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Finished GPS driver, more or less.

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Should detect any 115kbaud GPS on the serial port, as long as it outputs GPRMC packets. Tweaked the serial driver for a stupid off-by-one mistake.
This commit is contained in:
Nick Foster 2010-08-16 16:09:52 -07:00
parent f626a4f21d
commit 40faee2e6d
3 changed files with 97 additions and 38 deletions
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17
firmware/microblaze/lib/hal_io.c
View file

@ -237,10 +237,10 @@ int puts(const char *s)
char *
fgets(hal_uart_name_t u, char * const s)
{
char *x = s;
while((*x=(char)hal_uart_getc(u)) != '\n') x++;
*x = 0;
return s;
char *x = s;
while((*x=(char)hal_uart_getc(u)) != '\n') x++;
*x = 0;
return s;
}
int
@ -248,8 +248,8 @@ fngets(hal_uart_name_t u, char * const s, int len)
{
char *x = s;
while(((*x=(char)hal_uart_getc(u)) != '\n') && ((x-s) < len)) x++;
*x = 0;
return (x-s);
*x = 0;
return (x-s);
}
int
@ -258,8 +258,9 @@ fngets_timeout(hal_uart_name_t u, char * const s, int len)
char *x = s;
while(((*x=(char)hal_uart_getc_timeout(u)) != '\n') && (*x != -1) && ((x-s) < len)) x++;
*x = 0;
return (x-s);
*x = 0;
//printf("Returning from fngets() with string %d of length %d\n", s[0], x-s);
return (x-s);
}
char *

2
firmware/microblaze/lib/hal_uart.c
View file

@ -108,7 +108,7 @@ hal_uart_getc_timeout(hal_uart_name_t u)
int timeout = 0;
while (((uart_regs[u].rxlevel) == 0) && (timeout++ < HAL_UART_TIMEOUT_MS))
mdelay(1);
return (timeout == HAL_UART_TIMEOUT_MS) ? -1 : uart_regs[u].rxchar; //return -1 if nothing there, cause fngets to quit
return (timeout >= HAL_UART_TIMEOUT_MS) ? -1 : uart_regs[u].rxchar; //return -1 if nothing there, cause fngets to quit
}
int hal_uart_rx_flush(hal_uart_name_t u)

