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-rw-r--r--host/lib/usrp/gps_ctrl.cpp49
-rw-r--r--host/lib/version.cpp2
-rw-r--r--host/utils/query_gpsdo_sensors.cpp6
3 files changed, 48 insertions, 9 deletions
diff --git a/host/lib/usrp/gps_ctrl.cpp b/host/lib/usrp/gps_ctrl.cpp
index 207ef10ab..1cee8e566 100644
--- a/host/lib/usrp/gps_ctrl.cpp
+++ b/host/lib/usrp/gps_ctrl.cpp
@@ -89,12 +89,18 @@ private:
}
std::string update_cached_sensors(const std::string sensor) {
- if(not gps_detected() || (gps_type != GPS_TYPE_INTERNAL_GPSDO)) {
+ if(not gps_detected() || !(gps_type == GPS_TYPE_INTERNAL_GPSDO || gps_type == GPS_TYPE_LEA_M8F)) {
UHD_MSG(error) << "get_stat(): unsupported GPS or no GPS detected";
return std::string();
}
- const std::list<std::string> list = boost::assign::list_of("GPGGA")("GPRMC")("SERVO");
+ std::list<std::string> list = boost::assign::list_of("GPGGA")("GPRMC")("SERVO");
+ const std::list<std::string> list_lea_m8f = boost::assign::list_of("GNGGA")("GNRMC");
+
+ if (gps_type == GPS_TYPE_LEA_M8F) {
+ list = list_lea_m8f;
+ }
+
static const boost::regex status_regex("\\d\\d-\\d\\d-\\d\\d");
static const boost::regex gp_msg_regex("^\\$GP.*,\\*[0-9A-F]{2}$");
std::map<std::string,std::string> msgs;
@@ -168,6 +174,11 @@ public:
break;
}
else if(reply.substr(0, 3) == "$GP") i_heard_some_nmea = true; //but keep looking for that "Command Error" response
+ else if(reply.substr(0, 3) == "$GN") {
+ // The u-blox LEA-M8F outputs $GNGGA and $GNRMC messages
+ gps_type = GPS_TYPE_LEA_M8F;
+ break;
+ }
else if(reply.length() != 0) i_heard_something_weird = true; //probably wrong baud rate
}
@@ -183,6 +194,11 @@ public:
init_gpsdo();
break;
+ case GPS_TYPE_LEA_M8F:
+ UHD_MSG(status) << "Found an internal u-blox LEA-M8F GPSDO" << std::endl;
+ init_lea_m8f();
+ break;
+
case GPS_TYPE_GENERIC_NMEA:
UHD_MSG(status) << "Found a generic NMEA GPS device" << std::endl;
break;
@@ -204,6 +220,8 @@ public:
std::vector<std::string> ret = boost::assign::list_of
("gps_gpgga")
("gps_gprmc")
+ ("gps_gngga")
+ ("gps_gnrmc")
("gps_time")
("gps_locked")
("gps_servo");
@@ -212,7 +230,9 @@ public:
uhd::sensor_value_t get_sensor(std::string key) {
if(key == "gps_gpgga"
- or key == "gps_gprmc") {
+ or key == "gps_gprmc"
+ or key == "gps_gngga"
+ or key == "gps_gnrmc") {
return sensor_value_t(
boost::to_upper_copy(key),
get_cached_sensor(boost::to_upper_copy(key.substr(4,8)), GPS_NMEA_NORMAL_FRESHNESS, false, false),
@@ -252,13 +272,17 @@ private:
sleep(milliseconds(GPSDO_COMMAND_DELAY_MS));
}
+ void init_lea_m8f(void) {
+ // Nothing much to do yet
+ }
+
//retrieve a raw NMEA sentence
std::string get_nmea(std::string msgtype) {
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) {
- if(!msgtype.compare("GPRMC")) {
+ if(! (msgtype.compare("GPRMC") || msgtype.compare("GNRMC")) ) {
reply = get_cached_sensor(msgtype, GPS_NMEA_FRESHNESS, true);
}
else {
@@ -291,7 +315,13 @@ private:
ptime gps_time;
while(error_cnt < 2) {
try {
- std::string reply = get_nmea("GPRMC");
+ std::string reply;
+ if (gps_type == GPS_TYPE_LEA_M8F) {
+ reply = get_nmea("GNRMC");
+ }
+ else {
+ reply = get_nmea("GPRMC");
+ }
std::string datestr = get_token(reply, 9);
std::string timestr = get_token(reply, 1);
@@ -335,7 +365,13 @@ private:
int error_cnt = 0;
while(error_cnt < 3) {
try {
- std::string reply = get_cached_sensor("GPGGA", GPS_LOCK_FRESHNESS, false, false);
+ std::string reply;
+ if (gps_type == GPS_TYPE_LEA_M8F) {
+ reply = get_cached_sensor("GNGGA", GPS_LOCK_FRESHNESS, false, false);
+ }
+ else {
+ reply = get_cached_sensor("GPGGA", GPS_LOCK_FRESHNESS, false, false);
+ }
if(reply.size() <= 1) return false;
return (get_token(reply, 6) != "0");
@@ -388,6 +424,7 @@ private:
enum {
GPS_TYPE_INTERNAL_GPSDO,
+ GPS_TYPE_LEA_M8F,
GPS_TYPE_GENERIC_NMEA,
GPS_TYPE_NONE
} gps_type;
diff --git a/host/lib/version.cpp b/host/lib/version.cpp
index 2b7125e55..24d4bc2b4 100644
--- a/host/lib/version.cpp
+++ b/host/lib/version.cpp
@@ -22,7 +22,7 @@
#ifndef UHD_DONT_PRINT_SYSTEM_INFO
UHD_STATIC_BLOCK(print_system_info){
- std::cout
+ std::cerr
<< BOOST_PLATFORM << "; "
<< BOOST_COMPILER << "; "
<< "Boost_" << BOOST_VERSION << "; "
diff --git a/host/utils/query_gpsdo_sensors.cpp b/host/utils/query_gpsdo_sensors.cpp
index 3b98a634c..7b65bd518 100644
--- a/host/utils/query_gpsdo_sensors.cpp
+++ b/host/utils/query_gpsdo_sensors.cpp
@@ -120,9 +120,11 @@ int UHD_SAFE_MAIN(int argc, char *argv[]){
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");
+ uhd::sensor_value_t gngga_string = usrp->get_mboard_sensor("gps_gngga");
+ uhd::sensor_value_t gnrmc_string = usrp->get_mboard_sensor("gps_gnrmc");
std::cout << boost::format("Printing available NMEA strings:\n");
- std::cout << boost::format("%s\n%s\n%s\n") % gga_string.to_pp_string() % rmc_string.to_pp_string() % gps_time.to_pp_string();
- } catch (std::exception &) {
+ std::cout << boost::format("%s\n%s\n%s\n%s\n%s\n") % gga_string.to_pp_string() % rmc_string.to_pp_string() % gngga_string.to_pp_string() % gnrmc_string.to_pp_string() % gps_time.to_pp_string();
+ } catch (std::exception &e) {
std::cout << "NMEA strings not implemented for this device." << std::endl;
}
std::cout << boost::format("UHD Device time: %.0f seconds\n") % (last_pps_time.get_real_secs());
generated by cgit v1.2.3 (git 2.39.1) at 2024-12-26 19:57:39 +0000