diff options
Diffstat (limited to 'host/utils/query_gpsdo_sensors.cpp')
| -rw-r--r-- | host/utils/query_gpsdo_sensors.cpp | 459 |
1 files changed, 244 insertions, 215 deletions
diff --git a/host/utils/query_gpsdo_sensors.cpp b/host/utils/query_gpsdo_sensors.cpp index 6a3ecca13..4a8aa24d2 100644 --- a/host/utils/query_gpsdo_sensors.cpp +++ b/host/utils/query_gpsdo_sensors.cpp @@ -5,241 +5,270 @@ // SPDX-License-Identifier: GPL-3.0-or-later // -#include <uhd/utils/paths.hpp> -#include <uhd/utils/thread.hpp> -#include <uhd/utils/safe_main.hpp> -#include <uhd/utils/algorithm.hpp> #include <uhd/usrp/multi_usrp.hpp> #include <uhd/usrp_clock/multi_usrp_clock.hpp> +#include <uhd/utils/algorithm.hpp> +#include <uhd/utils/paths.hpp> +#include <uhd/utils/safe_main.hpp> +#include <uhd/utils/thread.hpp> #include <boost/filesystem.hpp> -#include <boost/program_options.hpp> #include <boost/format.hpp> -#include <iostream> -#include <complex> -#include <string> +#include <boost/program_options.hpp> +#include <chrono> #include <cmath> -#include <ctime> +#include <complex> #include <cstdlib> -#include <chrono> +#include <ctime> +#include <iostream> +#include <string> #include <thread> namespace po = boost::program_options; namespace fs = boost::filesystem; -void print_notes(void) { - // Helpful notes - std::cout << boost::format("**************************************Helpful Notes on Clock/PPS Selection**************************************\n"); - std::cout << boost::format("As you can see, the default 10 MHz Reference and 1 PPS signals are now from the GPSDO.\n"); - std::cout << boost::format("If you would like to use the internal reference(TCXO) in other applications, you must configure that explicitly.\n"); - std::cout << boost::format("****************************************************************************************************************\n"); +void print_notes(void) +{ + // Helpful notes + std::cout << boost::format( + "**************************************Helpful Notes on Clock/PPS " + "Selection**************************************\n"); + std::cout << boost::format("As you can see, the default 10 MHz Reference and 1 PPS " + "signals are now from the GPSDO.\n"); + std::cout << boost::format( + "If you would like to use the internal reference(TCXO) in other applications, " + "you must configure that explicitly.\n"); + std::cout << boost::format( + "********************************************************************************" + "********************************\n"); } -int query_clock_sensors(const std::string &args) { - std::cout << boost::format("\nCreating the clock device with: %s...\n") % args; - uhd::usrp_clock::multi_usrp_clock::sptr clock = uhd::usrp_clock::multi_usrp_clock::make(args); - - //Verify GPS sensors are present - std::vector<std::string> sensor_names = clock->get_sensor_names(0); - if(std::find(sensor_names.begin(), sensor_names.end(), "gps_locked") == sensor_names.end()) { - std::cout << boost::format("\ngps_locked sensor not found. This could mean that this unit does not have a GPSDO.\n\n"); - return EXIT_FAILURE; - } - - // Print NMEA strings - try { - uhd::sensor_value_t gga_string = clock->get_sensor("gps_gpgga"); - uhd::sensor_value_t rmc_string = clock->get_sensor("gps_gprmc"); - uhd::sensor_value_t servo_string = clock->get_sensor("gps_servo"); - std::cout << boost::format("\nPrinting available NMEA strings:\n"); - std::cout << boost::format("%s\n%s\n") % gga_string.to_pp_string() % rmc_string.to_pp_string(); - std::cout << boost::format("\nPrinting GPS servo status:\n"); - std::cout << boost::format("%s\n\n") % servo_string.to_pp_string(); - } catch (const uhd::lookup_error &) { - std::cout << "NMEA strings not implemented for this device." << std::endl; - } - std::cout << boost::format("GPS Epoch time: %.5f seconds\n") % clock->get_sensor("gps_time").to_real(); - std::cout << boost::format("PC Clock time: %.5f seconds\n") % time(NULL); - - //finished - std::cout << boost::format("\nDone!