diff options
| -rw-r--r-- | host/include/uhd/usrp/gps_ctrl.hpp | 30 | ||||
| -rw-r--r-- | host/lib/usrp/b200/b200_impl.cpp | 15 | ||||
| -rw-r--r-- | host/lib/usrp/gps_ctrl.cpp | 205 |
3 files changed, 195 insertions, 55 deletions
diff --git a/host/include/uhd/usrp/gps_ctrl.hpp b/host/include/uhd/usrp/gps_ctrl.hpp index 6fda04f21..0db1d5317 100644 --- a/host/include/uhd/usrp/gps_ctrl.hpp +++ b/host/include/uhd/usrp/gps_ctrl.hpp @@ -54,10 +54,40 @@ public: */ virtual bool gps_detected(void) = 0; + /*! + * Tell if the GPSDO is a LEA-M8F + * \return true if the LEA-M8F has been detected + */ + virtual bool gps_detected_lea_m8f(void) = 0; + //TODO: other fun things you can do with a GPS. }; +/*! The UBX-NAV-SOL message structure from the + * u-blox UBX protocol + */ +struct ubx_nav_sol_t +{ + uint32_t itow; // ms GPS Millisecond Time of Week + int32_t frac; // ns remainder of rounded ms above + int16_t week; // GPS week + uint8_t GPSfix; // GPSfix Type, range 0..6 + uint8_t Flags; // Navigation Status Flags + int32_t ECEF_X; // cm ECEF X coordinate + int32_t ECEF_Y; // cm ECEF Y coordinate + int32_t ECEF_Z; // cm ECEF Z coordinate + int32_t PAcc; // cm 3D Position Accuracy Estimate + int32_t ECEFVX; // cm/s ECEF X velocity + int32_t ECEFVY; // cm/s ECEF Y velocity + int32_t ECEFVZ; // cm/s ECEF Z velocity + uint32_t SAcc; // cm/s Speed Accuracy Estimate + uint16_t PDOP; // 0.01 Position DOP + uint8_t res1; // reserved + uint8_t numSV; // Number of SVs used in navigation solution + uint32_t res2; // reserved +} __attribute__((packed)); + } //namespace uhd #endif /* INCLUDED_GPS_CTRL_HPP */ diff --git a/host/lib/usrp/b200/b200_impl.cpp b/host/lib/usrp/b200/b200_impl.cpp index 734367af1..43aba2621 100644 --- a/host/lib/usrp/b200/b200_impl.cpp +++ b/host/lib/usrp/b200/b200_impl.cpp @@ -712,12 +712,27 @@ b200_impl::b200_impl(const uhd::device_addr_t& device_addr, usb_device_handle::s _radio_perifs[i].ddc->set_host_rate(default_tick_rate / ad936x_manager::DEFAULT_DECIM); _radio_perifs[i].duc->set_host_rate(default_tick_rate / ad936x_manager::DEFAULT_INTERP); } + // We can automatically choose a master clock rate, but not if the user specifies one _tree->access<bool>(mb_path / "auto_tick_rate").set(not device_addr.has_key("master_clock_rate")); if (not device_addr.has_key("master_clock_rate")) { UHD_MSG(status) << "Setting master clock rate selection to 'automatic'." << std::endl; } + //GPS installed: use external ref, time, and init time spec + if (_gps and _gps->gps_detected()) + { + UHD_MSG(status) << "Setting references to the internal GPSDO" << std::endl; + _tree->access<std::string>(mb_path / "time_source" / "value").set("gpsdo"); + _tree->access<std::string>(mb_path / "clock_source" / "value").set("gpsdo"); + + if (not _gps->gps_detected_lea_m8f()) { + UHD_MSG(status) << "Initializing time to the internal GPSDO" << std::endl; + const time_t tp = time_t(_gps->get_sensor("gps_time").to_int()+1); + _tree->access<time_spec_t>(mb_path / "time" / "pps").set(time_spec_t(tp)); + } + } + } b200_impl::~b200_impl(void) diff --git a/host/lib/usrp/gps_ctrl.cpp