diff options
Diffstat (limited to 'host/lib')
| -rw-r--r-- | host/lib/transport/CMakeLists.txt | 4 | ||||
| -rw-r--r-- | host/lib/transport/libusb1_zero_copy.cpp | 27 | ||||
| -rw-r--r-- | host/lib/transport/usb_zero_copy_wrapper.cpp | 8 | ||||
| -rw-r--r-- | host/lib/usrp/b100/b100_impl.cpp | 1 | ||||
| -rw-r--r-- | host/lib/usrp/b100/io_impl.cpp | 4 | ||||
| -rw-r--r-- | host/lib/usrp/common/recv_packet_demuxer.cpp | 30 | ||||
| -rw-r--r-- | host/lib/usrp/gps_ctrl.cpp | 134 | ||||
| -rw-r--r-- | host/lib/usrp/multi_usrp.cpp | 8 | ||||
| -rw-r--r-- | host/lib/utils/CMakeLists.txt | 8 | ||||
| -rw-r--r-- | host/lib/utils/images.cpp | 2 | ||||
| -rw-r--r-- | host/lib/utils/paths.cpp | 8 |
11 files changed, 189 insertions, 45 deletions
diff --git a/host/lib/transport/CMakeLists.txt b/host/lib/transport/CMakeLists.txt index 6524a8412..4eb7c8c92 100644 --- a/host/lib/transport/CMakeLists.txt +++ b/host/lib/transport/CMakeLists.txt @@ -37,6 +37,10 @@ IF(ENABLE_USB) ${CMAKE_CURRENT_SOURCE_DIR}/libusb1_base.cpp ${CMAKE_CURRENT_SOURCE_DIR}/libusb1_base.hpp ) + SET_SOURCE_FILES_PROPERTIES( + ${CMAKE_CURRENT_SOURCE_DIR}/libusb1_zero_copy.cpp + PROPERTIES COMPILE_DEFINITIONS "${LIBUSB_DEFINITIONS}" + ) ELSE(ENABLE_USB) LIBUHD_APPEND_SOURCES( ${CMAKE_CURRENT_SOURCE_DIR}/usb_dummy_impl.cpp diff --git a/host/lib/transport/libusb1_zero_copy.cpp b/host/lib/transport/libusb1_zero_copy.cpp index 28bff9709..3532dc4aa 100644 --- a/host/lib/transport/libusb1_zero_copy.cpp +++ b/host/lib/transport/libusb1_zero_copy.cpp @@ -1,5 +1,5 @@ // -// Copyright 2010-2012 Ettus Research LLC +// Copyright 2010-2013 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 @@ -36,6 +36,12 @@ static const size_t DEFAULT_XFER_SIZE = 32*512; //bytes #define LIBUSB_CALL #endif /*LIBUSB_CALL*/ +//! libusb_handle_events_timeout_completed is only in newer API +#ifndef HAVE_LIBUSB_HANDLE_EVENTS_TIMEOUT_COMPLETED + #define libusb_handle_events_timeout_completed(ctx, tx, completed)\ + libusb_handle_events_timeout(ctx, tx) +#endif + /*! * All libusb callback functions should be marked with the LIBUSB_CALL macro * to ensure that they are compiled with the same calling convention as libusb. @@ -43,7 +49,8 @@ static const size_t DEFAULT_XFER_SIZE = 32*512; //bytes //! helper function: handles all async callbacks static void LIBUSB_CALL libusb_async_cb(libusb_transfer *lut){ - *(static_cast<bool *>(lut->user_data)) = true; + int *completed = (int *)lut->user_data; + *completed = 1; } /*! @@ -61,7 +68,7 @@ static void LIBUSB_CALL libusb_async_cb(libusb_transfer *lut){ * \param completed a reference to the completed flag * \return true for completion, false for timeout */ -UHD_INLINE bool wait_for_completion(libusb_context *ctx, const double timeout, bool &completed){ +UHD_INLINE bool wait_for_completion(libusb_context *ctx, const double timeout, int &completed){ //already completed by a previous call? if (completed) return true; @@ -69,7 +76,7 @@ UHD_INLINE bool wait_for_completion(libusb_context *ctx, const double timeout, b timeval tv; tv.tv_sec = 0; tv.tv_usec = 0; - libusb_handle_events_timeout(ctx, &tv); + libusb_handle_events_timeout_completed(ctx, &tv, &completed); if (completed) return true; //finish the rest with a timeout loop @@ -78,7 +85,7 @@ UHD_INLINE bool wait_for_completion(libusb_context *ctx, const double timeout, b timeval tv; tv.tv_sec = 0; tv.tv_usec = 10000; /*10ms*/ - libusb_handle_events_timeout(ctx, &tv); + libusb_handle_events_timeout_completed(ctx, &tv, &completed); } return completed; @@ -96,7 +103,7 @@ public: _lut(lut), _frame_size(frame_size) { /* NOP */ } void release(void){ - completed = false; + completed = 0; _lut->length = _frame_size; //always reset length UHD_ASSERT_THROW(libusb_submit_transfer(_lut) == 0); } @@ -109,7 +116,7 @@ public: return managed_recv_buffer::sptr(); } - bool completed; + int completed; private: libusb_context *_ctx; @@ -129,7 +136,7 @@ public: _lut(lut), _frame_size(frame_size) { completed = true; } void release(void){ - completed = false; + completed = 0; _lut->length = size(); UHD_ASSERT_THROW(libusb_submit_transfer(_lut) == 0); } @@ -142,7 +149,7 @@ public: return managed_send_buffer::sptr(); } - bool completed; + int completed; private: libusb_context *_ctx; @@ -249,7 +256,7 @@ public: } //process all transfers until timeout occurs - bool completed = false; + int completed = 0; wait_for_completion(ctx, 0.01, completed); //free all transfers diff --git a/host/lib/transport/usb_zero_copy_wrapper.cpp b/host/lib/transport/usb_zero_copy_wrapper.cpp index d04244ca9..ec5667020 100644 --- a/host/lib/transport/usb_zero_copy_wrapper.cpp +++ b/host/lib/transport/usb_zero_copy_wrapper.cpp @@ -176,6 +176,14 @@ public: } managed_recv_buffer::sptr get_recv_buff(double timeout){ + //lazy flush mechanism - negative timeout + if (timeout < 0.0) + { + _last_recv_buff.reset(); + while (_internal_zc->get_recv_buff()){} + return managed_recv_buffer::sptr(); + } + //attempt to get a managed recv buffer if (not _last_recv_buff){ _last_recv_buff = _internal_zc->get_recv_buff(timeout); diff --git a/host/lib/usrp/b100/b100_impl.cpp b/host/lib/usrp/b100/b100_impl.cpp index c4d050242..b3237d547 100644 --- a/host/lib/usrp/b100/b100_impl.cpp +++ b/host/lib/usrp/b100/b100_impl.cpp @@ -516,6 +516,7 @@ void b100_impl::check_fw_compat(void){ "%s" ) % B100_FW_COMPAT_NUM % fw_compat_num % print_images_error())); } + _tree->create<std::string>("/mboards/0/fw_version").set(str(boost::format("%u.0") % fw_compat_num)); } void b100_impl::check_fpga_compat(void){ diff --git a/host/lib/usrp/b100/io_impl.cpp b/host/lib/usrp/b100/io_impl.cpp index 723756dcc..bcf712cd9 100644 --- a/host/lib/usrp/b100/io_impl.cpp +++ b/host/lib/usrp/b100/io_impl.cpp @@ -153,6 +153,10 @@ rx_streamer::sptr b100_impl::get_rx_stream(const uhd::stream_args_t &args_){ id.num_outputs = 1; my_streamer->set_converter(id); + //flush stuff + _data_transport->get_recv_buff(-1.0); //negative flushes!! + _recv_demuxer = recv_packet_demuxer::make(_data_transport, _rx_dsps.size(), B100_RX_SID_BASE); + //bind callbacks for the handler for (size_t chan_i = 0; chan_i < args.channels.size(); chan_i++){ const size_t dsp = args.channels[chan_i]; diff --git a/host/lib/usrp/common/recv_packet_demuxer.cpp