diff options
| -rw-r--r-- | firmware/x300/x300/x300_main.c | 8 | ||||
| -rw-r--r-- | host/lib/usrp/gps_ctrl.cpp | 45 | ||||
| -rw-r--r-- | host/lib/usrp/x300/x300_fw_uart.cpp | 93 |
3 files changed, 121 insertions, 25 deletions
diff --git a/firmware/x300/x300/x300_main.c b/firmware/x300/x300/x300_main.c index d7fd32ac3..d865e1d09 100644 --- a/firmware/x300/x300/x300_main.c +++ b/firmware/x300/x300/x300_main.c @@ -1,4 +1,4 @@ -// Copyright 2013 Ettus Research LLC +// Copyright 2013-2014 Ettus Research LLC #include "x300_init.h" #include "x300_defs.h" @@ -345,12 +345,12 @@ static void handle_uarts(void) static uint32_t rxoffset = 0; for (int rxch = wb_uart_getc(UART0_BASE); rxch != -1; rxch = wb_uart_getc(UART0_BASE)) { - rxoffset = (rxoffset+1) % (NUM_POOL_WORDS32*4); + rxoffset++; const int shift = ((rxoffset%4) * 8); static uint32_t rxword32 = 0; if (shift == 0) rxword32 = 0; - rxword32 |= ((uint32_t) rxch) << ((rxoffset%4) * 8); - rxpool[rxoffset/4] = rxword32; + rxword32 |= ((uint32_t) rxch & 0xFF) << shift; + rxpool[(rxoffset/4) % NUM_POOL_WORDS32] = rxword32; shmem[X300_FW_SHMEM_UART_RX_INDEX] = rxoffset; } diff --git a/host/lib/usrp/gps_ctrl.cpp b/host/lib/usrp/gps_ctrl.cpp index d327a84f9..f4d5cd8e8 100644 --- a/host/lib/usrp/gps_ctrl.cpp +++ b/host/lib/usrp/gps_ctrl.cpp @@ -1,5 +1,5 @@ // -// Copyright 2010-2011 Ettus Research LLC +// Copyright 2010-2011,2014 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 @@ -17,6 +17,7 @@ #include <uhd/usrp/gps_ctrl.hpp> #include <uhd/utils/msg.hpp> +#include <uhd/utils/log.hpp> #include <uhd/exception.hpp> #include <uhd/types/sensors.hpp> #include <boost/algorithm/string.hpp> @@ -62,6 +63,27 @@ private: return std::string(); } + static bool is_nmea_checksum_ok(std::string nmea) + { + if (nmea.length() < 5 || nmea[0] != '$' || nmea[nmea.length()-3] != '*') + return false; + + std::stringstream ss; + boost::uint32_t string_crc; + boost::uint32_t calculated_crc = 0; + + // get crc from string + ss << std::hex << nmea.substr(nmea.length()-2, 2); + ss >> string_crc; + + // calculate crc + for (size_t i = 1; i < nmea.length()-3; i++) + calculated_crc ^= nmea[i]; + + // return comparison + return (string_crc == calculated_crc); + } + std::string update_cached_sensors(const std::string sensor) { if(not gps_detected() || (gps_type != GPS_TYPE_INTERNAL_GPSDO)) { UHD_MSG(error) << "get_stat(): unsupported GPS or no GPS detected"; @@ -70,24 +92,36 @@ private: const std::list<std::string> list = boost::assign::list_of("GPGGA")("GPRMC")("SERVO"); static const boost::regex status_regex("\\d\\d-\\d\\d-\\d\\d"); + static const boost::regex gp_msg_regex("^\\$GP.*,\\*[0-9A-F]{2}$"); std::map<std::string,std::string> msgs; // Get all GPSDO messages available // Creating a map here because we only want the latest of each message type for (std::string msg = _recv(); msg.length(); msg = _recv()) { - if (msg.length() < 6) - continue; - // Strip any end of line characters erase_all(msg, "\r"); erase_all(msg, "\n"); + if (msg.length() < 6) + { + UHD_LOGV(regularly) << __FUNCTION__ << ": Short NMEA string: " << msg << std::endl; + continue; + } + // Look for SERVO message if (boost::regex_search(msg, status_regex, boost::regex_constants::match_continuous)) + { msgs["SERVO"] = msg; - else + } + else if (boost::regex_match(msg, gp_msg_regex) and is_nmea_checksum_ok(msg)) + { msgs[msg.substr(1,5)] = msg; + } + else + { + UHD_LOGV(regularly) << __FUNCTION__ << ": Malformed NMEA string: " << msg << std::endl; + } } boost::system_time time = boost::get_system_time(); @@ -131,7 +165,6 @@ public: } else if(reply.substr(0, 3) == "$GP") i_heard_some_nmea = true; //but keep looking for that "Command Error" response else if(reply.length() != 0) i_heard_something_weird = true; //probably wrong baud rate - sleep(milliseconds(GPS_TIMEOUT_DELAY_MS)); } if((i_heard_some_nmea) && (gps_type != GPS_TYPE_INTERNAL_GPSDO)) gps_type = GPS_TYPE_GENERIC_NMEA; diff --git a/host/lib/usrp/x300/x300_fw_uart.cpp