b/host/lib/usrp/gps_ctrl.cpp index 1cee8e566..b6019efbd 100644 --- a/host/lib/usrp/gps_ctrl.cpp +++ b/host/lib/usrp/gps_ctrl.cpp @@ -62,7 +62,7 @@ private: return update_cached_sensors(sensor); } } catch(std::exception &e) { - UHD_MSG(warning) << "get_cached_sensor: " << e.what(); + UHD_MSG(warning) << "get_cached_sensor: " << e.what() << std::endl; } return std::string(); } @@ -89,64 +89,144 @@ private: } std::string update_cached_sensors(const std::string sensor) { - if(not gps_detected() || !(gps_type == GPS_TYPE_INTERNAL_GPSDO || gps_type == GPS_TYPE_LEA_M8F)) { - UHD_MSG(error) << "get_stat(): unsupported GPS or no GPS detected"; - return std::string(); - } + if (gps_detected() && gps_type == GPS_TYPE_INTERNAL_GPSDO) { + + const std::list<std::string> list = boost::assign::list_of("GPGGA")("GPRMC")("SERVO"); + + static const boost::regex status_regex("\\d\\d-\\d\\d-\\d\\d"); + static const boost::regex gp_msg_regex("^\\$GP.*,\\*[0-9A-F]{2}$"); + std::map<std::string,std::string> msgs; + + // Get all GPSDO messages available + // Creating a map here because we only want the latest of each message type + for (std::string msg = _recv(); msg.length(); msg = _recv()) + { + // Strip any end of line characters + erase_all(msg, "\r"); + erase_all(msg, "\n"); + + if (msg.length() < 6) + { + UHD_LOGV(regularly) << __FUNCTION__ << ": Short NMEA string: " << msg << std::endl; + continue; + } + + // Look for SERVO message + if (boost::regex_search(msg, status_regex, boost::regex_constants::match_continuous)) + { + msgs["SERVO"] = msg; + } + else if (boost::regex_match(msg, gp_msg_regex) and is_nmea_checksum_ok(msg)) + { + msgs[msg.substr(1,5)] = msg; + } + else + { + UHD_LOGV(regularly) << __FUNCTION__ << ": Malformed NMEA string: " << msg << std::endl; + } + } + + boost::system_time time = boost::get_system_time(); + + // Update sensors with newly read data + BOOST_FOREACH(std::string key, list) { + if (msgs[key].length()) + sensors[key] = boost::make_tuple(msgs[key], time, !sensor.compare(key)); + } - std::list<std::string> list = boost::assign::list_of("GPGGA")("GPRMC")("SERVO"); - const std::list<std::string> list_lea_m8f = boost::assign::list_of("GNGGA")("GNRMC"); + // Return requested sensor if it was updated + if (msgs[sensor].length()) + return msgs[sensor]; - if (gps_type == GPS_TYPE_LEA_M8F) { - list = list_lea_m8f; + return std::string(); } + else if (gps_detected() && gps_type == GPS_TYPE_LEA_M8F) { + const std::list<std::string> list = boost::assign::list_of("GNGGA")("GNRMC")("FIXTYPE"); - static const boost::regex status_regex("\\d\\d-\\d\\d-\\d\\d"); - static const boost::regex gp_msg_regex("^\\$GP.