\n\n"); - - return EXIT_SUCCESS; +int query_clock_sensors(const std::string& args) +{ + std::cout << boost::format("\nCreating the clock device with: %s...\n") % args; + uhd::usrp_clock::multi_usrp_clock::sptr clock = + uhd::usrp_clock::multi_usrp_clock::make(args); + + // Verify GPS sensors are present + std::vector<std::string> sensor_names = clock->get_sensor_names(0); + if (std::find(sensor_names.begin(), sensor_names.end(), "gps_locked") + == sensor_names.end()) { + std::cout << boost::format("\ngps_locked sensor not found. This could mean that " + "this unit does not have a GPSDO.\n\n"); + return EXIT_FAILURE; + } + + // Print NMEA strings + try { + uhd::sensor_value_t gga_string = clock->get_sensor("gps_gpgga"); + uhd::sensor_value_t rmc_string = clock->get_sensor("gps_gprmc"); + uhd::sensor_value_t servo_string = clock->get_sensor("gps_servo"); + std::cout << boost::format("\nPrinting available NMEA strings:\n"); + std::cout << boost::format("%s\n%s\n") % gga_string.to_pp_string() + % rmc_string.to_pp_string(); + std::cout << boost::format("\nPrinting GPS servo status:\n"); + std::cout << boost::format("%s\n\n") % servo_string.to_pp_string(); + } catch (const uhd::lookup_error&) { + std::cout << "NMEA strings not implemented for this device." << std::endl; + } + std::cout << boost::format("GPS Epoch time: %.5f seconds\n") + % clock->get_sensor("gps_time").to_real(); + std::cout << boost::format("PC Clock time: %.5f seconds\n") % time(NULL); + + // finished + std::cout << boost::format("\nDone!\n\n"); + + return EXIT_SUCCESS; } -int UHD_SAFE_MAIN(int argc, char *argv[]){ - uhd::set_thread_priority_safe(); +int UHD_SAFE_MAIN(int argc, char* argv[]) +{ + uhd::set_thread_priority_safe(); - std::string args; + std::string args; - //Set up program options - po::options_description desc("Allowed options"); - // clang-format off + // Set up program options + po::options_description desc("Allowed options"); + // clang-format off desc.add_options() ("help", "help message") ("args", po::value<std::string>(&args)->default_value(""), "Device address arguments specifying a single USRP") ("clock", "query a clock device's sensors") ; - // clang-format on - po::variables_map vm; - po::store(po::parse_command_line(argc, argv, desc), vm); - po::notify(vm); - - //Print the help message - if (vm.count("help")) { - std::cout << boost::format("Query GPSDO Sensors, try to lock the reference oscillator to the GPS disciplined clock, and set the device time to GPS time") - << std::endl - << std::endl - << desc; - return EXIT_FAILURE; - } - - //If specified, query a clock device instead - if(vm.count("clock")) { - return query_clock_sensors(args); - } - - //Create a USRP device - std::cout << boost::format("\nCreating the USRP device with: %s...\n") % args; - uhd::usrp::multi_usrp::sptr usrp = uhd::usrp::multi_usrp::make(args); - std::cout << boost::format("Using Device: %s\n") % usrp->get_pp_string(); - - //Verify GPS sensors are present (i.e. EEPROM has been burnt) - std::vector<std::string> sensor_names = usrp->get_mboard_sensor_names(0); - - if (std::find(sensor_names.begin(), sensor_names.end(), "gps_locked") == sensor_names.end()) { - std::cout << boost::format("\ngps_locked sensor not found. This could mean that you have not installed the GPSDO correctly.