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//
// Copyright 2010 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
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
#include "usrp2_iface.hpp"
#include <uhd/utils/assert.hpp>
#include <uhd/types/dict.hpp>
#include <boost/thread.hpp>
#include <boost/foreach.hpp>
#include <boost/asio.hpp> //used for htonl and ntohl
#include <boost/assign/list_of.hpp>
#include <stdexcept>
#include <algorithm>
using namespace uhd;
class usrp2_iface_impl : public usrp2_iface{
public:
/***********************************************************************
* Structors
**********************************************************************/
usrp2_iface_impl(transport::udp_simple::sptr ctrl_transport){
_ctrl_transport = ctrl_transport;
}
~usrp2_iface_impl(void){
/* NOP */
}
/***********************************************************************
* Peek and Poke
**********************************************************************/
void poke32(boost::uint32_t addr, boost::uint32_t data){
return this->poke<boost::uint32_t>(addr, data);
}
boost::uint32_t peek32(boost::uint32_t addr){
return this->peek<boost::uint32_t>(addr);
}
void poke16(boost::uint32_t addr, boost::uint16_t data){
return this->poke<boost::uint16_t>(addr, data);
}
boost::uint16_t peek16(boost::uint32_t addr){
return this->peek<boost::uint16_t>(addr);
}
/***********************************************************************
* SPI
**********************************************************************/
boost::uint32_t transact_spi(
int which_slave,
const spi_config_t &config,
boost::uint32_t data,
size_t num_bits,
bool readback
){
static const uhd::dict<spi_config_t::edge_t, int> spi_edge_to_otw = boost::assign::map_list_of
(spi_config_t::EDGE_RISE, USRP2_CLK_EDGE_RISE)
(spi_config_t::EDGE_FALL, USRP2_CLK_EDGE_FALL)
;
//setup the out data
usrp2_ctrl_data_t out_data;
out_data.id = htonl(USRP2_CTRL_ID_TRANSACT_ME_SOME_SPI_BRO);
out_data.data.spi_args.dev = which_slave;
out_data.data.spi_args.miso_edge = spi_edge_to_otw[config.miso_edge];
out_data.data.spi_args.mosi_edge = spi_edge_to_otw[config.mosi_edge];
out_data.data.spi_args.readback = (readback)? 1 : 0;
out_data.data.spi_args.num_bits = num_bits;
out_data.data.spi_args.data = htonl(data);
//send and recv
usrp2_ctrl_data_t in_data = this->ctrl_send_and_recv(out_data);
UHD_ASSERT_THROW(htonl(in_data.id) == USRP2_CTRL_ID_OMG_TRANSACTED_SPI_DUDE);
return ntohl(in_data.data.spi_args.data);
}
/***********************************************************************
* I2C
**********************************************************************/
void write_i2c(boost::uint8_t addr, const byte_vector_t &buf){
//setup the out data
usrp2_ctrl_data_t out_data;
out_data.id = htonl(USRP2_CTRL_ID_WRITE_THESE_I2C_VALUES_BRO);
out_data.data.i2c_args.addr = addr;
out_data.data.i2c_args.bytes = buf.size();
//limitation of i2c transaction size
UHD_ASSERT_THROW(buf.size() <= sizeof(out_data.data.i2c_args.data));
//copy in the data
std::copy(buf.begin(), buf.end(), out_data.data.i2c_args.data);
//send and recv
usrp2_ctrl_data_t in_data = this->ctrl_send_and_recv(out_data);
UHD_ASSERT_THROW(htonl(in_data.id) == USRP2_CTRL_ID_COOL_IM_DONE_I2C_WRITE_DUDE);
}
byte_vector_t read_i2c(boost::uint8_t addr, size_t num_bytes){
//setup the out data
usrp2_ctrl_data_t out_data;
out_data.id = htonl(USRP2_CTRL_ID_DO_AN_I2C_READ_FOR_ME_BRO);
out_data.data.i2c_args.addr = addr;
out_data.data.i2c_args.bytes = num_bytes;
//limitation of i2c transaction size
