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x411: mpm: add support for GPSDO from USRP N2x0 (JacksonLabs Firefly)
The GPSDO has to be configured before use through RS232 with following commands: SYST:COMM:SER:ECHO OFF SYST:COMM:SER:PRO OFF GPS:GPGGA 1 GPS:GGAST 0 GPS:GPRMC 1 SERV:TRAC 1 SYSTem:COMMunicate:SERial:BAUD 38400 The code is totally not clean, but at this stage it works.
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,193 @@ | ||
| # | ||
| # Copyright 2021 Ettus Research, a National Instruments Company | ||
| # Copyright 2023 Piotr Krysik <[email protected]> | ||
| # | ||
| # SPDX-License-Identifier: GPL-3.0-or-later | ||
| # | ||
| """ | ||
| X4XX GPS Manager | ||
| Handles GPS-related tasks | ||
| """ | ||
|
|
||
| import re | ||
| from usrp_mpm.gpsd_iface import GPSDIfaceExtension | ||
|
|
||
| class ZCU111GPSMgr: | ||
| """ | ||
| Manager class for GPS-related actions for the X4XX. | ||
| This also "disables" the sensors when the GPS is not enabled. | ||
| """ | ||
| def __init__(self, log): | ||
| # assert clk_aux_board and clk_aux_board.is_gps_supported() | ||
| # self._clocking_auxbrd = clk_aux_board | ||
| self.log = log.getChild('GPS') | ||
| self.log.trace("Initializing GPSd interface") | ||
| self._gpsd = GPSDIfaceExtension() | ||
| # To disable sensors, we simply return an empty value if GPS is disabled. | ||
| # For TPV, SKY, and GPGGA, we can do this in the same fashion (they are | ||
| # very similar). gps_time is different (it returns an int) so for sake | ||
| # of simplicity it's defined separately below. | ||
| for sensor_name in ('gps_tpv', 'gps_sky', 'gps_gpgga'): | ||
| sensor_api = f'get_{sensor_name}_sensor' | ||
| setattr( | ||
| self, sensor_api, | ||
| lambda sensor_name=sensor_name: { | ||
| 'name': sensor_name, 'type': 'STRING', | ||
| 'unit': '', 'value': 'n/a'} \ | ||
| if not self.is_gps_enabled() \ | ||
| else getattr(self._gpsd, f'get_{sensor_name}_sensor')() | ||
| ) | ||
|
|
||
| def extend(self, context): | ||
| """ | ||
| Extend 'context' with the sensor methods of this class (get_gps_*_sensor). | ||
| If 'context' already has such a method, it is skipped. | ||
| Returns a dictionary compatible to mboard_sensor_callback_map. | ||
| """ | ||
| new_methods = { | ||
| re.search(r"get_(.*)_sensor", method_name).group(1): method_name | ||
| for method_name in dir(self) | ||
| if not method_name.startswith('_') \ | ||
| and callable(getattr(self, method_name)) \ | ||
| and method_name.endswith("sensor")} | ||
| for method_name in new_methods.values(): | ||
| if hasattr(context, method_name): | ||
| continue | ||
| new_method = getattr(self, method_name) | ||
| self.log.trace("%s: Adding %s method", context, method_name) | ||
| setattr(context, method_name, new_method) | ||
| return new_methods | ||
|
|
||
| def is_gps_enabled(self): | ||
| """ | ||
| Return True if the GPS is enabled/active. | ||
| """ | ||
| # return self._clocking_auxbrd.is_gps_enabled() | ||
| return self._gpsd.is_gps_enabled() | ||
|
|
||
| def get_gps_enabled_sensor(self): | ||
| """ | ||
| Get enabled status of GPS as a sensor dict | ||
| """ | ||
| gps_enabled = self.is_gps_enabled() | ||
| return { | ||
| 'name': 'gps_enabled', | ||
| 'type': 'BOOLEAN', | ||
| 'unit': 'enabled' if gps_enabled else 'disabled', | ||
| 'value': str(gps_enabled).lower(), | ||
| } | ||
