usrp2: uart/udp work in host and fw, working

10 files changed, 96 insertions, 104 deletions

diff --git a/host/include/uhd/transport/udp_simple.hpp b/host/include/uhd/transport/udp_simple.hpp
index 83f895ba9..83d1072ee 100644
--- a/host/include/uhd/transport/udp_simple.hpp
+++ b/host/include/uhd/transport/udp_simple.hpp
@@ -19,6 +19,7 @@
 #define INCLUDED_UHD_TRANSPORT_UDP_SIMPLE_HPP
 
 #include <uhd/config.hpp>
+#include <uhd/types/serial.hpp>
 #include <boost/asio/buffer.hpp>
 #include <boost/utility.hpp>
 #include <boost/shared_ptr.hpp>
@@ -62,6 +63,13 @@ public:
     static sptr make_broadcast(const std::string &addr, const std::string &port);
 
     /*!
+     * Make a UART interface from a UDP transport.
+     * \param udp the UDP transport object
+     * \return a new UART interface
+     */
+    static uart_iface::sptr make_uart(sptr udp);
+
+    /*!
      * Send a single buffer.
      * Blocks until the data is sent.
      * \param buff single asio buffer
diff --git a/host/include/uhd/types/serial.hpp b/host/include/uhd/types/serial.hpp
index 8a5ed1c32..f66822775 100644
--- a/host/include/uhd/types/serial.hpp
+++ b/host/include/uhd/types/serial.hpp
@@ -184,17 +184,17 @@ namespace uhd{
 
         /*!
          * Write to a serial port.
-         * \param dev which UART to write to
          * \param buf the data to write
          */
-        virtual void write_uart(boost::uint8_t dev, const std::string &buf) = 0;
+        virtual void write_uart(const std::string &buf) = 0;
 
         /*!
          * Read from a serial port.
-         * \param dev which UART to read from
+         * Reads until complete line or timeout.
+         * \param timeout the timeout in seconds
          * \return the data read from the serial port
          */
-        virtual std::string read_uart(boost::uint8_t dev) = 0;
+        virtual std::string read_uart(double timeout) = 0;
     };
 
 } //namespace uhd
diff --git a/host/include/uhd/usrp/gps_ctrl.hpp b/host/include/uhd/usrp/gps_ctrl.hpp
index 6ff00e03c..3b643a30c 100644
--- a/host/include/uhd/usrp/gps_ctrl.hpp
+++ b/host/include/uhd/usrp/gps_ctrl.hpp
@@ -18,17 +18,14 @@
 #ifndef INCLUDED_GPS_CTRL_HPP
 #define INCLUDED_GPS_CTRL_HPP
 
+#include <uhd/types/serial.hpp>
+#include <uhd/types/sensors.hpp>
 #include <boost/shared_ptr.hpp>
 #include <boost/utility.hpp>
 #include <boost/function.hpp>
-#include <boost/date_time/posix_time/posix_time_types.hpp>
 #include <vector>
-#include <uhd/types/sensors.hpp>
 
-using namespace boost::posix_time;
-
-typedef boost::function<void(std::string)> gps_send_fn_t;
-typedef boost::function<std::string(void)> gps_recv_fn_t;
+namespace uhd{
 
 class gps_ctrl : boost::noncopyable{
 public:
@@ -37,7 +34,7 @@ public:
   /*!
    * Make a GPS config for Jackson Labs or generic NMEA GPS devices
    */
-  static sptr make(gps_send_fn_t, gps_recv_fn_t);
+  static sptr make(uart_iface::sptr uart);
 
   /*!
    * Retrieve the list of sensors this GPS object provides
@@ -59,4 +56,6 @@ public:
 
 };
 
