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-rw-r--r--host/lib/usrp/gps_ctrl.cpp125
-rw-r--r--host/lib/usrp/usrp2/mboard_impl.cpp15
2 files changed, 89 insertions, 51 deletions
diff --git a/host/lib/usrp/gps_ctrl.cpp b/host/lib/usrp/gps_ctrl.cpp
index 3bee26340..55f46ffb3 100644
--- a/host/lib/usrp/gps_ctrl.cpp
+++ b/host/lib/usrp/gps_ctrl.cpp
@@ -17,11 +17,13 @@
#include <uhd/usrp/gps_ctrl.hpp>
#include <uhd/utils/msg.hpp>
+#include <uhd/utils/props.hpp>
#include <uhd/exception.hpp>
+#include <uhd/types/sensors.hpp>
+#include <boost/algorithm/string.hpp>
#include <boost/cstdint.hpp>
#include <boost/date_time/posix_time/posix_time.hpp>
#include <boost/thread/thread.hpp>
-#include <boost/algorithm/string/trim.hpp>
#include <boost/tokenizer.hpp>
using namespace uhd;
@@ -42,12 +44,9 @@ public:
std::string reply;
bool i_heard_some_nmea = false, i_heard_something_weird = false;
-
gps_type = GPS_TYPE_NONE;
-
-// set_uart_baud_rate(GPS_UART, 115200);
- //first we look for a Jackson Labs Firefly (since that's what we sell with the USRP2+...)
-
+
+ //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
_send("HAAAY GUYYYYS\n"); //to elicit a response from the Firefly
@@ -55,7 +54,7 @@ public:
int timeout = GPS_TIMEOUT_TRIES;
while(timeout--) {
reply = safe_gps_read();
- if(trim_right_copy(reply) == "Command Error") {
+ if(boost::trim_right_copy(reply) == "Command Error") {
gps_type = GPS_TYPE_JACKSON_LABS;
break;
}
@@ -66,7 +65,6 @@ public:
if((i_heard_some_nmea) && (gps_type != GPS_TYPE_JACKSON_LABS)) gps_type = GPS_TYPE_GENERIC_NMEA;
- //otherwise, we can try some other common baud rates looking to see if a GPS is connected (todo, later)
if((gps_type == GPS_TYPE_NONE) && i_heard_something_weird) {
UHD_MSG(error) << "GPS invalid reply \"" << reply << "\", assuming none available" << std::endl;
}
@@ -84,13 +82,14 @@ public:
boost::this_thread::sleep(boost::posix_time::milliseconds(FIREFLY_STUPID_DELAY_MS));
_send("SYST:COMM:SER:PRO OFF\n");
boost::this_thread::sleep(boost::posix_time::milliseconds(FIREFLY_STUPID_DELAY_MS));
- _send("GPS:GPGGA 0\n");
+ _send("GPS:GPGGA 1\n");
boost::this_thread::sleep(boost::posix_time::milliseconds(FIREFLY_STUPID_DELAY_MS));
_send("GPS:GGAST 0\n");
boost::this_thread::sleep(boost::posix_time::milliseconds(FIREFLY_STUPID_DELAY_MS));
_send("GPS:GPRMC 1\n");
boost::this_thread::sleep(boost::posix_time::milliseconds(FIREFLY_STUPID_DELAY_MS));
-
+ _send("GPS:GPGSA 1\n");
+ boost::this_thread::sleep(boost::posix_time::milliseconds(FIREFLY_STUPID_DELAY_MS));
// break;
case GPS_TYPE_GENERIC_NMEA:
@@ -104,7 +103,7 @@ public:
found_gprmc = true;
break;
}
- boost::this_thread::sleep(boost::posix_time::milliseconds(200));
+ boost::this_thread::sleep(boost::posix_time::milliseconds(GPS_TIMEOUT_DELAY_MS));
}
if(!found_gprmc) {
if(gps_type == GPS_TYPE_JACKSON_LABS) UHD_MSG(error) << "Firefly GPS not locked or warming up." << std::endl;
@@ -118,8 +117,6 @@ public:
break;
}
-
-
}
~gps_ctrl_impl(void){
@@ -132,46 +129,51 @@ public:
ptime get_time(void) {
std::string reply;
- ptime now;
boost::tokenizer<boost::escaped_list_separator<char> > tok(reply);
std::vector<std::string> toked;
- int timeout = GPS_TIMEOUT_TRIES;
- bool found_gprmc = false;
- switch(gps_type) {
- case GPS_TYPE_JACKSON_LABS: //deprecated in favor of a single NMEA parser
- case GPS_TYPE_GENERIC_NMEA:
- while(timeout--) {
+ reply = get_nmea("GPRMC");
+ //make sure we got something
+ if(reply.size() <= 1) {
+ return ptime();
+ }
+
+ tok.assign(reply);
+ toked.assign(tok.begin(), tok.end());
+
+ if(not toked.size() == 12) {
+ UHD_MSG(error) << "get_time(): invalid GPRMC time sentence received.";
+ return ptime();
+ }
+
+ return ptime( date(
+ greg_year(boost::lexical_cast<int>(toked[9].substr(4, 2)) + 2000), //just trust me on this one
+ greg_month(boost::lexical_cast<int>(toked[9].substr(2, 2))),
+ greg_day(boost::lexical_cast<int>(toked[9].substr(0, 2)))
+ ),
+ hours( boost::lexical_cast<int>(toked[1].substr(0, 2)))
+ + minutes(boost::lexical_cast<int>(toked[1].substr(2, 2)))