116
host/lib/usrp/usrp2/gps_ctrl.cpp
View file

@ -33,74 +33,130 @@ using namespace boost::algorithm;
* A usrp2 GPS control for Jackson Labs devices
*/
//TODO: multiple baud rate support (requires mboard_impl changes for poking UART registers), NMEA support, better autodetection
//TODO: multiple baud rate support (requires mboard_impl changes for poking UART registers)
class usrp2_gps_ctrl_impl : public usrp2_gps_ctrl{
public:
usrp2_gps_ctrl_impl(usrp2_iface::sptr iface){
_iface = iface;
//do init here
//so the Jackson Labs Firefly (and Fury) don't acknowledge successful commands -- only invalid ones.
//first we test to see if there's a Firefly/Fury connected by sending an invalid packet and listening for the response
std::string reply;
bool i_heard_some_nmea = false, i_heard_something_weird = false;
//TODO: try multiple baud rates (many GPS's are set up for 4800bps, you're fixed at 115200bps 8N1 right now)
//you have to poke registers in order to set baud rate, there's no dude/bro interface for it
_iface->read_uart(GPS_UART); //flush it out
_iface->write_uart(GPS_UART, "HAAAY GUYYYYS\n");
try {
reply = _iface->read_uart(GPS_UART);
//std::cerr << "Got reply from GPS: " << reply.c_str() << " with length = " << reply.length() << std::endl;
} catch (std::runtime_error err) {
if(err.what() != std::string("usrp2 no control response")) throw; //sorry can't cope with that
else { //we don't actually have a GPS installed
gps_type = GPS_TYPE_NONE;
gps_type = GPS_TYPE_NONE;
// set_uart_baud_rate(GPS_UART, 115200);
//first we look for a Jackson Labs Firefly (since that's what we sell with the USRP2+...)
_iface->read_uart(GPS_UART); //get whatever junk is in the rx buffer right now, and throw it away
_iface->write_uart(GPS_UART, "HAAAY GUYYYYS\n"); //to elicit a response from the Firefly
//then we loop until we either timeout, or until we get a response that indicates we're a JL device
int timeout = GPS_TIMEOUT_TRIES;
while(timeout--) {
reply = safe_gps_read();
if(trim_right_copy(reply) == "Command Error") {
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
}
if(trim_right_copy(reply) == "Command Error") gps_type = GPS_TYPE_JACKSON_LABS;
else gps_type = GPS_TYPE_NONE; //we'll add NMEA support later
if((i_heard_some_nmea) && (gps_type != GPS_TYPE_JACKSON_LABS)) gps_type = GPS_TYPE_GENERIC_NMEA;
//otherwise, we can try some other common baud rates looking to see if a GPS is connected (todo, later)
if((gps_type == GPS_TYPE_NONE) && i_heard_something_weird) {
std::cout << "Invalid reply, possible incorrect baud rate" << std::endl;
}
bool found_gprmc = false;
switch(gps_type) {
case GPS_TYPE_JACKSON_LABS:
std::cerr << "Found a Jackson Labs GPS" << std::endl;
//issue some setup stuff so it quits spewing data out when not asked to
//none of these should issue replies so we don't bother looking for it
std::cout << "Found a Jackson Labs GPS" << std::endl;
//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.
boost::this_thread::sleep(boost::posix_time::milliseconds(200));
boost::this_thread::sleep(boost::posix_time::milliseconds(FIREFLY_STUPID_DELAY_MS));
_iface->write_uart(GPS_UART, "SYST:COMM:SER:ECHO OFF\n");
boost::this_thread::sleep(boost::posix_time::milliseconds(200));
boost::this_thread::sleep(boost::posix_time::milliseconds(FIREFLY_STUPID_DELAY_MS));
_iface->write_uart(GPS_UART, "SYST:COMM:SER:PRO OFF\n");
boost::this_thread::sleep(boost::posix_time::milliseconds(200));
boost::this_thread::sleep(boost::posix_time::milliseconds(FIREFLY_STUPID_DELAY_MS));
_iface->write_uart(GPS_UART, "GPS:GPGGA 0\n");
boost::this_thread::sleep(boost::posix_time::milliseconds(200));
boost::this_thread::sleep(boost::posix_time::milliseconds(FIREFLY_STUPID_DELAY_MS));
_iface->write_uart(GPS_UART, "GPS:GGAST 0\n");
boost::this_thread::sleep(boost::posix_time::milliseconds(200));
boost::this_thread::sleep(boost::posix_time::milliseconds(FIREFLY_STUPID_DELAY_MS));
_iface->write_uart(GPS_UART, "GPS:GPRMC 1\n");
boost::this_thread::sleep(boost::posix_time::milliseconds(200));
break;
boost::this_thread::sleep(boost::posix_time::milliseconds(FIREFLY_STUPID_DELAY_MS));
// break;
case GPS_TYPE_GENERIC_NMEA:
if(gps_type == GPS_TYPE_GENERIC_NMEA) std::cout << "Found a generic NMEA GPS device" << std::endl;
found_gprmc = false;
//here we loop around looking for a GPRMC packet. if we don't get one, we don't have a usable GPS.
timeout = GPS_TIMEOUT_TRIES;
while(timeout--) {
reply = safe_gps_read();
if(reply.substr(0, 6) == "$GPRMC") {
found_gprmc = true;
break;
}
}
if(!found_gprmc) {
if(gps_type == GPS_TYPE_JACKSON_LABS) std::cout << "Firefly GPS not locked or warming up." << std::endl;
else std::cout << "GPS does not output GPRMC packets. Cannot retrieve time." << std::endl;
gps_type = GPS_TYPE_NONE;
}
break;
case GPS_TYPE_NONE:
default:
break;
}
}
~usrp2_gps_ctrl_impl(void){
}
std::string safe_gps_read() {
std::string reply;
try {
reply = _iface->read_uart(GPS_UART);
//std::cerr << "Got reply from GPS: " << reply.c_str() << " with length = " << reply.length() << std::endl;
} catch (std::runtime_error err) {
if(err.what() != std::string("usrp2 no control response")) throw; //sorry can't cope with that
else { //we don't actually have a GPS installed
reply = std::string();
}
}
return reply;
}
ptime get_time(void) {
std::string reply;
ptime now;
boost::tokenizer<boost::escaped_list_separator<char> > tok(reply);
std::vector<std::string> toked;
int timeout = GPS_TIMEOUT_TRIES;
bool found_gprmc = false;
switch(gps_type) {
case GPS_TYPE_JACKSON_LABS: //deprecated in favor of a single NMEA parser
case GPS_TYPE_GENERIC_NMEA:
while(reply.length() == 0) reply = _iface->read_uart(GPS_UART); //loop until we hear something
while(timeout--) {
reply = safe_gps_read();
if(reply.substr(0, 6) == "$GPRMC") {
found_gprmc = true;
break;
}
}
UHD_ASSERT_THROW(found_gprmc);
tok.assign(reply);
toked.assign(tok.begin(), tok.end());
@ -138,6 +194,8 @@ private:
} gps_type;
static const int GPS_UART = 2; //TODO: this should be plucked from fw_common.h or memory_map.h or somewhere in common with the firmware
static const int GPS_TIMEOUT_TRIES = 5;
static const int FIREFLY_STUPID_DELAY_MS = 200;
};