+} //namespace uhd
+
 #endif /* INCLUDED_GPS_CTRL_HPP */
diff --git a/host/lib/transport/udp_simple.cpp b/host/lib/transport/udp_simple.cpp
index ed778fbf4..bc1bdaf2f 100644
--- a/host/lib/transport/udp_simple.cpp
+++ b/host/lib/transport/udp_simple.cpp
@@ -81,3 +81,49 @@ udp_simple::sptr udp_simple::make_broadcast(
 ){
     return sptr(new udp_simple_impl(addr, port, true, false /* bcast, no connect */));
 }
+
+/***********************************************************************
+ * Simple UART over UDP
+ **********************************************************************/
+#include <boost/thread/thread.hpp>
+class udp_simple_uart_impl : public uhd::uart_iface{
+public:
+    udp_simple_uart_impl(udp_simple::sptr udp){
+        _udp = udp;
+        _len = 0;
+        _off = 0;
+        this->write_uart(""); //send an empty packet to init
+    }
+
+    void write_uart(const std::string &buf){
+        _udp->send(asio::buffer(buf));
+    }
+
+    std::string read_uart(double timeout){
+        std::string line;
+        const boost::system_time exit_time = boost::get_system_time() + boost::posix_time::milliseconds(long(timeout*1000));
+        do{
+            //drain anything in current buffer
+            while (_off < _len){
+                const char ch = _buf[_off]; _off++;
+                line += std::string(1, ch);
+                if (ch == '\n' or ch == '\r') return line;
+            }
+
+            //recv a new packet into the buffer
+            _len = _udp->recv(asio::buffer(_buf), std::max((exit_time - boost::get_system_time()).total_milliseconds()/1000., 0.0));
+            _off = 0;
+
+        } while (_len != 0);
+        return line;
+    }
+
+private:
+    udp_simple::sptr _udp;
+    size_t _len, _off;
+    boost::uint8_t _buf[udp_simple::mtu];
+};
+
+uhd::uart_iface::sptr udp_simple::make_uart(sptr udp){
+    return uart_iface::sptr(new udp_simple_uart_impl(udp));
+}
diff --git a/host/lib/usrp/gps_ctrl.cpp b/host/lib/usrp/gps_ctrl.cpp
index 342b0e2fe..96cb76ffc 100644
--- a/host/lib/usrp/gps_ctrl.cpp
+++ b/host/lib/usrp/gps_ctrl.cpp
@@ -40,19 +40,18 @@ using namespace boost::this_thread;
 
 class gps_ctrl_impl : public gps_ctrl{
 public:
-  gps_ctrl_impl(gps_send_fn_t send, gps_recv_fn_t recv){
-    _send = send;
-    _recv = recv;
+  gps_ctrl_impl(uart_iface::sptr uart){
+    _uart = uart;
 
     std::string reply;
     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...)
-    _recv(); //get whatever junk is in the rx buffer right now, and throw it away
+    _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
 
-	//wait for _send(...) to return
+    //wait for _send(...) to return
     sleep(milliseconds(FIREFLY_STUPID_DELAY_MS));
 
     //then we loop until we either timeout, or until we get a response that indicates we're a JL device
@@ -155,7 +154,7 @@ private:
         return std::string();
     }
 
-    while(_recv().size() != 0) sleep(milliseconds(GPS_TIMEOUT_DELAY_MS));
+    _flush(); //flush all input before waiting for a message
 
     int timeout = GPS_TIMEOUT_TRIES;
     while(timeout--) {
@@ -242,8 +241,21 @@ private:
     return false;
   }
 
-  gps_send_fn_t _send;
-  gps_recv_fn_t _recv;
+  uart_iface::sptr _uart;
+
+  void _flush(void){
+    while (not _uart->read_uart(0.0).empty()){
+        //NOP
+    }
+  }
+
+  std::string _recv(void){
+      return _uart->read_uart(GPS_TIMEOUT_DELAY_MS/1000.);
+  }
+
+  void _send(const std::string &buf){
+      return _uart->write_uart(buf);
+  }
 
   enum {
     GPS_TYPE_JACKSON_LABS,
@@ -259,6 +271,6 @@ private:
 /***********************************************************************
  * Public make function for the GPS control
  **********************************************************************/
-gps_ctrl::sptr gps_ctrl::make(gps_send_fn_t send, gps_recv_fn_t recv){
-    return sptr(new gps_ctrl_impl(send, recv));
+gps_ctrl::sptr gps_ctrl::make(uart_iface::sptr uart){
+    return sptr(new gps_ctrl_impl(uart));
 }
diff --git a/host/lib/usrp/usrp2/fw_common.h b/host/lib/usrp/usrp2/fw_common.h
index 2da4e1e48..7ad06f33f 100644
--- a/host/lib/usrp/usrp2/fw_common.h
+++ b/host/lib/usrp/usrp2/fw_common.h
@@ -31,8 +31,8 @@ extern "C" {
 
