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Diffstat (limited to 'host/lib/usrp/e300/e300_ublox_control_impl.hpp')
| -rw-r--r-- | host/lib/usrp/e300/e300_ublox_control_impl.hpp | 457 |
1 files changed, 0 insertions, 457 deletions
diff --git a/host/lib/usrp/e300/e300_ublox_control_impl.hpp b/host/lib/usrp/e300/e300_ublox_control_impl.hpp deleted file mode 100644 index a1dcbfe6c..000000000 --- a/host/lib/usrp/e300/e300_ublox_control_impl.hpp +++ /dev/null @@ -1,457 +0,0 @@ -#ifndef INCLUDED_UHD_USRP_UBLOX_CONTROL_IMPL_HPP -#define INCLUDED_UHD_USRP_UBLOX_CONTROL_IMPL_HPP - -#include <boost/cstdint.hpp> -#include <boost/noncopyable.hpp> -#include <boost/asio.hpp> -#include <uhd/config.hpp> -#include <uhd/usrp/gps_ctrl.hpp> -#include <uhd/types/sensors.hpp> - -#include "e300_async_serial.hpp" - -namespace uhd { namespace usrp { namespace gps { - -namespace ublox { namespace ubx { -// ublox binary sync words -static const boost::uint8_t SYNC1 = 0xB5; -static const boost::uint8_t SYNC2 = 0x62; - -// message classes -static const boost::uint8_t CLASS_NAV = 0x01; -static const boost::uint8_t CLASS_ACK = 0x05; -static const boost::uint8_t CLASS_CFG = 0x06; -static const boost::uint8_t CLASS_MON = 0x0a; -static const boost::uint8_t CLASS_NMEA = 0xf0; - -// Message IDs -static const boost::uint8_t ID_NAV_POSLLH = 0x02; -static const boost::uint8_t ID_NAV_SOL = 0x06; -static const boost::uint8_t ID_NAV_PVT = 0x07; -static const boost::uint8_t ID_NAV_VELNED = 0x12; -static const boost::uint8_t ID_NAV_TIMEUTC = 0x21; -static const boost::uint8_t ID_NAV_SVINFO = 0x30; -static const boost::uint8_t ID_ACK_NAK = 0x00; -static const boost::uint8_t ID_ACK_ACK = 0x01; -static const boost::uint8_t ID_CFG_PRT = 0x00; -static const boost::uint8_t ID_CFG_ANT = 0x13; -static const boost::uint8_t ID_CFG_TP = 0x07; -static const boost::uint8_t ID_CFG_MSG = 0x01; -static const boost::uint8_t ID_CFG_RATE = 0x08; -static const boost::uint8_t ID_CFG_NAV5 = 0x24; -static const boost::uint8_t ID_MON_VER = 0x04; -static const boost::uint8_t ID_MON_HW = 0x09; -static const boost::uint8_t ID_GGA = 0x00; -static const boost::uint8_t ID_GLL = 0x01; -static const boost::uint8_t ID_GSA = 0x02; -static const boost::uint8_t ID_GSV = 0x03; -static const boost::uint8_t ID_RMC = 0x04; -static const boost::uint8_t ID_VTG = 0x05; -static const boost::uint8_t ID_GST = 0x07; - -// Message Classes & IDs // -static const boost::uint16_t MSG_NAV_POSLLH - = CLASS_NAV | (ID_NAV_POSLLH << 8); -static const boost::uint16_t MSG_NAV_SOL - = CLASS_NAV | (ID_NAV_SOL << 8); -static const boost::uint16_t MSG_NAV_PVT - = CLASS_NAV | (ID_NAV_PVT << 8); -static const boost::uint16_t MSG_NAV_VELNED - = CLASS_NAV | (ID_NAV_VELNED << 8); -static const boost::uint16_t MSG_NAV_TIMEUTC - = CLASS_NAV | (ID_NAV_TIMEUTC << 8); -static const boost::uint16_t MSG_NAV_SVINFO - = CLASS_NAV | (ID_NAV_SVINFO << 8); -static const boost::uint16_t MSG_ACK_NAK - = CLASS_ACK | (ID_ACK_NAK << 8); -static const boost::uint16_t MSG_ACK_ACK - = CLASS_ACK | (ID_ACK_ACK << 8); -static const boost::uint16_t MSG_CFG_PRT - = CLASS_CFG | (ID_CFG_PRT << 8); -static const boost::uint16_t MSG_CFG_ANT - = CLASS_CFG | (ID_CFG_ANT << 8); -static const boost::uint16_t MSG_CFG_TP - = CLASS_CFG | (ID_CFG_TP << 8); -static const boost::uint16_t MSG_CFG_MSG - = CLASS_CFG | (ID_CFG_MSG << 8); -static const boost::uint16_t MSG_CFG_RATE - = CLASS_CFG | (ID_CFG_RATE << 8); -static const boost::uint16_t MSG_CFG_NAV5 - = CLASS_CFG | (ID_CFG_NAV5 << 8); -static const boost::uint16_t MSG_MON_HW - = CLASS_MON | (ID_MON_HW << 8); -static const boost::uint16_t MSG_MON_VER - = CLASS_MON | (ID_MON_VER << 8); - -// NMEA ones -static const