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uhd/host/lib/usrp/usrp2/usrp2_iface.cpp
Martin Braun 876d4150aa uhd: Apply clang-format against all .cpp and .hpp files in host/ 
Note: template_lvbitx.{cpp,hpp} need to be excluded from the list of
files that clang-format gets applied against.
2020-03-03 08:51:32 -06:00

489 lines
18 KiB
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//
// Copyright 2010-2012,2014-2015 Ettus Research LLC
// Copyright 2018 Ettus Research, a National Instruments Company
//
// SPDX-License-Identifier: GPL-3.0-or-later
//
#include "usrp2_iface.hpp"
#include "fw_common.h"
#include "usrp2_impl.hpp"
#include "usrp2_regs.hpp"
#include <uhd/exception.hpp>
#include <uhd/types/dict.hpp>
#include <uhd/utils/log.hpp>
#include <uhd/utils/paths.hpp>
#include <uhd/utils/platform.hpp>
#include <uhd/utils/safe_call.hpp>
#include <uhd/utils/tasks.hpp>
#include <boost/asio.hpp> //used for htonl and ntohl
#include <boost/assign/list_of.hpp>
#include <boost/filesystem.hpp>
#include <boost/format.hpp>
#include <boost/functional/hash.hpp>
#include <boost/tokenizer.hpp>
#include <algorithm>
#include <chrono>
#include <functional>
#include <iostream>
#include <thread>
using namespace uhd;
using namespace uhd::usrp;
using namespace uhd::transport;
namespace fs = boost::filesystem;
static const double CTRL_RECV_TIMEOUT = 1.0;
static const size_t CTRL_RECV_RETRIES = 3;
// custom timeout error for retry logic to catch/retry
struct timeout_error : uhd::runtime_error
{
timeout_error(const std::string& what) : uhd::runtime_error(what)
{
// NOP
}
};
static const uint32_t MIN_PROTO_COMPAT_SPI = 7;
static const uint32_t MIN_PROTO_COMPAT_I2C = 7;
// The register compat number must reflect the protocol compatibility
// and the compatibility of the register mapping (more likely to change).
static const uint32_t MIN_PROTO_COMPAT_REG = 10;
// static const uint32_t MIN_PROTO_COMPAT_UART = 7;
class usrp2_iface_impl : public usrp2_iface
{
public:
/***********************************************************************
* Structors
**********************************************************************/
usrp2_iface_impl(udp_simple::sptr ctrl_transport)
: _ctrl_transport(ctrl_transport)
, _ctrl_seq_num(0)
, _protocol_compat(0) // initialized below...
{
// Obtain the firmware's compat number.
// Save the response compat number for communication.
// TODO can choose to reject certain older compat numbers
usrp2_ctrl_data_t ctrl_data = usrp2_ctrl_data_t();
ctrl_data.id = htonl(USRP2_CTRL_ID_WAZZUP_BRO);
ctrl_data = ctrl_send_and_recv(ctrl_data, 0, ~0);
if (ntohl(ctrl_data.id) != USRP2_CTRL_ID_WAZZUP_DUDE)
throw uhd::runtime_error("firmware not responding");
_protocol_compat = ntohl(ctrl_data.proto_ver);
mb_eeprom = usrp2_impl::get_mb_eeprom(*this);
}
~usrp2_iface_impl(void)
{
UHD_SAFE_CALL(this->lock_device(false);)
}
/***********************************************************************
* Device locking
**********************************************************************/
void lock_device(bool lock)
{
if (lock) {
this->pokefw(U2_FW_REG_LOCK_GPID, get_process_hash());
_lock_task = task::make(std::bind(&usrp2_iface_impl::lock_task, this));
} else {
_lock_task.reset(); // shutdown the task
this->pokefw(U2_FW_REG_LOCK_TIME, 0); // unlock