+ + seconds(boost::lexical_cast<int>(toked[1].substr(4, 2)))
+ );
+ }
+
+ //retrieve a raw NMEA sentence for user parsing
+ std::string get_nmea(std::string type) {
+ type.insert(0, "$");
+ std::string reply;
+ if(not gps_detected()) {
+ UHD_MSG(error) << "get_nmea(): unsupported GPS or no GPS detected";
+ return std::string();
+ }
+ int timeout = GPS_TIMEOUT_TRIES;
+ while(timeout--) {
reply = safe_gps_read();
- if(reply.substr(0, 6) == "$GPRMC") {
- found_gprmc = true;
- break;
- }
- boost::this_thread::sleep(boost::posix_time::milliseconds(200));
- }
- UHD_ASSERT_THROW(found_gprmc);
-
- tok.assign(reply);
- toked.assign(tok.begin(), tok.end());
-
- UHD_ASSERT_THROW(toked.size() == 12); //if it's not we got something weird in there
-
- now = ptime( date(
- greg_year(boost::lexical_cast<int>(toked[9].substr(4, 2)) + 2000), //just trust me on this one
- greg_month(boost::lexical_cast<int>(toked[9].substr(2, 2))),
- greg_day(boost::lexical_cast<int>(toked[9].substr(0, 2)))
- ),
- hours( boost::lexical_cast<int>(toked[1].substr(0, 2)))
- + minutes(boost::lexical_cast<int>(toked[1].substr(2, 2)))
- + seconds(boost::lexical_cast<int>(toked[1].substr(4, 2)))
- );
- break;
- case GPS_TYPE_NONE:
- default:
- throw uhd::runtime_error("get_time(): Unsupported GPS or no GPS detected\n");
- break;
+ if(reply.substr(0, 6) == type)
+ return reply;
+ boost::this_thread::sleep(boost::posix_time::milliseconds(GPS_TIMEOUT_DELAY_MS));
}
- return now;
+ UHD_MSG(error) << "get_nmea(): no " << type << " message found";
+ return std::string();
}
time_t get_epoch_time(void) {
@@ -182,6 +184,33 @@ public:
return (gps_type != GPS_TYPE_NONE);
}
+ //return a list of supported sensors
+ std::vector<std::string> get_sensors(void) {
+ std::vector<std::string> ret;
+ ret.push_back("gps_gpgga");
+ ret.push_back("gps_gprmc");
+ ret.push_back("gps_gpgsa");
+ ret.push_back("gps_time");
+ return ret;
+ }
+
+ uhd::sensor_value_t get_sensor(std::string key) {
+ if(key == "gps_gpgga"
+ or key == "gps_gprmc"
+ or key == "gps_gpgsa") {
+ return sensor_value_t(
+ boost::to_upper_copy(key),
+ get_nmea(boost::to_upper_copy(key.substr(4,8))),
+ "");
+ }
+ else if(key == "gps_time") {
+ return sensor_value_t("GPS epoch time", int(get_epoch_time()), "seconds");
+ }
+ else {
+ UHD_THROW_PROP_GET_ERROR();
+ }
+ }
+
private:
gps_send_fn_t _send;
gps_recv_fn_t _recv;
diff --git a/host/lib/usrp/usrp2/mboard_impl.cpp b/host/lib/usrp/usrp2/mboard_impl.cpp
index 6bf412a3e..3733915a2 100644
--- a/host/lib/usrp/usrp2/mboard_impl.cpp
+++ b/host/lib/usrp/usrp2/mboard_impl.cpp
@@ -174,6 +174,12 @@ usrp2_mboard_impl::usrp2_mboard_impl(
_iface->poke32(U2_REG_RX_CTRL_CLEAR(i), 1); //resets sequence
}
//------------------------------------------------------------------
+
+ //initialize VITA time to GPS time
+ if(_gps_ctrl.get() and _gps_ctrl->gps_detected()) {
+ UHD_MSG(status) << "Setting device time to GPS time...\n";
+ set_time_spec(time_spec_t(double(_gps_ctrl->get_sensor("gps_time").to_int()+1)), false);
+ }
}
usrp2_mboard_impl::~usrp2_mboard_impl(void){UHD_SAFE_CALL(
@@ -375,7 +381,10 @@ void usrp2_mboard_impl::get(const wax::obj &key_, wax::obj &val){
case SUBDEV_PROP_SENSOR_NAMES:{
prop_names_t names = boost::assign::list_of("mimo_locked")("ref_locked");
- if (_gps_ctrl.get()) names.push_back("gps_time");
+ if (_gps_ctrl.get()) {
+ std::vector<std::string> gs = _gps_ctrl->get_sensors();
+ names.insert(names.end(), gs.begin(), gs.end());
+ }
val = names;
}
return;
@@ -389,8 +398,8 @@ void usrp2_mboard_impl::get(const wax::obj &key_, wax::obj &val){
val = sensor_value_t("Ref", this->get_ref_locked(), "locked", "unlocked");
return;
}
- else if(key.name == "gps_time" and _gps_ctrl.get()) {
- val = sensor_value_t("GPS time", int(_gps_ctrl->get_epoch_time()), "seconds");
+ else if(uhd::has(_gps_ctrl->get_sensors(), key.name) and _gps_ctrl.get()) {
+ val = _gps_ctrl->get_sensor(key.name);
}
else {
UHD_THROW_PROP_GET_ERROR();
generated by cgit v1.2.3 (git 2.39.1) at 2024-12-29 13:15:24 +0000