*,\\*[0-9A-F]{2}$"); - std::map<std::string,std::string> msgs; + // We try to receive the some UBX messages to find out if the clock is disciplined + std::string msg = _recv(); - // Get all GPSDO messages available - // Creating a map here because we only want the latest of each message type - for (std::string msg = _recv(); msg.length(); msg = _recv()) - { - // Strip any end of line characters - erase_all(msg, "\r"); - erase_all(msg, "\n"); + std::map<std::string,std::string> msgs; - if (msg.length() < 6) - { - UHD_LOGV(regularly) << __FUNCTION__ << ": Short NMEA string: " << msg << std::endl; - continue; + // Get all GPSDO messages available + // Creating a map here because we only want the latest of each message type + for (std::string msg = _recv(); msg.length() > 6; msg = _recv()) + { + std::stringstream ss; + ss << "Got message "; + for (size_t m = 0; m < msg.size(); m++) { + ss << std::hex << (unsigned int)(unsigned char)msg[m] << " " << std::dec; } + UHD_MSG(warning) << ss.str() << ":" << std::endl << msg << std::endl; + // Get UBX-NAV-SOL + const uint8_t nav_sol_head[4] = {0xb5, 0x62, 0x01, 0x06}; + const std::string nav_sol_head_str(reinterpret_cast<const char *>(nav_sol_head), 4); + if (msg.find(nav_sol_head_str) == 0) { + if (msg.length() > 52 + 8) { + ubx_nav_sol_t nav_sol; + memcpy(&nav_sol, msg.c_str(), sizeof(nav_sol)); + + UHD_MSG(warning) << "Got NAV-SOL " << nav_sol.itow << ", " + << (int)nav_sol.numSV << " SVs, flags " + << (int)nav_sol.Flags << std::endl; + + std::string fixtype; + + if (nav_sol.GPSfix == 0) { + fixtype = "no fix"; + } + else if (nav_sol.GPSfix == 1) { + fixtype = "dead reckoning"; + } + else if (nav_sol.GPSfix == 2) { + fixtype = "2d fix"; + } + else if (nav_sol.GPSfix == 3) { + fixtype = "3d fix"; + } + else if (nav_sol.GPSfix == 4) { + fixtype = "combined fix"; + } + else if (nav_sol.GPSfix == 5) { + fixtype = "time-only fix"; + } - // Look for SERVO message - if (boost::regex_search(msg, status_regex, boost::regex_constants::match_continuous)) - { - msgs["SERVO"] = msg; - } - else if (boost::regex_match(msg, gp_msg_regex) and is_nmea_checksum_ok(msg)) - { - msgs[msg.substr(1,5)] = msg; + if (not fixtype.empty()) { + msgs["FIXTYPE"] = fixtype; + } + + std::string next_msg = msg.substr(52+8); + + UHD_MSG(warning) << "Next message " << next_msg << std::endl; + if (next_msg.find("$") == 0) { + msgs[next_msg.substr(1,5)] = next_msg; + } + } } - else - { - UHD_LOGV(regularly) << __FUNCTION__ << ": Malformed NMEA string: " << msg << std::endl; + else { + msgs[msg.substr(1,5)] = msg; } - } + } - boost::system_time time = boost::get_system_time(); + boost::system_time time = boost::get_system_time(); - // Update sensors with newly read data - BOOST_FOREACH(std::string key, list) { - if (msgs[key].length()) - sensors[key] = boost::make_tuple(msgs[key], time, !sensor.compare(key)); - } + // Update sensors with newly read data + BOOST_FOREACH(std::string key, list) { + if (msgs[key].length()) { + sensors[key] = boost::make_tuple(msgs[key], time, !sensor.compare(key)); + } + } - // Return requested sensor if it was updated - if (msgs[sensor].length()) + // Return requested sensor if it was updated + if (msgs[sensor].length()) return msgs[sensor]; - return std::string(); + return std::string(); + } + else { + UHD_MSG(error) << "get_stat(): unsupported GPS or no GPS detected" << std::endl; + return std::string(); + } } public: @@ -162,6 +242,9 @@ public: _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 GPSDO + // try to init LEA-M8F + init_lea_m8f(); + //wait for _send(...) to