}
}
bool is_device_locked(void)
{
// never assume lock with fpga image mismatch
if ((this->peek32(U2_REG_COMPAT_NUM_RB) >> 16) != USRP2_FPGA_COMPAT_NUM)
return false;
uint32_t lock_time = this->peekfw(U2_FW_REG_LOCK_TIME);
uint32_t lock_gpid = this->peekfw(U2_FW_REG_LOCK_GPID);
// may not be the right tick rate, but this is ok for locking purposes
const uint32_t lock_timeout_time = uint32_t(3 * 100e6);
// if the difference is larger, assume not locked anymore
if ((lock_time & 1) == 0)
return false; // bit0 says unlocked
const uint32_t time_diff = this->get_curr_time() - lock_time;
if (time_diff >= lock_timeout_time)
return false;
// otherwise only lock if the device hash is different that ours
return lock_gpid != get_process_hash();
}
void lock_task(void)
{
// re-lock in task
this->pokefw(U2_FW_REG_LOCK_TIME, this->get_curr_time());
// sleep for a bit
std::this_thread::sleep_for(std::chrono::milliseconds(1500));
}
uint32_t get_curr_time(void)
{
return this->peek32(U2_REG_TIME64_LO_RB_IMM) | 1; // bit 1 says locked
}
/***********************************************************************
* Peek and Poke
**********************************************************************/
void poke32(const wb_addr_type addr, const uint32_t data)
{
this->get_reg<uint32_t, USRP2_REG_ACTION_FPGA_POKE32>(addr, data);
}
uint32_t peek32(const wb_addr_type addr)
{
return this->get_reg<uint32_t, USRP2_REG_ACTION_FPGA_PEEK32>(addr);
}
void poke16(const wb_addr_type addr, const uint16_t data)
{
this->get_reg<uint16_t, USRP2_REG_ACTION_FPGA_POKE16>(addr, data);
}
uint16_t peek16(const wb_addr_type addr)
{
return this->get_reg<uint16_t, USRP2_REG_ACTION_FPGA_PEEK16>(addr);
}
void pokefw(wb_addr_type addr, uint32_t data)
{
this->get_reg<uint32_t, USRP2_REG_ACTION_FW_POKE32>(addr, data);
}
uint32_t peekfw(wb_addr_type addr)
{
return this->get_reg<uint32_t, USRP2_REG_ACTION_FW_PEEK32>(addr);
}
template <class T, usrp2_reg_action_t action>
T get_reg(wb_addr_type addr, T data = 0)
{
// setup the out data
usrp2_ctrl_data_t out_data = usrp2_ctrl_data_t();
out_data.id = htonl(USRP2_CTRL_ID_GET_THIS_REGISTER_FOR_ME_BRO);
out_data.data.reg_args.addr = htonl(addr);
out_data.data.reg_args.data = htonl(uint32_t(data));
out_data.data.reg_args.action = action;
// send and recv
usrp2_ctrl_data_t in_data =
this->ctrl_send_and_recv(out_data, MIN_PROTO_COMPAT_REG);
UHD_ASSERT_THROW(ntohl(in_data.id) == USRP2_CTRL_ID_OMG_GOT_REGISTER_SO_BAD_DUDE);
return T(ntohl(in_data.data.reg_args.data));
}
/***********************************************************************
* SPI
**********************************************************************/
uint32_t transact_spi(int which_slave,
const spi_config_t& config,
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 = usrp2_ctrl_data_t();
out_data.id = htonl(USRP2_CTRL_ID_TRANSACT_ME_SOME_SPI_BRO);
out_data.data.spi_args.dev = htonl(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, MIN_PROTO_COMPAT_SPI);
UHD_ASSERT_THROW(ntohl(in_data.id) == USRP2_CTRL_ID_OMG_TRANSACTED_SPI_DUDE);
return ntohl(in_data.data.spi_args.data);
}
/***********************************************************************
* I2C
**********************************************************************/
void write_i2c(uint16_t addr, const byte_vector_t& buf)