boost::uint16_t MSG_GGA - = CLASS_NMEA | (ID_GGA << 8); -static const boost::uint16_t MSG_GLL - = CLASS_NMEA | (ID_GLL << 8); -static const boost::uint16_t MSG_GSA - = CLASS_NMEA | (ID_GSA << 8); -static const boost::uint16_t MSG_GSV - = CLASS_NMEA | (ID_GSV << 8); -static const boost::uint16_t MSG_RMC - = CLASS_NMEA | (ID_RMC << 8); -static const boost::uint16_t MSG_VTG - = CLASS_NMEA | (ID_VTG << 8); - -// header -struct header_t -{ - boost::uint8_t sync1; - boost::uint8_t sync2; - boost::uint16_t msg; - boost::uint16_t length; -}; - -// checksum -struct checksum_t -{ - boost::uint8_t ck_a; - boost::uint8_t ck_b; -}; - -// rx rx mon-hw (ubx6) -struct payload_rx_mon_hw_t -{ - boost::uint32_t pin_sel; - boost::uint32_t pin_bank; - boost::uint32_t pin_dir; - boost::uint32_t pin_val; - boost::uint16_t noise_per_ms; - boost::uint16_t agc_cnt; - boost::uint8_t a_status; - boost::uint8_t a_power; - boost::uint8_t flags; - boost::uint8_t reserved1; - boost::uint32_t used_mask; - boost::uint8_t vp[25]; - boost::uint8_t jam_ind; - boost::uint16_t reserved3; - boost::uint32_t pin_irq; - boost::uint32_t pullh; - boost::uint32_t pulll; -}; - -// rx mon-ver -struct payload_rx_mon_ver_part1_t -{ - char sw_version[30]; - char hw_version[10]; -}; - -struct payload_rx_mon_ver_part2_t -{ - boost::uint8_t extension[30]; -}; - -// rx ack-ack -typedef union { - boost::uint16_t msg; - struct { - boost::uint8_t cls_id; - boost::uint8_t msg_id; - }; -} payload_rx_ack_ack_t; - -// rx ack-nak -typedef union { - boost::uint16_t msg; - struct { - boost::uint8_t cls_id; - boost::uint8_t msg_id; - }; -} payload_rx_ack_nak_t; - -// tx cfg-prt (uart) -struct payload_tx_cfg_prt_t -{ - boost::uint8_t port_id; - boost::uint8_t reserved0; - boost::uint16_t tx_ready; - boost::uint32_t mode; - boost::uint32_t baud_rate; - boost::uint16_t in_proto_mask; - boost::uint16_t out_proto_mask; - boost::uint16_t flags; - boost::uint16_t reserved5; -}; - -// tx cfg-rate -struct payload_tx_cfg_rate_t -{ - boost::uint16_t meas_rate; - boost::uint16_t nav_rate; - boost::uint16_t time_ref; -}; - -// tx cfg-msg -struct payload_tx_cfg_msg_t -{ - boost::uint16_t msg; - boost::uint8_t rate[6]; -}; - - -// tx cfg-ant -struct payload_tx_cfg_ant_t -{ - boost::uint16_t flags; - boost::uint16_t pins; -}; - -// tx cfg-tp -struct payload_tx_cfg_tp_t -{ - boost::uint32_t interval; - boost::uint32_t length; - boost::int8_t status; - boost::uint8_t time_ref; - boost::uint8_t flags; - boost::uint8_t reserved1; - boost::int16_t antenna_delay; - boost::int16_t rf_group_delay; - boost::int32_t user_delay; -}; - -struct payload_rx_nav_sol_t -{ - boost::uint32_t i_tow; - boost::int32_t f_tow; - boost::int16_t week; - boost::uint8_t gps_fix; - boost::uint8_t flags; - boost::int32_t ecef_x; - boost::int32_t ecef_y; - boost::int32_t ecef_z; - boost::uint32_t p_acc; - boost::int32_t ecef_vx; - boost::int32_t ecef_vy; - boost::int32_t ecef_vz; - boost::uint32_t s_acc; - boost::uint16_t p_dop; - boost::uint8_t reserved1; - boost::uint8_t num_sv; - boost::uint32_t reserved2; -}; - -struct payload_rx_nav_timeutc_t -{ - boost::uint32_t i_tow; - boost::uint32_t t_acc; - boost::int32_t nano; - boost::uint16_t year; - boost::uint8_t month; - boost::uint8_t day; - boost::uint8_t hour; - boost::uint8_t min; - boost::uint8_t sec; - boost::uint8_t valid; -}; - -typedef union { - payload_rx_mon_hw_t payload_rx_mon_hw; - - payload_rx_mon_ver_part1_t payload_rx_mon_ver_part1; - payload_rx_mon_ver_part2_t payload_rx_mon_ver_part2; - - payload_rx_ack_ack_t payload_rx_ack_ack; - payload_rx_ack_nak_t payload_rx_ack_nak; - - payload_tx_cfg_prt_t payload_tx_cfg_prt; - payload_tx_cfg_ant_t payload_tx_cfg_ant; - payload_tx_cfg_rate_t