b/host/lib/usrp/common/recv_packet_demuxer.cpp index f2cfe3bb0..fe606213c 100644 --- a/host/lib/usrp/common/recv_packet_demuxer.cpp +++ b/host/lib/usrp/common/recv_packet_demuxer.cpp @@ -19,6 +19,8 @@ #include <uhd/utils/msg.hpp> #include <uhd/utils/byteswap.hpp> #include <boost/thread/mutex.hpp> +#include <uhd/transport/vrt_if_packet.hpp> +#include <uhd/types/metadata.hpp> #include <queue> #include <deque> #include <vector> @@ -27,6 +29,19 @@ using namespace uhd; using namespace uhd::usrp; using namespace uhd::transport; +struct recv_pkt_demux_mrb : public managed_recv_buffer +{ +public: + recv_pkt_demux_mrb(void){/*NOP*/} + + void release(void) + { + delete this; + } + + boost::uint32_t buff[10]; +}; + static UHD_INLINE boost::uint32_t extract_sid(managed_recv_buffer::sptr &buff){ //ASSUME that the data is in little endian format return uhd::wtohx(buff->cast<const boost::uint32_t *>()[1]); @@ -66,7 +81,20 @@ public: //otherwise queue and try again if (rx_index < _queues.size()) _queues[rx_index].wrapper.push(buff); - else UHD_MSG(error) << "Got a data packet with unknown SID " << extract_sid(buff) << std::endl; + else + { + UHD_MSG(error) << "Got a data packet with unknown SID " << extract_sid(buff) << std::endl; + recv_pkt_demux_mrb *mrb = new recv_pkt_demux_mrb(); + vrt::if_packet_info_t info; + info.packet_type = vrt::if_packet_info_t::PACKET_TYPE_DATA; + info.num_payload_words32 = 1; + info.num_payload_bytes = info.num_payload_words32*sizeof(boost::uint32_t); + info.has_sid = true; + info.sid = _sid_base + index; + vrt::if_hdr_pack_le(mrb->buff, info); + mrb->buff[info.num_header_words32] = rx_metadata_t::ERROR_CODE_OVERFLOW; + return mrb->make(mrb, mrb->buff, info.num_packet_words32*sizeof(boost::uint32_t)); + } } } diff --git a/host/lib/usrp/gps_ctrl.cpp b/host/lib/usrp/gps_ctrl.cpp index f3bdded60..917f115f3 100644 --- a/host/lib/usrp/gps_ctrl.cpp +++ b/host/lib/usrp/gps_ctrl.cpp @@ -26,6 +26,10 @@ #include <boost/thread/thread.hpp> #include <boost/tokenizer.hpp> #include <boost/format.hpp> +#include <boost/regex.hpp> + +#include "boost/tuple/tuple.hpp" +#include "boost/foreach.hpp" using namespace uhd; using namespace boost::gregorian; @@ -38,14 +42,69 @@ using namespace boost::this_thread; */ class gps_ctrl_impl : public gps_ctrl{ +private: + std::map<std::string, boost::tuple<std::string, boost::system_time, bool> > sensors; + + std::string get_cached_sensor(const std::string sensor, const int freshness, const bool once, const bool touch=true) { + boost::system_time time = boost::get_system_time(); + try { + // this is nasty ... + //std::cout << boost::format("Requested %s - seen? ") % sensor << sensors[sensor].get<2>() << " once? " << once << std::endl; + if(time - sensors[sensor].get<1>() < milliseconds(freshness) && (!once or !sensors[sensor].get<2>())) { + sensors[sensor] = boost::make_tuple(sensors[sensor].get<0>(), sensors[sensor].get<1>(), touch); + return sensors[sensor].get<0>(); + } else { + return update_cached_sensors(sensor); + } + } catch(std::exception &e) { + UHD_MSG(warning) << "get_cached_sensor: " << e.what(); + } + return