{
// setup the out data
usrp2_ctrl_data_t out_data = usrp2_ctrl_data_t();
out_data.id = htonl(USRP2_CTRL_ID_WRITE_THESE_I2C_VALUES_BRO);
out_data.data.i2c_args.addr = uint8_t(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, MIN_PROTO_COMPAT_I2C);
UHD_ASSERT_THROW(ntohl(in_data.id) == USRP2_CTRL_ID_COOL_IM_DONE_I2C_WRITE_DUDE);
}
byte_vector_t read_i2c(uint16_t addr, size_t num_bytes)
{
// setup the out data
usrp2_ctrl_data_t out_data = usrp2_ctrl_data_t();
out_data.id = htonl(USRP2_CTRL_ID_DO_AN_I2C_READ_FOR_ME_BRO);
out_data.data.i2c_args.addr = uint8_t(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, MIN_PROTO_COMPAT_I2C);
UHD_ASSERT_THROW(ntohl(in_data.id) == USRP2_CTRL_ID_HERES_THE_I2C_DATA_DUDE);
UHD_ASSERT_THROW(in_data.data.i2c_args.bytes == 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,
uint32_t lo = USRP2_FW_COMPAT_NUM,
uint32_t hi = USRP2_FW_COMPAT_NUM)
{
boost::mutex::scoped_lock lock(_ctrl_mutex);
for (size_t i = 0; i < CTRL_RECV_RETRIES; i++) {
try {
return ctrl_send_and_recv_internal(
out_data, lo, hi, CTRL_RECV_TIMEOUT / CTRL_RECV_RETRIES);
} catch (const timeout_error& e) {
UHD_LOGGER_ERROR("USRP2")
<< "Control packet attempt " << i << ", sequence number "
<< _ctrl_seq_num << ":\n"
<< e.what();
}
}
throw uhd::runtime_error("link dead: timeout waiting for control packet ACK");
}
usrp2_ctrl_data_t ctrl_send_and_recv_internal(
const usrp2_ctrl_data_t& out_data, uint32_t lo, uint32_t hi, const double timeout)
{
// fill in the seq number and send
usrp2_ctrl_data_t out_copy = out_data;
out_copy.proto_ver = htonl(_protocol_compat);
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
uint8_t usrp2_ctrl_data_in_mem[udp_simple::mtu]; // allocate max bytes for recv
const usrp2_ctrl_data_t* ctrl_data_in =
reinterpret_cast<const 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), timeout);
uint32_t compat = ntohl(ctrl_data_in->proto_ver);
if (len >= sizeof(uint32_t) and (hi < compat or lo > compat)) {
throw uhd::runtime_error(str(
boost::format(
"\nPlease update the firmware and FPGA images for your device.\n"
"See the application notes for USRP2/N-Series for instructions.\n"
"Expected protocol compatibility number %s, but got %d:\n"
"The firmware build is not compatible with the host code build.\n"
"%s\n")
% ((lo == hi) ? (boost::format("%d") % hi)
: (boost::format("[%d to %d]") % lo % hi))
% compat % this->images_warn_help_message()));
}
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 timeout_error("no control response, possible packet loss");
}
rev_type get_rev(void)
{
std::string hw = mb_eeprom["hardware"];
if (hw.empty())
return USRP_NXXX;
switch (boost::lexical_cast<uint16_t>(hw)) {
case 0x0300:
case 0x0301:
return USRP2_REV3;
case 0x0400:
return USRP2_REV4;
case 0x0A00:
return USRP_N200;
case 0x0A01:
return USRP_N210;
case 0x0A10:
return USRP_N200_R4;
case 0x0A11:
return USRP_N210_R4;
}
return USRP_NXXX; // unknown type
}
const std::string get_cname(void)
{
switch (this->get_rev()) {
case USRP2_REV3:
return "USRP2 r3";
case USRP2_REV4:
return "USRP2 r4";
case USRP_N200:
return "N200";
case USRP_N210:
return "N210";
case USRP_N200_R4:
return "N200r4";
case USRP_N210_R4:
return "N210r4";
case USRP_NXXX:
return "N???";
}