payload_tx_cfg_rate; - - payload_tx_cfg_msg_t payload_tx_cfg_msg; - - payload_rx_nav_timeutc_t payload_rx_nav_timeutc; - payload_rx_nav_sol_t payload_rx_nav_sol; - boost::uint8_t raw[]; -} buf_t; - - -template <typename T> -class sensor_entry -{ -public: - sensor_entry() : _seen(false) - { - } - - void update(const T &val) - { - boost::mutex::scoped_lock l(_mutex); - _value = val; - _seen = false; - l.unlock(); - _cond.notify_one(); - } - - bool seen() const - { - boost::mutex::scoped_lock l(_mutex); - return _seen; - } - - bool try_and_see(T &val) - { - boost::mutex::scoped_lock l(_mutex); - if (_seen) - return false; - - val = _value; - _seen = true; - return true; - } - - void wait_and_see(T &val) - { - boost::mutex::scoped_lock l(_mutex); - while(_seen) - { - _cond.wait(l); - //std::cout << "Already seen ... " << std::endl; - } - val = _value; - _seen = true; - } - -private: // members - T _value; - boost::mutex _mutex; - boost::condition_variable _cond; - bool _seen; -}; - -class control_impl : public control -{ -public: - control_impl(const std::string &node, const size_t baud_rate); - - virtual ~control_impl(void); - - void configure_message_rate( - const boost::uint16_t msg, - const boost::uint8_t rate); - - void configure_antenna( - const boost::uint16_t flags, - const boost::uint16_t pins); - - void configure_pps( - const boost::uint32_t interval, - const boost::uint32_t length, - const boost::int8_t status, - const boost::uint8_t time_ref, - const boost::uint8_t flags, - const boost::int16_t antenna_delay, - const boost::int16_t rf_group_delay, - const boost::int32_t user_delay); - - void configure_rates( - boost::uint16_t meas_rate, - boost::uint16_t nav_rate, - boost::uint16_t time_ref); - - // gps_ctrl interface - bool gps_detected(void); - std::vector<std::string> get_sensors(void); - uhd::sensor_value_t get_sensor(std::string key); - -private: // types - enum decoder_state_t { - DECODE_SYNC1 = 0, - DECODE_SYNC2, - DECODE_CLASS, - DECODE_ID, - DECODE_LENGTH1, - DECODE_LENGTH2, - DECODE_PAYLOAD, - DECODE_CHKSUM1, - DECODE_CHKSUM2, - }; - - enum rxmsg_state_t { - RXMSG_IGNORE = 0, - RXMSG_HANDLE, - RXMSG_DISABLE, - RXMSG_ERROR_LENGTH - }; - - enum ack_state_t { - ACK_IDLE = 0, - ACK_WAITING, - ACK_GOT_ACK, - ACK_GOT_NAK - }; - -private: // methods - std::time_t _get_epoch_time(void); - - void _decode_init(void); - - void _add_byte_to_checksum(const boost::uint8_t b); - - void _detect(void); - - void _send_message( - const boost::uint16_t msg, - const boost::uint8_t *payload, - const boost::uint16_t len); - - int _wait_for_ack( - const boost::uint16_t msg, - const double timeout); - - void _calc_checksum( - const boost::uint8_t *buffer, - const boost::uint16_t length, - checksum_t &checksum); - - void _rx_callback(const char *data, unsigned len); - - void _parse_char(const boost::uint8_t b); - - int _payload_rx_init(void); - - int _payload_rx_add(const boost::uint8_t b); - - int _payload_rx_done(void); - -private: // members - // gps_ctrl stuff - bool _detected; - std::vector<std::string> _sensors; - - sensor_entry<bool> _locked; - sensor_entry<boost::posix_time::ptime> _ptime; - - // decoder state - decoder_state_t _decode_state; - rxmsg_state_t _rxmsg_state; - - ack_state_t _ack_state; - boost::uint16_t _ack_waiting_msg; - - boost::uint8_t _rx_ck_a; - boost::uint8_t _rx_ck_b; - - boost::uint16_t _rx_payload_length; - size_t _rx_payload_index; - boost::uint16_t _rx_msg; - - rxmsg_state_t _rx_state; - - boost::shared_ptr<async_serial> _serial; - - // this has to be at the end of the - // class to be valid C++ - buf_t _buf; -}; - -}} // namespace ublox::ubx - -}}} // namespace -#endif // INCLUDED_UHD_USRP_UBLOX_CONTROL_IMPL_HPP |