return sleep(milliseconds(GPSDO_COMMAND_DELAY_MS)); @@ -169,14 +252,16 @@ public: const boost::system_time comm_timeout = boost::get_system_time() + milliseconds(GPS_COMM_TIMEOUT_MS); while(boost::get_system_time() < comm_timeout) { reply = _recv(); + UHD_MSG(warning) << "Received " << reply << std::endl; if(reply.find("Command Error") != std::string::npos) { gps_type = GPS_TYPE_INTERNAL_GPSDO; break; } else if(reply.substr(0, 3) == "$GP") i_heard_some_nmea = true; //but keep looking for that "Command Error" response - else if(reply.substr(0, 3) == "$GN") { - // The u-blox LEA-M8F outputs $GNGGA and $GNRMC messages + else if(reply.substr(0, 2) == "\xB5""\x62") { + // The u-blox LEA-M8F outputs UBX protocol messages gps_type = GPS_TYPE_LEA_M8F; + i_heard_some_nmea = false; break; } else if(reply.length() != 0) i_heard_something_weird = true; //probably wrong baud rate @@ -224,7 +309,8 @@ public: ("gps_gnrmc") ("gps_time") ("gps_locked") - ("gps_servo"); + ("gps_servo") + ("gps_fixtype"); return ret; } @@ -232,7 +318,8 @@ public: if(key == "gps_gpgga" or key == "gps_gprmc" or key == "gps_gngga" - or key == "gps_gnrmc") { + or key == "gps_gnrmc" + or key == "gps_fixtype" ) { return sensor_value_t( boost::to_upper_copy(key), get_cached_sensor(boost::to_upper_copy(key.substr(4,8)), GPS_NMEA_NORMAL_FRESHNESS, false, false), @@ -273,7 +360,9 @@ private: } void init_lea_m8f(void) { - // Nothing much to do yet + // Enable the UBX-NAV-SOL message: + const uint8_t en_nav_sol[11] = {0xb5, 0x62, 0x06, 0x01, 0x03, 0x00, 0x01, 0x06, 0x01, 0x12, 0x4f}; + _send(std::string(reinterpret_cast<const char *>(en_nav_sol), 11)); } //retrieve a raw NMEA sentence @@ -343,7 +432,7 @@ private: return gps_time; } catch(std::exception &e) { - UHD_MSG(warning) << "get_time: " << e.what(); + UHD_MSG(warning) << "get_time: " << e.what() << std::endl; _flush(); error_cnt++; } @@ -357,6 +446,10 @@ private: return (get_time() - from_time_t(0)).total_seconds(); } + bool gps_detected_lea_m8f(void) { + return (gps_type == GPS_TYPE_LEA_M8F); + } + bool gps_detected(void) { return (gps_type != GPS_TYPE_NONE); } @@ -367,16 +460,18 @@ private: try { std::string reply; if (gps_type == GPS_TYPE_LEA_M8F) { - reply = get_cached_sensor("GNGGA", GPS_LOCK_FRESHNESS, false, false); + reply = get_cached_sensor("FIXTYPE", GPS_LOCK_FRESHNESS, false, false); + UHD_MSG(warning) << "FIXTYPE is " << reply << std::endl; + return reply == "3d fix"; } else { reply = get_cached_sensor("GPGGA", GPS_LOCK_FRESHNESS, false, false); + if(reply.size() <= 1) return false; + return (get_token(reply, 6) != "0"); } - if(reply.size() <= 1) return false; - return (get_token(reply, 6) != "0"); } catch(std::exception &e) { - UHD_MSG(warning) << "locked: " << e.what(); + UHD_MSG(warning) << "locked: " << e.what() << std::endl; error_cnt++; } } @@ -429,7 +524,7 @@ private: GPS_TYPE_NONE } gps_type; - static const int GPS_COMM_TIMEOUT_MS = 1300; + static const int GPS_COMM_TIMEOUT_MS = 2300; static const int GPS_NMEA_FRESHNESS = 10; static const int GPS_NMEA_LOW_FRESHNESS = 2500; static const int GPS_NMEA_NORMAL_FRESHNESS = 1000; |