UHD_ASSERT_THROW(num_bytes <= sizeof(out_data.data.i2c_args.data));
//send and recv
usrp2_ctrl_data_t in_data = this->ctrl_send_and_recv(out_data);
UHD_ASSERT_THROW(htonl(in_data.id) == USRP2_CTRL_ID_HERES_THE_I2C_DATA_DUDE);
UHD_ASSERT_THROW(in_data.data.i2c_args.addr = num_bytes);
//copy out the data
byte_vector_t result(num_bytes);
std::copy(in_data.data.i2c_args.data, in_data.data.i2c_args.data + num_bytes, result.begin());
return result;
}
/***********************************************************************
* Send/Recv over control
**********************************************************************/
usrp2_ctrl_data_t ctrl_send_and_recv(const usrp2_ctrl_data_t &out_data){
boost::mutex::scoped_lock lock(_ctrl_mutex);
//fill in the seq number and send
usrp2_ctrl_data_t out_copy = out_data;
out_copy.proto_ver = htonl(USRP2_PROTO_VERSION);
out_copy.seq = htonl(++_ctrl_seq_num);
_ctrl_transport->send(boost::asio::buffer(&out_copy, sizeof(usrp2_ctrl_data_t)));
//loop until we get the packet or timeout
boost::uint8_t usrp2_ctrl_data_in_mem[USRP2_UDP_BYTES]; //allocate max bytes for recv
usrp2_ctrl_data_t *ctrl_data_in = reinterpret_cast<usrp2_ctrl_data_t *>(usrp2_ctrl_data_in_mem);
while(true){
size_t len = _ctrl_transport->recv(boost::asio::buffer(usrp2_ctrl_data_in_mem));
if(len >= sizeof(boost::uint32_t) and ntohl(ctrl_data_in->proto_ver) != USRP2_PROTO_VERSION){
throw std::runtime_error(str(
boost::format("Expected protocol version %d, but got %d\n"
"The firmware build does not match the host code build."
) % int(USRP2_PROTO_VERSION) % ntohl(ctrl_data_in->proto_ver)
));
}
if (len >= sizeof(usrp2_ctrl_data_t) and ntohl(ctrl_data_in->seq) == _ctrl_seq_num){
return *ctrl_data_in;
}
if (len == 0) break; //timeout
//didnt get seq or bad packet, continue looking...
}
throw std::runtime_error("usrp2 no control response");
}
private:
//this lovely lady makes it all possible
transport::udp_simple::sptr _ctrl_transport;
//used in send/recv
boost::mutex _ctrl_mutex;
boost::uint32_t _ctrl_seq_num;
/***********************************************************************
* Private Templated Peek and Poke
**********************************************************************/
template <class T> void poke(boost::uint32_t addr, T data){
//setup the out data
usrp2_ctrl_data_t out_data;
out_data.id = htonl(USRP2_CTRL_ID_POKE_THIS_REGISTER_FOR_ME_BRO);
out_data.data.poke_args.addr = htonl(addr);
out_data.data.poke_args.data = htonl(boost::uint32_t(data));
out_data.data.poke_args.num_bytes = sizeof(T);
//send and recv
usrp2_ctrl_data_t in_data = this->ctrl_send_and_recv(out_data);
UHD_ASSERT_THROW(htonl(in_data.id) == USRP2_CTRL_ID_OMG_POKED_REGISTER_SO_BAD_DUDE);
}
template <class T> T peek(boost::uint32_t addr){
//setup the out data
usrp2_ctrl_data_t out_data;
out_data.id = htonl(USRP2_CTRL_ID_PEEK_AT_THIS_REGISTER_FOR_ME_BRO);
out_data.data.poke_args.addr = htonl(addr);
out_data.data.poke_args.num_bytes = sizeof(T);
//send and recv
usrp2_ctrl_data_t in_data = this->ctrl_send_and_recv(out_data);
UHD_ASSERT_THROW(htonl(in_data.id) == USRP2_CTRL_ID_WOAH_I_DEFINITELY_PEEKED_IT_DUDE);
return T(ntohl(in_data.data.poke_args.data));
}
};
/***********************************************************************
* Public make function for usrp2 interface
**********************************************************************/
usrp2_iface::sptr usrp2_iface::make(transport::udp_simple::sptr ctrl_transport){
return usrp2_iface::sptr(new usrp2_iface_impl(ctrl_transport));
}
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