diff options
Diffstat (limited to 'host/lib/usrp/gps_ctrl.cpp')
| -rw-r--r-- | host/lib/usrp/gps_ctrl.cpp | 37 |
1 files changed, 20 insertions, 17 deletions
diff --git a/host/lib/usrp/gps_ctrl.cpp b/host/lib/usrp/gps_ctrl.cpp index 98bc90a3f..4bf8eb3a3 100644 --- a/host/lib/usrp/gps_ctrl.cpp +++ b/host/lib/usrp/gps_ctrl.cpp @@ -38,7 +38,7 @@ using namespace boost::algorithm; using namespace boost::this_thread; /*! - * A GPS control for NMEA compatible GPSes + * A control for GPSDO devices */ class gps_ctrl_impl : public gps_ctrl{ @@ -63,7 +63,7 @@ private: } std::string update_cached_sensors(const std::string sensor) { - if(not gps_detected() || (gps_type != GPS_TYPE_ER_GPSDO)) { + if(not gps_detected() || (gps_type != GPS_TYPE_INTERNAL_GPSDO)) { UHD_MSG(error) << "get_stat(): unsupported GPS or no GPS detected"; return std::string(); } @@ -105,18 +105,19 @@ public: bool i_heard_some_nmea = false, i_heard_something_weird = false; gps_type = GPS_TYPE_NONE; + //first we look for an internal GPSDO _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 //wait for _send(...) to return - sleep(milliseconds(200)); + sleep(milliseconds(GPSDO_STUPID_DELAY_MS)); //then we loop until we either timeout, or until we get a response that indicates we're a JL device const boost::system_time comm_timeout = boost::get_system_time() + milliseconds(GPS_COMM_TIMEOUT_MS); while(boost::get_system_time() < comm_timeout) { reply = _recv(); if(reply.find("Command Error") != std::string::npos) { - gps_type = GPS_TYPE_ER_GPSDO; + 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 @@ -124,24 +125,25 @@ public: sleep(milliseconds(GPS_TIMEOUT_DELAY_MS)); } - if((i_heard_some_nmea) && (gps_type != GPS_TYPE_ER_GPSDO)) gps_type = GPS_TYPE_GENERIC_NMEA; + if((i_heard_some_nmea) && (gps_type != GPS_TYPE_INTERNAL_GPSDO)) gps_type = GPS_TYPE_GENERIC_NMEA; if((gps_type == GPS_TYPE_NONE) && i_heard_something_weird) { UHD_MSG(error) << "GPS invalid reply \"" << reply << "\", assuming none available" << std::endl; } switch(gps_type) { - case GPS_TYPE_ER_GPSDO: - UHD_MSG(status) << "Found an Ettus Research NMEA-capable GPSDO" << std::endl; + case GPS_TYPE_INTERNAL_GPSDO: + UHD_MSG(status) << "Found an internal GPSDO" << std::endl; init_gpsdo(); break; case GPS_TYPE_GENERIC_NMEA: - if(gps_type == GPS_TYPE_GENERIC_NMEA) UHD_MSG(status) << "Found a generic NMEA GPS device" << std::endl; + UHD_MSG(status) << "Found a generic NMEA GPS device" << std::endl; break; case GPS_TYPE_NONE: default: + UHD_MSG(status) << "No GPSDO found" << std::endl; break; } @@ -189,19 +191,19 @@ private: //issue some setup stuff so it spits out the appropriate data //none of these should issue replies so we don't bother looking for them //we have to sleep between commands because the JL device, despite not acking, takes considerable time to process each command. - sleep(milliseconds(200)); + sleep(milliseconds(GPSDO_STUPID_DELAY_MS)); _send("SYST:COMM:SER:ECHO OFF\n"); - sleep(milliseconds(200)); + sleep(milliseconds(GPSDO_STUPID_DELAY_MS)); _send("SYST:COMM:SER:PRO OFF\n"); - sleep(milliseconds(200)); + sleep(milliseconds(GPSDO_STUPID_DELAY_MS)); _send("GPS:GPGGA 1\n"); - sleep(milliseconds(200)); + sleep(milliseconds(GPSDO_STUPID_DELAY_MS)); _send("GPS:GGAST 0\n"); - sleep(milliseconds(200)); + sleep(milliseconds(GPSDO_STUPID_DELAY_MS)); _send("GPS:GPRMC 1\n"); - sleep(milliseconds(200)); + sleep(milliseconds(GPSDO_STUPID_DELAY_MS)); _send("SERV:TRAC 0\n"); - sleep(milliseconds(200)); + sleep(milliseconds(GPSDO_STUPID_DELAY_MS)); } //retrieve a raw NMEA sentence @@ -304,7 +306,7 @@ private: //enable servo reporting _send("SERV:TRAC 1\n"); - sleep(milliseconds(200)); + sleep(milliseconds(GPSDO_STUPID_DELAY_MS)); std::string reply; @@ -339,7 +341,7 @@ private: } enum { - GPS_TYPE_ER_GPSDO, + GPS_TYPE_INTERNAL_GPSDO, GPS_TYPE_GENERIC_NMEA, GPS_TYPE_NONE } gps_type; @@ -351,6 +353,7 @@ private: static const int GPS_SERVO_FRESHNESS = 2500; static const int GPS_LOCK_FRESHNESS = 2500; static const int GPS_TIMEOUT_DELAY_MS = 200; + static const int GPSDO_STUPID_DELAY_MS = 200; }; /*********************************************************************** |