\n\n"); - std::cout << boost::format("Visit one of these pages if the problem persists:\n"); - std::cout << boost::format(" * N2X0/E1X0: http://files.ettus.com/manual/page_gpsdo.html\n"); - std::cout << boost::format(" * X3X0: http://files.ettus.com/manual/page_gpsdo_x3x0.html\n\n"); - return EXIT_FAILURE; - } - - bool ref_set_to_gpsdo = false; - - // Set clock source to gpsdo if supported - if (uhd::has(usrp->get_clock_sources(0),"gpsdo")) - { - std::cout << "Setting the reference clock source to \"gpsdo\"..." << std::endl; - usrp->set_clock_source("gpsdo"); - ref_set_to_gpsdo = true; - } - std::cout << "Clock source is now " << usrp->get_clock_source(0) << std::endl; - - // Set time source to gpsdo if supported - if (uhd::has(usrp->get_time_sources(0),"gpsdo")) - { - std::cout << "Setting the reference clock source to \"gpsdo\"..." << std::endl; - usrp->set_time_source("gpsdo"); - ref_set_to_gpsdo = true; - } - std::cout << "Time source is now " << usrp->get_time_source(0) << std::endl; - - if (not ref_set_to_gpsdo) - { - std::cerr << "ERROR: Unable to set clock or time reference to \"gpsdo\"" << std::endl; - return EXIT_FAILURE; - } - - //Check for ref lock - if(std::find(sensor_names.begin(), sensor_names.end(), "ref_locked") != sensor_names.end()) { - uhd::sensor_value_t ref_locked = usrp->get_mboard_sensor("ref_locked",0); - for (size_t i = 0; not ref_locked.to_bool() and i < 300; i++) { - std::this_thread::sleep_for(std::chrono::milliseconds(100)); - ref_locked = usrp->get_mboard_sensor("ref_locked",0); - } - if(not ref_locked.to_bool()) { - std::cout << boost::format("USRP NOT Locked to Reference.\n"); - std::cout << boost::format("Double check installation instructions (N2X0/E1X0 only): https://www.ettus.com/content/files/gpsdo-kit_4.pdf\n\n"); - return EXIT_FAILURE; - } else { - std::cout << boost::format("USRP Locked to Reference.\n"); - } - } else { - std::cout << boost::format("ref_locked sensor not present on this board.\n"); - } - - print_notes(); - - // The TCXO has a long warm up time, so wait up to 30 seconds for sensor data - // to show up - std::cout << "Waiting for the GPSDO to warm up..." << std::flush; - auto end = std::chrono::steady_clock::now() + std::chrono::seconds(30); - while (std::chrono::steady_clock::now() < end) { - try { - usrp->get_mboard_sensor("gps_locked", 0); - break; - } catch (std::exception &) {} - std::this_thread::sleep_for(std::chrono::milliseconds(250)); - std::cout << "." << std::flush; - } - std::cout << std::endl; - try { - usrp->get_mboard_sensor("gps_locked", 0); - } catch (std::exception &) { - std::cout << "No response from GPSDO in 30 seconds" << std::endl; - return EXIT_FAILURE; - } - std::cout << "The GPSDO is warmed up and talking." << std::endl; - - //Check for GPS lock - uhd::sensor_value_t gps_locked = usrp->get_mboard_sensor("gps_locked",0);; - if(not gps_locked.to_bool()) { - std::cout << boost::format("\nGPS does not have lock. Wait a few minutes and try again.\n"); - std::cout << boost::format("NMEA strings and device time may not be accurate until lock is achieved.\n\n"); - } else { - std::cout << boost::format("GPS Locked"); - } - - //Check PPS and compare UHD device time to GPS time - uhd::sensor_value_t gps_time = usrp->get_mboard_sensor("gps_time"); - uhd::time_spec_t last_pps_time = usrp->get_time_last_pps(); - - //we only care about the full seconds - signed gps_seconds = gps_time.to_int(); - long long pps_seconds = last_pps_time.to_ticks(1.0); - - if(pps_seconds != gps_seconds) { - std::cout << "\nTrying to align the device time to GPS time..." - << std::endl; - - gps_time = usrp->get_mboard_sensor("gps_time"); - - //set the device time to the GPS time - //getting the GPS time returns just after the PPS edge, so just add a - //second and set the device time at the next PPS edge - usrp->set_time_next_pps(uhd::time_spec_t(gps_time.to_int() + 1.0)); - //allow some time to make sure the PPS has come… - std::this_thread::sleep_for(std::chrono::milliseconds(1100)); - //…then ask - gps_seconds = usrp->get_mboard_sensor("gps_time").to_int(); - pps_seconds = usrp->get_time_last_pps().to_ticks(1.0); - } - - if (pps_seconds == gps_seconds) { - std::cout << boost::format("GPS and UHD Device time are aligned.\n"); - } else { - std::cout << boost::format("Could not align UHD Device time to GPS time. Giving up.