 //fpga and firmware compatibility numbers
 #define USRP2_FPGA_COMPAT_NUM 7
-#define USRP2_FW_COMPAT_NUM 10
-#define USRP2_FW_VER_MINOR 4
+#define USRP2_FW_COMPAT_NUM 11
+#define USRP2_FW_VER_MINOR 0
 
 //used to differentiate control packets over data port
 #define USRP2_INVALID_VRT_HEADER 0
@@ -45,6 +45,7 @@ extern "C" {
 #define USRP2_UDP_TX_DSP0_PORT 49157
 #define USRP2_UDP_RX_DSP1_PORT 49158
 #define USRP2_UDP_UART_BASE_PORT 49170
+#define USRP2_UDP_UART_GPS_PORT 49172
 
 // Map for virtual firmware regs (not very big so we can keep it here for now)
 #define U2_FW_REG_LOCK_TIME 0
@@ -90,9 +91,6 @@ typedef enum{
     USRP2_CTRL_ID_HEY_WRITE_THIS_UART_FOR_ME_BRO = 'u',
     USRP2_CTRL_ID_MAN_I_TOTALLY_WROTE_THAT_UART_DUDE = 'U',
 
-    USRP2_CTRL_ID_SO_LIKE_CAN_YOU_READ_THIS_UART_BRO = 'v',
-    USRP2_CTRL_ID_I_HELLA_READ_THAT_UART_DUDE = 'V',
-
     USRP2_CTRL_ID_HOLLER_AT_ME_BRO = 'l',
     USRP2_CTRL_ID_HOLLER_BACK_DUDE = 'L',
 
@@ -144,11 +142,6 @@ typedef struct{
             uint8_t action;
         } reg_args;
         struct {
-            uint8_t dev;
-            uint8_t bytes;
-            uint8_t data[20];
-        } uart_args;
-        struct {
             uint32_t len;
         } echo_args;
     } data;
diff --git a/host/lib/usrp/usrp2/usrp2_iface.cpp b/host/lib/usrp/usrp2/usrp2_iface.cpp
index d91dd0e40..c1e92e7d4 100644
--- a/host/lib/usrp/usrp2/usrp2_iface.cpp
+++ b/host/lib/usrp/usrp2/usrp2_iface.cpp
@@ -245,66 +245,6 @@ 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, 20, 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 = usrp2_ctrl_data_t();
-        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 = item.size();
-
-        //limitation of uart transaction size
-        UHD_ASSERT_THROW(item.size() <= sizeof(out_data.data.uart_args.data));
-
-        //copy in the 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, MIN_PROTO_COMPAT_UART);
-        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){
-      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 = usrp2_ctrl_data_t();
-        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 = 20;
-
-        //limitation of uart transaction size
-        //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, MIN_PROTO_COMPAT_UART);
-        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
-        result += std::string((const char *)in_data.data.uart_args.data, (size_t)readlen);
-      }
-      return result;
-    }
-    
-    gps_send_fn_t get_gps_write_fn(void) {
-        return boost::bind(&usrp2_iface_impl::write_uart, this, 2, _1); //2 is the GPS UART port on USRP2
-    }
-    
-    gps_recv_fn_t get_gps_read_fn(void) {
-        return boost::bind(&usrp2_iface_impl::read_uart, this, 2); //2 is the GPS UART port on USRP2
-    }
-
-/***********************************************************************
  * Send/Recv over control
  **********************************************************************/
     usrp2_ctrl_data_t ctrl_send_and_recv(
diff --git a/host/lib/usrp/usrp2/usrp2_iface.hpp b/host/lib/usrp/usrp2/usrp2_iface.hpp
index b3c3ef4a2..9aa1a16aa 100644
--- a/host/lib/usrp/usrp2/usrp2_iface.hpp
+++ b/host/lib/usrp/usrp2/usrp2_iface.hpp
@@ -28,16 +28,12 @@
 #include "wb_iface.hpp"
 #include <string>
 