std::string(); + } + + std::string update_cached_sensors(const std::string sensor) { + if(not gps_detected() || (gps_type != GPS_TYPE_JACKSON_LABS)) { + UHD_MSG(error) << "get_stat(): unsupported GPS or no GPS detected"; + return std::string(); + } + + std::string msg = _recv(); + static const boost::regex status_regex("\\d\\d-\\d\\d-\\d\\d"); + boost::system_time time = boost::get_system_time(); + if(msg.size() < 6) + return std::string(); + + std::string nmea = msg.substr(1,5); + const std::list<std::string> list = boost::assign::list_of("GPGGA")("GPRMC"); + BOOST_FOREACH(std::string key, list) { + // beginning matches one of the NMEA keys + if(!nmea.compare(key)) { + sensors[key] = boost::make_tuple(msg, time, !sensor.compare(key)); + // if this was what we're looking for return it + return (!sensor.compare(key))? msg : std::string(); + } + } + + //We're still here so it's not one of the NMEA strings from above + if(boost::regex_search(msg, status_regex, boost::regex_constants::match_continuous)) { + trim(msg); + sensors["SERVO"] = boost::make_tuple(msg, time, false); + if(!sensor.compare("SERVO")) + return msg; + else + return std::string(); + } + return std::string(); + } public: 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...) _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 @@ -60,7 +119,7 @@ public: if(reply.find("Command Error") != std::string::npos) { gps_type = GPS_TYPE_JACKSON_LABS; break; - } + } 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)); @@ -99,7 +158,8 @@ public: ("gps_gpgga") ("gps_gprmc") ("gps_time") - ("gps_locked"); + ("gps_locked") + ("gps_servo"); return ret; } @@ -108,7 +168,7 @@ public: or key == "gps_gprmc") { return sensor_value_t( boost::to_upper_copy(key), - get_nmea(boost::to_upper_copy(key.substr(4,8))), + get_cached_sensor(boost::to_upper_copy(key.substr(4,8)), GPS_NMEA_NORMAL_FRESHNESS, false, false), ""); } else if(key == "gps_time") { @@ -117,6 +177,9 @@ public: else if(key == "gps_locked") { return sensor_value_t("GPS lock status", locked(), "locked", "unlocked"); } + else if(key == "gps_servo") { + return sensor_value_t("GPS servo status", get_servo(), ""); + } else { throw uhd::value_error("gps ctrl get_sensor unknown key: " + key); } @@ -138,24 +201,25 @@ private: sleep(milliseconds(FIREFLY_STUPID_DELAY_MS)); _send("GPS:GPRMC 1\n"); sleep(milliseconds(FIREFLY_STUPID_DELAY_MS)); + _send("SERV:TRAC 1\n"); // enable servo trace message + sleep(milliseconds(FIREFLY_STUPID_DELAY_MS)); } - + //retrieve a raw NMEA sentence std::string get_nmea(std::string msgtype) { - msgtype.insert(0, "$"); std::string reply; - if(not gps_detected()) { - UHD_MSG(error) << "get_nmea(): unsupported GPS or no GPS detected"; - return std::string(); - } - - _flush(); //flush all input before waiting for a message 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.substr(0, 6) == msgtype) - return reply; + if(!msgtype.compare("GPRMC")) { + reply = get_cached_sensor(msgtype, GPS_NMEA_FRESHNESS, true); + } + else { + reply = get_cached_sensor(msgtype, GPS_NMEA_LOW_FRESHNESS, false); + } + if(reply.size()) { + if(reply.substr(1, 5) == msgtype) return