b/host/lib/usrp/x300/x300_fw_uart.cpp index 943b2d9fa..b0fae124d 100644 --- a/host/lib/usrp/x300/x300_fw_uart.cpp +++ b/host/lib/usrp/x300/x300_fw_uart.cpp @@ -38,6 +38,8 @@ struct x300_uart_iface : uart_iface rxpool = _iface->peek32(SR_ADDR(X300_FW_SHMEM_BASE, X300_FW_SHMEM_UART_RX_ADDR)); txpool = _iface->peek32(SR_ADDR(X300_FW_SHMEM_BASE, X300_FW_SHMEM_UART_TX_ADDR)); poolsize = _iface->peek32(SR_ADDR(X300_FW_SHMEM_BASE, X300_FW_SHMEM_UART_WORDS32)); + _rxcache.resize(poolsize); + _last_device_rxoffset = rxoffset; //this->write_uart("HELLO UART\n"); //this->read_uart(0.1); } @@ -54,6 +56,7 @@ struct x300_uart_iface : uart_iface void write_uart(const std::string &buff) { + boost::mutex::scoped_lock(_write_mutex); BOOST_FOREACH(const char ch, buff) { if (ch == '\n') this->putchar('\r'); @@ -63,39 +66,99 @@ struct x300_uart_iface : uart_iface int getchar(void) { - if (_iface->peek32(SR_ADDR(X300_FW_SHMEM_BASE, X300_FW_SHMEM_UART_RX_INDEX)) != rxoffset) + if (rxoffset == _last_device_rxoffset) + return -1; + + rxoffset++; + return static_cast<int>(_rxcache[(rxoffset/4) % poolsize] >> ((rxoffset%4)*8) & 0xFF); + } + + void update_cache(void) + { + boost::uint32_t device_rxoffset = _iface->peek32(SR_ADDR(X300_FW_SHMEM_BASE, X300_FW_SHMEM_UART_RX_INDEX)); + boost::uint32_t delta = device_rxoffset - rxoffset; + + while (delta) { - const int shift = ((rxoffset%4) * 8); - const char ch = _iface->peek32(SR_ADDR(rxpool, rxoffset/4)) >> shift; - rxoffset = (rxoffset + 1) % (poolsize*4); - return ch; + if (delta >= poolsize*4) + { + // all the data is new - reload the entire cache + for (boost::uint32_t i = 0; i < poolsize; i++) + _rxcache[i] = _iface->peek32(SR_ADDR(rxpool, i)); + + // set rxoffset to the end of the first string + rxoffset = device_rxoffset - (poolsize*4) + 1; + while (static_cast<char>((_rxcache[(rxoffset/4) % poolsize] >> ((rxoffset%4)*8) & 0xFF)) != '\n') + ++rxoffset; + + // clear the partial string in the buffer; + _rxbuff.clear(); + } + else if (rxoffset == _last_device_rxoffset) + { + // new data was added - refresh the portion of the cache that was updated + for (boost::uint32_t i = ((_last_device_rxoffset+1)/4) % poolsize; i != (((device_rxoffset)/4)+1) % poolsize; i = (i+1) % poolsize) + { + _rxcache[i] = _iface->peek32(SR_ADDR(rxpool, i)); + } + } else { + // there is new data, but we aren't done with what we have - check back later + break; + } + + _last_device_rxoffset = device_rxoffset; + + // check again to see if anything changed while we were updating the cache + device_rxoffset = _iface->peek32(SR_ADDR(X300_FW_SHMEM_BASE, X300_FW_SHMEM_UART_RX_INDEX)); + delta = device_rxoffset - rxoffset; } - return -1; } std::string read_uart(double timeout) { + boost::mutex::scoped_lock(_read_mutex); const boost::system_time exit_time = boost::get_system_time() + boost::posix_time::microseconds(long(timeout*1e6)); std::string buff; + while (true) { - const int ch = this->getchar(); - if (ch == -1) + // Update cache + this->update_cache(); + + // Get available characters + for (int ch = this->getchar(); ch != -1; ch = this->getchar()) { - if (boost::get_system_time() > exit_time) break; - boost::this_thread::sleep(boost::posix_time::milliseconds(1)); - continue; + // skip carriage returns + if (ch == '\r') + continue; + + // store character to buffer + _rxbuff += std::string(1, (char)ch); + + // newline found - return string + if (ch == '\n') + { + buff = _rxbuff; + _rxbuff.clear(); + return buff; + } } - if (ch == '\r') continue; - buff += std::string(1, (char)ch); - if (ch == '\n') break; + + // no more characters - check time + if (boost::get_system_time() > exit_time) + break; } - //UHD_VAR(buff); + return buff; } wb_iface::sptr _iface; boost::uint32_t rxoffset, txoffset, txword32, rxpool, txpool, poolsize; + boost::uint32_t _last_device_rxoffset; + std::vector<boost::uint32_t> _rxcache; + std::string _rxbuff; + boost::mutex _read_mutex; + boost::mutex _write_mutex; }; uart_iface::sptr x300_make_uart_iface(wb_iface::sptr iface) |