\n"); - } - std::cout << boost::format("last_pps: %ld vs gps: %ld.") - % pps_seconds % gps_seconds - << std::endl; - - //print NMEA strings - try { - uhd::sensor_value_t gga_string = usrp->get_mboard_sensor("gps_gpgga"); - uhd::sensor_value_t rmc_string = usrp->get_mboard_sensor("gps_gprmc"); - std::cout << boost::format("Printing available NMEA strings:\n"); - std::cout << boost::format("%s\n%s\n") % gga_string.to_pp_string() % rmc_string.to_pp_string(); - } catch (uhd::lookup_error&) { - std::cout << "NMEA strings not implemented for this device." << std::endl; - } - std::cout << boost::format("GPS Epoch time at last PPS: %.5f seconds\n") % usrp->get_mboard_sensor("gps_time").to_real(); - std::cout << boost::format("UHD Device time last PPS: %.5f seconds\n") % (usrp->get_time_last_pps().get_real_secs()); - std::cout << boost::format("UHD Device time right now: %.5f seconds\n") % (usrp->get_time_now().get_real_secs()); - std::cout << boost::format("PC Clock time: %.5f seconds\n") % time(NULL); - - //finished - std::cout << boost::format("\nDone!\n\n"); - - return EXIT_SUCCESS; + // clang-format on + po::variables_map vm; + po::store(po::parse_command_line(argc, argv, desc), vm); + po::notify(vm); + + // Print the help message + if (vm.count("help")) { + std::cout << boost::format( + "Query GPSDO Sensors, try to lock the reference oscillator to " + "the GPS disciplined clock, and set the device time to GPS time") + << std::endl + << std::endl + << desc; + return EXIT_FAILURE; + } + + // If specified, query a clock device instead + if (vm.count("clock")) { + return query_clock_sensors(args); + } + + // Create a USRP device + std::cout << boost::format("\nCreating the USRP device with: %s...\n") % args; + uhd::usrp::multi_usrp::sptr usrp = uhd::usrp::multi_usrp::make(args); + std::cout << boost::format("Using Device: %s\n") % usrp->get_pp_string(); + + // Verify GPS sensors are present (i.e. EEPROM has been burnt) + std::vector<std::string> sensor_names = usrp->get_mboard_sensor_names(0); + + if (std::find(sensor_names.begin(), sensor_names.end(), "gps_locked") + == sensor_names.end()) { + std::cout << boost::format("\ngps_locked sensor not found. This could mean that " + "you have not installed the GPSDO correctly.\n\n"); + std::cout << boost::format("Visit one of these pages if the problem persists:\n"); + std::cout << boost::format( + " * N2X0/E1X0: http://files.ettus.com/manual/page_gpsdo.html\n"); + std::cout << boost::format( + " * X3X0: http://files.ettus.com/manual/page_gpsdo_x3x0.html\n\n"); + return EXIT_FAILURE; + } + + bool ref_set_to_gpsdo = false; + + // Set clock source to gpsdo if supported + if (uhd::has(usrp->get_clock_sources(0), "gpsdo")) { + std::cout << "Setting the reference clock source to \"gpsdo\"..." << std::endl; + usrp->set_clock_source("gpsdo"); + ref_set_to_gpsdo = true; + } + std::cout << "Clock source is now " << usrp->get_clock_source(0) << std::endl; + + // Set time source to gpsdo if supported + if (uhd::has(usrp->get_time_sources(0), "gpsdo")) { + std::cout << "Setting the reference clock source to \"gpsdo\"..." << std::endl; + usrp->set_time_source("gpsdo"); + ref_set_to_gpsdo = true; + } + std::cout << "Time source is now " << usrp->get_time_source(0) << std::endl; + + if (not ref_set_to_gpsdo) { + std::cerr << "ERROR: Unable to set clock or time reference to \"gpsdo\"" + << std::endl; + return EXIT_FAILURE; + } + + // Check for ref lock + if (std::find(sensor_names.begin(), sensor_names.end(), "ref_locked") + != sensor_names.end()) { + uhd::sensor_value_t ref_locked = usrp->get_mboard_sensor("ref_locked", 0); + for (size_t i = 0; not ref_locked.to_bool() and i < 300; i++) { + std::this_thread::sleep_for(std::chrono::milliseconds(100)); + ref_locked = usrp->get_mboard_sensor("ref_locked", 0); + } + if (not ref_locked.to_bool()) { + std::cout << boost::format("USRP NOT Locked to Reference.