UHD_THROW_INVALID_CODE_PATH();
}
const std::string get_fw_version_string(void)
{
uint32_t minor =
this->get_reg<uint32_t, USRP2_REG_ACTION_FW_PEEK32>(U2_FW_REG_VER_MINOR);
return str(boost::format("%u.%u") % _protocol_compat % minor);
}
std::string images_warn_help_message(void)
{
// determine the images names
std::string fw_image, fpga_image;
switch (this->get_rev()) {
case USRP2_REV3:
fpga_image = "usrp2_fpga.bin";
fw_image = "usrp2_fw.bin";
break;
case USRP2_REV4:
fpga_image = "usrp2_fpga.bin";
fw_image = "usrp2_fw.bin";
break;
case USRP_N200:
fpga_image = "usrp_n200_r2_fpga.bin";
fw_image = "usrp_n200_fw.bin";
break;
case USRP_N210:
fpga_image = "usrp_n210_r2_fpga.bin";
fw_image = "usrp_n210_fw.bin";
break;
case USRP_N200_R4:
fpga_image = "usrp_n200_r4_fpga.bin";
fw_image = "usrp_n200_fw.bin";
break;
case USRP_N210_R4:
fpga_image = "usrp_n210_r4_fpga.bin";
fw_image = "usrp_n210_fw.bin";
break;
default:
break;
}
if (fw_image.empty() or fpga_image.empty())
return "";
// does your platform use sudo?
std::string sudo;
#if defined(UHD_PLATFORM_LINUX) || defined(UHD_PLATFORM_MACOS)
sudo = "sudo ";
#endif
// look up the real FS path to the images
std::string fw_image_path, fpga_image_path;
try {
fw_image_path = uhd::find_image_path(fw_image);
fpga_image_path = uhd::find_image_path(fpga_image);
} catch (const std::exception&) {
return str(boost::format("Could not find %s and %s in your images path!\n%s")
% fw_image % fpga_image
% print_utility_error("uhd_images_downloader.py"));
}
// escape char for multi-line cmd + newline + indent?
#ifdef UHD_PLATFORM_WIN32
const std::string ml = "^\n ";
#else
const std::string ml = "\\\n ";
#endif
// create the burner commands
if (this->get_rev() == USRP2_REV3 or this->get_rev() == USRP2_REV4) {
const std::string card_burner = uhd::find_utility("usrp2_card_burner_gui.py");
const std::string card_burner_cmd =
str(boost::format(" %s\"%s\" %s--fpga=\"%s\" %s--fw=\"%s\"") % sudo
% card_burner % ml % fpga_image_path % ml % fw_image_path);
return str(boost::format("%s\n%s")
% print_utility_error("uhd_images_downloader.py")
% card_burner_cmd);
} else {
const std::string addr = _ctrl_transport->get_recv_addr();
const std::string image_loader_path =
(fs::path(uhd::get_pkg_path()) / "bin" / "uhd_image_loader").string();
const std::string image_loader_cmd =
str(boost::format(" \"%s\" %s--args=\"type=usrp2,addr=%s\"")
% image_loader_path % ml % addr);
return str(boost::format("%s\n%s")
% print_utility_error("uhd_images_downloader.py")
% image_loader_cmd);
}
}
void set_time(const time_spec_t&)
{
throw uhd::not_implemented_error("Timed commands not supported");
}
time_spec_t get_time(void)
{
return (0.0);
}
private:
// this lovely lady makes it all possible
udp_simple::sptr _ctrl_transport;
// used in send/recv
boost::mutex _ctrl_mutex;
uint32_t _ctrl_seq_num;
uint32_t _protocol_compat;
// lock thread stuff
task::sptr _lock_task;
};
/***********************************************************************
* Public make function for usrp2 interface
**********************************************************************/
usrp2_iface::sptr usrp2_iface::make(udp_simple::sptr ctrl_transport)
{
return usrp2_iface::sptr(new usrp2_iface_impl(ctrl_transport));
}
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