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uhd/host/lib/usrp/usrp2/usrp2_iface.cpp

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//
// Copyright 2010-2012,2014 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_regs.hpp"
#include "usrp2_impl.hpp"
#include "fw_common.h"
#include "usrp2_iface.hpp"
#include <uhd/exception.hpp>
#include <uhd/utils/msg.hpp>
#include <uhd/utils/paths.hpp>
#include <uhd/utils/tasks.hpp>
#include <uhd/utils/images.hpp>
#include <uhd/utils/safe_call.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 <boost/format.hpp>
#include <boost/bind.hpp>
#include <boost/tokenizer.hpp>
#include <boost/functional/hash.hpp>
#include <boost/filesystem.hpp>
#include <algorithm>
#include <iostream>
#include <uhd/utils/platform.hpp>
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 boost::uint32_t MIN_PROTO_COMPAT_SPI = 7;
static const boost::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 boost::uint32_t MIN_PROTO_COMPAT_REG = 10;
static const boost::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 = mboard_eeprom_t(*this, USRP2_EEPROM_MAP_KEY);
}
~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(boost::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;
boost::uint32_t lock_time = this->peekfw(U2_FW_REG_LOCK_TIME);
boost::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 boost::uint32_t lock_timeout_time = boost::uint32_t(3*100e6);
//if the difference is larger, assume not locked anymore
if ((lock_time & 1) == 0) return false; //bit0 says unlocked
const boost::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
boost::this_thread::sleep(boost::posix_time::milliseconds(1500));
}
boost::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(wb_addr_type addr, boost::uint32_t data){
this->get_reg<boost::uint32_t, USRP2_REG_ACTION_FPGA_POKE32>(addr, data);
}
boost::uint32_t peek32(wb_addr_type addr){
return this->get_reg<boost::uint32_t, USRP2_REG_ACTION_FPGA_PEEK32>(addr);
}
void poke16(wb_addr_type addr, boost::uint16_t data){
this->get_reg<boost::uint16_t, USRP2_REG_ACTION_FPGA_POKE16>(addr, data);
}
boost::uint16_t peek16(wb_addr_type addr){
return this->get_reg<boost::uint16_t, USRP2_REG_ACTION_FPGA_PEEK16>(addr);
}
void pokefw(wb_addr_type addr, boost::uint32_t data)
{
this->get_reg<boost::uint32_t, USRP2_REG_ACTION_FW_POKE32>(addr, data);
}
boost::uint32_t peekfw(wb_addr_type addr)
{
return this->get_reg<boost::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(boost::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
**********************************************************************/
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 = 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(boost::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 = 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(boost::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 = 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,
boost::uint32_t lo = USRP2_FW_COMPAT_NUM,
boost::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_MSG(error)
<< "Control packet attempt " << i
<< ", sequence number " << _ctrl_seq_num
<< ":\n" << e.what() << std::endl;
}
}
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,
boost::uint32_t lo, boost::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
boost::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);
boost::uint32_t compat = ntohl(ctrl_data_in->proto_ver);
if(len >= sizeof(boost::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<boost::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){
boost::uint32_t minor = this->get_reg<boost::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_images_error());
}
//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 = (fs::path(uhd::get_pkg_path()) / UHD_LIB_DIR / "uhd" / "utils" / "usrp2_card_burner.py").string();
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_images_error() % card_burner_cmd);
}
else{
const std::string addr = _ctrl_transport->get_recv_addr();
const std::string net_burner_path = (fs::path(uhd::get_pkg_path()) / UHD_LIB_DIR / "uhd" / "utils" / "usrp_n2xx_simple_net_burner").string();
const std::string net_burner_cmd = str(boost::format("\"%s\" %s--addr=\"%s\"") % net_burner_path % ml % addr);
return str(boost::format("%s\n%s") % print_images_error() % net_burner_cmd);
}
}
private:
//this lovely lady makes it all possible
udp_simple::sptr _ctrl_transport;
//used in send/recv
boost::mutex _ctrl_mutex;
boost::uint32_t _ctrl_seq_num;
boost::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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