio ctrl (%s) packet parse error - %s") % _name % ex.what()));
+            }
+
+            //return the readback value
+            if (readback and _outstanding_seqs.empty())
+            {
+                const boost::uint64_t hi = (_bige)? uhd::ntohx(pkt[packet_info.num_header_words32+0]) : uhd::wtohx(pkt[packet_info.num_header_words32+0]);
+                const boost::uint64_t lo = (_bige)? uhd::ntohx(pkt[packet_info.num_header_words32+1]) : uhd::wtohx(pkt[packet_info.num_header_words32+1]);
+                return ((hi << 32) | lo);
+            }
+        }
+
+        return 0;
+    }
+
+    /*
+     * If ctrl_core waits for a message that didn't arrive it can search for it in the dump queue.
+     * This actually happens during shutdown.
+     * handle_async_task can't access radio_ctrl_cores queue anymore thus it returns the corresponding message.
+     * msg_task class implements a dump_queue to store such messages.
+     * With check_dump_queue we can check if a message we are waiting for got stranded there.
+     * If a message got stuck we get it here and push it onto our own message_queue.
+     */
+    bool check_dump_queue(resp_buff_type& b) {
+        const size_t min_buff_size = 8; // Same value as in b200_io_impl->handle_async_task
+        boost::uint32_t recv_sid = (((_sid)<<16)|((_sid)>>16));
+        uhd::msg_task::msg_payload_t msg;
+        do{
+            msg = _async_task->get_msg_from_dump_queue(recv_sid);
+        }
+        while(msg.size() < min_buff_size && msg.size() != 0);
+
+        if(msg.size() >= min_buff_size) {
+            memcpy(b.data, &msg.front(), std::min(msg.size(), sizeof(b.data)));
+            return true;
+        }
+        return false;
+    }
+
+    void push_response(const boost::uint32_t *buff)
+    {
+        resp_buff_type resp_buff;
+        std::memcpy(resp_buff.data, buff, sizeof(resp_buff));
+        _resp_queue.push_with_haste(resp_buff);
+    }
+
+    void hold_task(uhd::msg_task::sptr task)
+    {
+        _async_task = task;
+    }
+
+    const vrt::if_packet_info_t::link_type_t _link_type;
+    const vrt::if_packet_info_t::packet_type_t _packet_type;
+    const bool _bige;
+    const uhd::transport::zero_copy_if::sptr _ctrl_xport;
+    const uhd::transport::zero_copy_if::sptr _resp_xport;
+    uhd::msg_task::sptr _async_task;
+    const boost::uint32_t _sid;
+    const std::string _name;
+    boost::mutex _mutex;
+    size_t _seq_out;
+    uhd::time_spec_t _time;
+    bool _use_time;
+    double _tick_rate;
+    double _timeout;
+    std::queue<size_t> _outstanding_seqs;
+    bounded_buffer<resp_buff_type> _resp_queue;
+    const size_t _resp_queue_size;
+};
+
+b200_radio_ctrl_core::sptr b200_radio_ctrl_core::make(const bool big_endian,
+        zero_copy_if::sptr ctrl_xport, zero_copy_if::sptr resp_xport,
+        const boost::uint32_t sid, const std::string &name)
+{
+    return sptr(
+            new b200_radio_ctrl_core_impl(big_endian, ctrl_xport, resp_xport,
+                    sid, name));
+}
diff --git a/host/lib/usrp/b200/b200_radio_ctrl_core.hpp b/host/lib/usrp/b200/b200_radio_ctrl_core.hpp
new file mode 100644
index 000000000..51f7e3301
--- /dev/null
+++ b/host/lib/usrp/b200/b200_radio_ctrl_core.hpp
@@ -0,0 +1,64 @@
+//
+// Copyright 2012-2015 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/>.
+//
+
+#ifndef INCLUDED_LIBUHD_USRP_B200_RADIO_CTRL_HPP
+#define INCLUDED_LIBUHD_USRP_B200_RADIO_CTRL_HPP
+
+#include <uhd/utils/msg_task.hpp>
+#include <uhd/types/time_spec.hpp>
+#include <uhd/transport/zero_copy.hpp>
+#include <uhd/types/wb_iface.hpp>
+#include <boost/shared_ptr.hpp>
+#include <boost/utility.hpp>
+#include <string>
+
+/*!
+ * Provide access to peek, poke for the radio ctrl module
+ */
+class b200_radio_ctrl_core : public uhd::timed_wb_iface
+{
+public:
+    typedef boost::shared_ptr<b200_radio_ctrl_core> sptr;
+
+    virtual ~b200_radio_ctrl_core(void) = 0;
+
+    //! Make a new control object
+    static sptr make(
+        const bool big_endian,
+        uhd::transport::zero_copy_if::sptr ctrl_xport,
+        uhd::transport::zero_copy_if::sptr resp_xport,
+        const boost::uint32_t sid,
+        const std::string &name = "0"
+    );
+
+    //! Hold a ref to a task thats feeding push response
+    virtual void hold_task(uhd::msg_task::sptr task) = 0;
+
+    //! Push a response externall (resp_xport is NULL)
+    virtual void push_response(const boost::uint32_t *buff) = 0;
+
+    //! Set the command time that will activate
+    virtual void set_time(const uhd::time_spec_t &time) = 0;
+
+    //! Get the command time that will activate
+    virtual uhd::time_spec_t get_time(void) = 0;
+
+    //! Set the tick rate (converting time into ticks)
+    virtual void set_tick_rate(const double rate) = 0;
+};
+
+#endif /* INCLUDED_LIBUHD_USRP_B200_RADIO_CTRL_HPP */