-//TODO: kill this crap when you have the top level GPS include file
-typedef boost::function<void(std::string)> gps_send_fn_t;
-typedef boost::function<std::string(void)> gps_recv_fn_t;
-
 /*!
  * The usrp2 interface class:
  * Provides a set of functions to implementation layer.
  * Including spi, peek, poke, control...
  */
-class usrp2_iface : public wb_iface, public uhd::spi_iface, public uhd::i2c_iface, public uhd::uart_iface{
+class usrp2_iface : public wb_iface, public uhd::spi_iface, public uhd::i2c_iface{
 public:
     typedef boost::shared_ptr<usrp2_iface> sptr;
     /*!
@@ -47,9 +43,6 @@ public:
      */
     static sptr make(uhd::transport::udp_simple::sptr ctrl_transport);
 
-    virtual gps_recv_fn_t get_gps_read_fn(void) = 0;
-    virtual gps_send_fn_t get_gps_write_fn(void) = 0;
-
     //! The list of possible revision types
     enum rev_type {
         USRP2_REV3 = 3,
diff --git a/host/lib/usrp/usrp2/usrp2_impl.cpp b/host/lib/usrp/usrp2/usrp2_impl.cpp
index 03a9d09fe..47aec08d5 100644
--- a/host/lib/usrp/usrp2/usrp2_impl.cpp
+++ b/host/lib/usrp/usrp2/usrp2_impl.cpp
@@ -438,10 +438,9 @@ usrp2_impl::usrp2_impl(const device_addr_t &_device_addr){
         // create gpsdo control objects
         ////////////////////////////////////////////////////////////////
         if (_mbc[mb].iface->mb_eeprom["gpsdo"] == "internal"){
-            _mbc[mb].gps = gps_ctrl::make(
-                _mbc[mb].iface->get_gps_write_fn(),
-                _mbc[mb].iface->get_gps_read_fn()
-            );
+            _mbc[mb].gps = gps_ctrl::make(udp_simple::make_uart(udp_simple::make_connected(
+                addr, BOOST_STRINGIZE(USRP2_UDP_UART_GPS_PORT)
+            )));
             if(_mbc[mb].gps->gps_detected()) {
                 BOOST_FOREACH(const std::string &name, _mbc[mb].gps->get_sensors()){
                     _tree->create<sensor_value_t>(mb_path / "sensors" / name)
@@ -624,8 +623,10 @@ usrp2_impl::usrp2_impl(const device_addr_t &_device_addr){
 
         //GPS installed: use external ref, time, and init time spec
         if (_mbc[mb].gps.get() and _mbc[mb].gps->gps_detected()){
+            UHD_MSG(status) << "Setting references to the internal GPSDO" << std::endl;
             _tree->access<std::string>(root / "time_source/value").set("external");
             _tree->access<std::string>(root / "clock_source/value").set("external");
+            UHD_MSG(status) << "Initializing time to the internal GPSDO" << std::endl;
             _mbc[mb].time64->set_time_next_pps(time_spec_t(time_t(_mbc[mb].gps->get_sensor("gps_time").to_int()+1)));
         }
     }
diff --git a/host/lib/usrp/usrp2/usrp2_impl.hpp b/host/lib/usrp/usrp2/usrp2_impl.hpp
index 28cbaf479..6f133f411 100644
--- a/host/lib/usrp/usrp2/usrp2_impl.hpp
+++ b/host/lib/usrp/usrp2/usrp2_impl.hpp
@@ -93,7 +93,7 @@ private:
         usrp2_iface::sptr iface;
         usrp2_clock_ctrl::sptr clock;
         usrp2_codec_ctrl::sptr codec;
-        gps_ctrl::sptr gps;
+        uhd::gps_ctrl::sptr gps;
         rx_frontend_core_200::sptr rx_fe;
         tx_frontend_core_200::sptr tx_fe;
         std::vector<rx_dsp_core_200::sptr> rx_dsps;