|
|
||
| def get_gps_locked_sensor(self): | ||
| """ | ||
| Get lock status of GPS as a sensor dict | ||
| """ | ||
| gps_locked = self._gpsd.get_gps_lock() | ||
|
|
||
| # self.is_gps_enabled() and \ | ||
| # bool(self._clocking_auxbrd.get_gps_lock()) | ||
| return { | ||
| 'name': 'gps_lock', | ||
| 'type': 'BOOLEAN', | ||
| 'unit': 'locked' if gps_locked else 'unlocked', | ||
| 'value': str(gps_locked).lower(), | ||
| } | ||
| # TODO PK: connect lock pin of GPSDO to a GPIO pin? | ||
|
|
||
| # return { | ||
| # 'name': 'gps_lock', | ||
| # 'type': 'BOOLEAN', | ||
| # 'unit': 'locked', | ||
| # 'value': 'true', | ||
| # } | ||
|
|
||
| # def get_gps_alarm_sensor(self): | ||
| # """ | ||
| # Get alarm status of GPS as a sensor dict | ||
| # """ | ||
| # # gps_alarm = self.is_gps_enabled() and \ | ||
| # # bool(self._clocking_auxbrd.get_gps_alarm()) | ||
| # # return { | ||
| # # 'name': 'gps_alarm', | ||
| # # 'type': 'BOOLEAN', | ||
| # # 'unit': 'active' if gps_alarm else 'not active', | ||
| # # 'value': str(gps_alarm).lower(), | ||
| # # } | ||
| # return { | ||
| # 'name': 'gps_alarm', | ||
| # 'type': 'BOOLEAN', | ||
| # 'unit': 'not active', | ||
| # 'value': 'false', | ||
| # } | ||
|
|
||
| # def get_gps_warmup_sensor(self): | ||
| # """ | ||
| # Get warmup status of GPS as a sensor dict | ||
| # """ | ||
| # # gps_warmup = self.is_gps_enabled() and \ | ||
| # # bool(self._clocking_auxbrd.get_gps_warmup()) | ||
| # # return { | ||
| # # 'name': 'gps_warmup', | ||
| # # 'type': 'BOOLEAN', | ||
| # # 'unit': 'warming up' if gps_warmup else 'warmup done', | ||
| # # 'value': str(gps_warmup).lower(), | ||
| # # } | ||
| # return { | ||
| # 'name': 'gps_warmup', | ||
| # 'type': 'BOOLEAN', | ||
| # 'unit': 'warmup done', | ||
| # 'value': 'false', | ||
| # } | ||
|
|
||
| # def get_gps_survey_sensor(self): | ||
| # """ | ||
| # Get survey status of GPS as a sensor dict | ||
| # """ | ||
| # # gps_survey = self.is_gps_enabled() and \ | ||
| # # bool(self._clocking_auxbrd.get_gps_survey()) | ||
| # # return { | ||
| # # 'name': 'gps_survey', | ||
| # # 'type': 'BOOLEAN', | ||
| # # 'unit': 'survey active' if gps_survey else 'survey not active', | ||
| # # 'value': str(gps_survey).lower(), | ||
| # # } | ||
| # return { | ||
| # 'name': 'gps_survey', | ||
| # 'type': 'BOOLEAN', | ||
| # 'unit': 'survey not active', | ||
| # 'value': 'False', | ||
| # } | ||
|
|
||
| # def get_gps_phase_lock_sensor(self): | ||
| # """ | ||
| # Get phase_lock status of GPS as a sensor dict | ||
| # """ | ||
| # # gps_phase_lock = self.is_gps_enabled() and \ | ||
| # # bool(self._clocking_auxbrd.get_gps_phase_lock()) | ||
| # # return { | ||
| # # 'name': 'gps_phase_lock', | ||
| # # 'type': 'BOOLEAN', | ||
| # # 'unit': 'phase locked' if gps_phase_lock else 'no phase lock', | ||
| # # 'value': str(gps_phase_lock).lower(), | ||
| # # } | ||
| # return { | ||
| # 'name': 'gps_phase_lock', | ||
| # 'type': 'BOOLEAN', | ||
| # 'unit': 'phase locked', | ||
| # 'value': 'true' | ||
| # } | ||
|
|
||
| def get_gps_time_sensor(self): | ||
| """ | ||
| Get GPS time in integer seconds as a sensor dict | ||
| """ | ||
| if not self.is_gps_enabled(): | ||
| return { | ||
| 'name': 'gps_time', | ||
| 'type': 'INTEGER', | ||
| 'unit': 'seconds', | ||
| 'value': str(-1), | ||
| } | ||
| return self._gpsd.get_gps_time_sensor() |