diff options
Diffstat (limited to 'host/lib')
| -rw-r--r-- | host/lib/usrp/gps_ctrl.cpp | 40 |
1 files changed, 19 insertions, 21 deletions
diff --git a/host/lib/usrp/gps_ctrl.cpp b/host/lib/usrp/gps_ctrl.cpp index 105a52b30..98bc90a3f 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 Jackson Labs devices (and other NMEA compatible GPS's) + * A GPS control for NMEA compatible GPSes */ 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_JACKSON_LABS)) { + if(not gps_detected() || (gps_type != GPS_TYPE_ER_GPSDO)) { UHD_MSG(error) << "get_stat(): unsupported GPS or no GPS detected"; return std::string(); } @@ -105,19 +105,18 @@ public: 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 + _send("HAAAY GUYYYYS\n"); //to elicit a response from the GPSDO //wait for _send(...) to return - sleep(milliseconds(FIREFLY_STUPID_DELAY_MS)); + sleep(milliseconds(200)); //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_JACKSON_LABS; + gps_type = GPS_TYPE_ER_GPSDO; break; } else if(reply.substr(0, 3) == "$GP") i_heard_some_nmea = true; //but keep looking for that "Command Error" response @@ -125,16 +124,16 @@ public: sleep(milliseconds(GPS_TIMEOUT_DELAY_MS)); } - if((i_heard_some_nmea) && (gps_type != GPS_TYPE_JACKSON_LABS)) gps_type = GPS_TYPE_GENERIC_NMEA; + if((i_heard_some_nmea) && (gps_type != GPS_TYPE_ER_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_JACKSON_LABS: - UHD_MSG(status) << "Found a Jackson Labs GPS" << std::endl; - init_firefly(); + case GPS_TYPE_ER_GPSDO: + UHD_MSG(status) << "Found an Ettus Research NMEA-capable GPSDO" << std::endl; + init_gpsdo(); break; case GPS_TYPE_GENERIC_NMEA: @@ -186,23 +185,23 @@ public: } private: - void init_firefly(void) { + void init_gpsdo(void) { //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(FIREFLY_STUPID_DELAY_MS)); + sleep(milliseconds(200)); _send("SYST:COMM:SER:ECHO OFF\n"); - sleep(milliseconds(FIREFLY_STUPID_DELAY_MS)); + sleep(milliseconds(200)); _send("SYST:COMM:SER:PRO OFF\n"); - sleep(milliseconds(FIREFLY_STUPID_DELAY_MS)); + sleep(milliseconds(200)); _send("GPS:GPGGA 1\n"); - sleep(milliseconds(FIREFLY_STUPID_DELAY_MS)); + sleep(milliseconds(200)); _send("GPS:GGAST 0\n"); - sleep(milliseconds(FIREFLY_STUPID_DELAY_MS)); + sleep(milliseconds(200)); _send("GPS:GPRMC 1\n"); - sleep(milliseconds(FIREFLY_STUPID_DELAY_MS)); + sleep(milliseconds(200)); _send("SERV:TRAC 0\n"); - sleep(milliseconds(FIREFLY_STUPID_DELAY_MS)); + sleep(milliseconds(200)); } //retrieve a raw NMEA sentence @@ -305,7 +304,7 @@ private: //enable servo reporting _send("SERV:TRAC 1\n"); - sleep(milliseconds(FIREFLY_STUPID_DELAY_MS)); + sleep(milliseconds(200)); std::string reply; @@ -340,7 +339,7 @@ private: } enum { - GPS_TYPE_JACKSON_LABS, + GPS_TYPE_ER_GPSDO, GPS_TYPE_GENERIC_NMEA, GPS_TYPE_NONE } gps_type; @@ -352,7 +351,6 @@ 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 FIREFLY_STUPID_DELAY_MS = 200; }; /*********************************************************************** |