\n"); + std::cout << boost::format( + "Double check installation instructions (N2X0/E1X0 only): " + "https://www.ettus.com/content/files/gpsdo-kit_4.pdf\n\n"); + return EXIT_FAILURE; + } else { + std::cout << boost::format("USRP Locked to Reference.\n"); + } + } else { + std::cout << boost::format("ref_locked sensor not present on this board.\n"); + } + + print_notes(); + + // The TCXO has a long warm up time, so wait up to 30 seconds for sensor data + // to show up + std::cout << "Waiting for the GPSDO to warm up..." << std::flush; + auto end = std::chrono::steady_clock::now() + std::chrono::seconds(30); + while (std::chrono::steady_clock::now() < end) { + try { + usrp->get_mboard_sensor("gps_locked", 0); + break; + } catch (std::exception&) { + } + std::this_thread::sleep_for(std::chrono::milliseconds(250)); + std::cout << "." << std::flush; + } + std::cout << std::endl; + try { + usrp->get_mboard_sensor("gps_locked", 0); + } catch (std::exception&) { + std::cout << "No response from GPSDO in 30 seconds" << std::endl; + return EXIT_FAILURE; + } + std::cout << "The GPSDO is warmed up and talking." << std::endl; + + // Check for GPS lock + uhd::sensor_value_t gps_locked = usrp->get_mboard_sensor("gps_locked", 0); + ; + if (not gps_locked.to_bool()) { + std::cout << boost::format( + "\nGPS does not have lock. Wait a few minutes and try again.\n"); + std::cout << boost::format("NMEA strings and device time may not be accurate " + "until lock is achieved.\n\n"); + } else { + std::cout << boost::format("GPS Locked"); + } + + // Check PPS and compare UHD device time to GPS time + uhd::sensor_value_t gps_time = usrp->get_mboard_sensor("gps_time"); + uhd::time_spec_t last_pps_time = usrp->get_time_last_pps(); + + // we only care about the full seconds + signed gps_seconds = gps_time.to_int(); + long long pps_seconds = last_pps_time.to_ticks(1.0); + + if (pps_seconds != gps_seconds) { + std::cout << "\nTrying to align the device time to GPS time..." << std::endl; + + gps_time = usrp->get_mboard_sensor("gps_time"); + + // set the device time to the GPS time + // getting the GPS time returns just after the PPS edge, so just add a + // second and set the device time at the next PPS edge + usrp->set_time_next_pps(uhd::time_spec_t(gps_time.to_int() + 1.0)); + // allow some time to make sure the PPS has come… + std::this_thread::sleep_for(std::chrono::milliseconds(1100)); + //…then ask + gps_seconds = usrp->get_mboard_sensor("gps_time").to_int(); + pps_seconds = usrp->get_time_last_pps().to_ticks(1.0); + } + + if (pps_seconds == gps_seconds) { + std::cout << boost::format("GPS and UHD Device time are aligned.\n"); + } else { + std::cout << boost::format( + "Could not align UHD Device time to GPS time. Giving up.\n"); + } + std::cout << boost::format("last_pps: %ld vs gps: %ld.") % pps_seconds % gps_seconds + << std::endl; + + // print NMEA strings + try { + uhd::sensor_value_t gga_string = usrp->get_mboard_sensor("gps_gpgga"); + uhd::sensor_value_t rmc_string = usrp->get_mboard_sensor("gps_gprmc"); + std::cout << boost::format("Printing available NMEA strings:\n"); + std::cout << boost::format("%s\n%s\n") % gga_string.to_pp_string() + % rmc_string.to_pp_string(); + } catch (uhd::lookup_error&) { + std::cout << "NMEA strings not implemented for this device." << std::endl; + } + std::cout << boost::format("GPS Epoch time at last PPS: %.5f seconds\n") + % usrp->get_mboard_sensor("gps_time").to_real(); + std::cout << boost::format("UHD Device time last PPS: %.5f seconds\n") + % (usrp->get_time_last_pps().get_real_secs()); + std::cout << boost::format("UHD Device time right now: %.5f seconds\n") + % (usrp->get_time_now().get_real_secs()); + std::cout << boost::format("PC Clock time: %.5f seconds\n") % time(NULL); + + // finished + std::cout << boost::format("\nDone!\n\n"); + + return EXIT_SUCCESS; } |