reply; + } boost::this_thread::sleep(milliseconds(GPS_TIMEOUT_DELAY_MS)); } throw uhd::value_error(str(boost::format("get_nmea(): no %s message found") % msgtype)); @@ -178,7 +242,7 @@ private: ptime get_time(void) { int error_cnt = 0; ptime gps_time; - while(error_cnt < 3) { + while(error_cnt < 2) { try { std::string reply = get_nmea("GPRMC"); @@ -188,29 +252,30 @@ private: if(datestr.size() == 0 or timestr.size() == 0) { throw uhd::value_error(str(boost::format("Invalid response \"%s\"") % reply)); } - + //just trust me on this one - gps_time = ptime( date( + gps_time = ptime( date( greg_year(boost::lexical_cast<int>(datestr.substr(4, 2)) + 2000), - greg_month(boost::lexical_cast<int>(datestr.substr(2, 2))), - greg_day(boost::lexical_cast<int>(datestr.substr(0, 2))) + greg_month(boost::lexical_cast<int>(datestr.substr(2, 2))), + greg_day(boost::lexical_cast<int>(datestr.substr(0, 2))) ), hours( boost::lexical_cast<int>(timestr.substr(0, 2))) + minutes(boost::lexical_cast<int>(timestr.substr(2, 2))) + seconds(boost::lexical_cast<int>(timestr.substr(4, 2))) ); return gps_time; - + } catch(std::exception &e) { UHD_MSG(warning) << "get_time: " << e.what(); + _flush(); error_cnt++; } } throw uhd::value_error("Timeout after no valid message found"); - + return gps_time; //keep gcc from complaining } - + time_t get_epoch_time(void) { return (get_time() - from_time_t(0)).total_seconds(); } @@ -223,7 +288,7 @@ private: int error_cnt = 0; while(error_cnt < 3) { try { - std::string reply = get_nmea("GPGGA"); + std::string reply = get_cached_sensor("GPGGA", GPS_LOCK_FRESHNESS, false, false); if(reply.size() <= 1) return false; return (get_token(reply, 6) != "0"); @@ -236,6 +301,20 @@ private: return false; } + std::string get_servo(void) { + std::string reply; + + const boost::system_time comm_timeout = boost::get_system_time() + milliseconds(GPS_COMM_TIMEOUT_MS); + while(boost::get_system_time() < comm_timeout) { + reply = get_cached_sensor("SERVO", GPS_SERVO_FRESHNESS, false); + if(reply.size()) + return reply; + boost::this_thread::sleep(milliseconds(GPS_TIMEOUT_DELAY_MS)); + } + throw uhd::value_error("get_stat(): no servo message found"); + return std::string(); + } + uart_iface::sptr _uart; void _flush(void){ @@ -258,7 +337,12 @@ private: GPS_TYPE_NONE } gps_type; - static const int GPS_COMM_TIMEOUT_MS = 1500; + static const int GPS_COMM_TIMEOUT_MS = 1300; + static const int GPS_NMEA_FRESHNESS = 10; + static const int GPS_NMEA_LOW_FRESHNESS = 2500; + static const int GPS_NMEA_NORMAL_FRESHNESS = 1000; + 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 FIREFLY_STUPID_DELAY_MS = 200; }; diff --git a/host/lib/usrp/multi_usrp.cpp b/host/lib/usrp/multi_usrp.cpp index 0331cf93a..46dd8b670 100644 --- a/host/lib/usrp/multi_usrp.cpp +++ b/host/lib/usrp/multi_usrp.cpp @@ -140,6 +140,14 @@ static tune_result_t tune_xx_subdev_and_dsp( } //------------------------------------------------------------------ + //-- poke the tune request args into the dboard + //------------------------------------------------------------------ + if (rf_fe_subtree->exists("tune_args")) + { + rf_fe_subtree->access<device_addr_t>("tune_args").set(tune_request.args); + } + + //------------------------------------------------------------------ //-- set the RF frequency depending upon the policy //------------------------------------------------------------------ double target_rf_freq = 0.0; diff --git a/host/lib/utils/CMakeLists.txt b/host/lib/utils/CMakeLists.txt index 95105f917..a28e1f9ef 100644 --- a/host/lib/utils/CMakeLists.txt +++ b/host/lib/utils/CMakeLists.txt @@ -115,14 +115,14 @@ SET_SOURCE_FILES_PROPERTIES( ######################################################################## # Define UHD_PKG_DATA_PATH for paths.cpp ######################################################################## -FILE(TO_NATIVE_PATH ${CMAKE_INSTALL_PREFIX}/${PKG_DATA_DIR} UHD_PKG_DATA_PATH) -STRING(REPLACE "\\" "\\\\" UHD_PKG_DATA_PATH ${UHD_PKG_DATA_PATH}) -MESSAGE(STATUS "Full package data directory: ${UHD_PKG_DATA_PATH}") +FILE(TO_NATIVE_PATH ${CMAKE_INSTALL_PREFIX} UHD_PKG_PATH) +STRING(REPLACE "\\" "\\\\" UHD_PKG_PATH ${UHD_PKG_PATH}) SET_SOURCE_FILES_PROPERTIES( ${CMAKE_CURRENT_SOURCE_DIR}/paths.cpp + ${CMAKE_CURRENT_SOURCE_DIR}/images.cpp PROPERTIES COMPILE_DEFINITIONS - "UHD_PKG_DATA_PATH=\"${UHD_PKG_DATA_PATH}\"" + "UHD_PKG_PATH=\"${UHD_PKG_PATH}\";UHD_LIB_DIR=\"lib${LIB_SUFFIX}\"" ) ######################################################################## diff --git a/host/lib/utils/images.cpp b/host/lib/utils/images.cpp index 251cadeaa..1ba2f81e6 100644 --- a/host/lib/utils/images.cpp +++ b/host/lib/utils/images.cpp @@ -42,7 +42,7 @@ std::string uhd::find_image_path(const std::string &image_name){ } std::string uhd::find_images_downloader(void){ - return fs::path((fs::path(get_pkg_data_path()) / "utils" / "uhd_images_downloader.py")).string(); + return fs::path(fs::path(uhd::get_pkg_path()) / UHD_LIB_DIR / "uhd" / "utils" / "uhd_images_downloader.py").string(); } std::string uhd::print_images_error(void){ diff --git a/host/lib/utils/paths.cpp b/host/lib/utils/paths.cpp index 26fa6d1c7..53055314b 100644 --- a/host/lib/utils/paths.cpp +++ b/host/lib/utils/paths.cpp @@ -71,20 +71,20 @@ static std::vector<fs::path> get_env_paths(const std::string &var_name){ /*********************************************************************** * Get a list of special purpose paths **********************************************************************/ -std::string uhd::get_pkg_data_path(void) +std::string uhd::get_pkg_path(void) { - return get_env_var("UHD_PKG_DATA_PATH", UHD_PKG_DATA_PATH); + return get_env_var("UHD_PKG_PATH", UHD_PKG_PATH); } std::vector<fs::path> get_image_paths(void){ std::vector<fs::path> paths = get_env_paths("UHD_IMAGE_PATH"); - paths.push_back(fs::path(uhd::get_pkg_data_path()) / "images"); + paths.push_back(fs::path(uhd::get_pkg_path()) / "share" / "uhd" / "images"); return paths; } std::vector<fs::path> get_module_paths(void){ std::vector<fs::path> paths = get_env_paths("UHD_MODULE_PATH"); - paths.push_back(fs::path(uhd::get_pkg_data_path()) / "modules"); + paths.push_back(fs::path(uhd::get_pkg_path()) / UHD_LIB_DIR / "uhd" / "modules"); return paths; } |