path: root/host/lib/usrp/usrp1/usrp1_impl.cpp

//
// Copyright 2010-2012,2014 Ettus Research LLC
// Copyright 2018 Ettus Research, a National Instruments Company
//
// SPDX-License-Identifier: GPL-3.0-or-later
//

#include "usrp1_impl.hpp"
#include <uhd/exception.hpp>
#include <uhd/transport/usb_control.hpp>
#include <uhd/utils/cast.hpp>
#include <uhd/utils/log.hpp>
#include <uhd/utils/paths.hpp>
#include <uhd/utils/safe_call.hpp>
#include <uhd/utils/static.hpp>
#include <boost/filesystem.hpp>
#include <boost/format.hpp>
#include <boost/lexical_cast.hpp>
#include <boost/math/special_functions/round.hpp>
#include <chrono>
#include <cstdio>

using namespace uhd;
using namespace uhd::usrp;
using namespace uhd::transport;

namespace {
constexpr uint16_t USRP1_VENDOR_ID         = 0xfffe;
constexpr uint16_t USRP1_PRODUCT_ID        = 0x0002;
constexpr int64_t REENUMERATION_TIMEOUT_MS = 3000;
} // namespace

const std::vector<usrp1_impl::dboard_slot_t> usrp1_impl::_dboard_slots{
    usrp1_impl::DBOARD_SLOT_A, usrp1_impl::DBOARD_SLOT_B};

/***********************************************************************
 * Discovery
 **********************************************************************/
static device_addrs_t usrp1_find(const device_addr_t& hint)
{
    device_addrs_t usrp1_addrs;

    // return an empty list of addresses when type is set to non-usrp1
    if (hint.has_key("type") and hint["type"] != "usrp1")
        return usrp1_addrs;

    // Return an empty list of addresses when an address or resource is specified,
    // since an address and resource is intended for a different, non-USB, device.
    if (hint.has_key("addr") || hint.has_key("resource"))
        return usrp1_addrs;

    uint16_t vid, pid;

    if (hint.has_key("vid") && hint.has_key("pid") && hint.has_key("type")
        && hint["type"] == "usrp1") {
        vid = uhd::cast::hexstr_cast<uint16_t>(hint.get("vid"));
        pid = uhd::cast::hexstr_cast<uint16_t>(hint.get("pid"));
    } else {
        vid = USRP1_VENDOR_ID;
        pid = USRP1_PRODUCT_ID;
    }

    // Important note:
    // The get device list calls are nested inside the for loop.
    // This allows the usb guts to decontruct when not in use,
    // so that re-enumeration after fw load can occur successfully.
    // This requirement is a courtesy of libusb1.0 on windows.

    // find the usrps and load firmware
    size_t found = 0;
    for (usb_device_handle::sptr handle : usb_device_handle::get_device_list(vid, pid)) {
        // extract the firmware path for the USRP1
        std::string usrp1_fw_image;
        try {
            usrp1_fw_image = find_image_path(hint.get("fw", "usrp1_fw.ihx"));
        } catch (...) {
            UHD_LOGGER_WARNING("USRP1")
                << boost::format("Could not locate USRP1 firmware. %s")
                       % print_utility_error("uhd_images_downloader.py");
        }
        UHD_LOGGER_DEBUG("USRP1") << "USRP1 firmware image: " << usrp1_fw_image;

        usb_control::sptr control;
        try {
            control = usb_control::make(handle, 0);
        } catch (const uhd::exception&) {
            continue;
        } // ignore claimed

        fx2_ctrl::make(control)->usrp_load_firmware(usrp1_fw_image);
        found++;
    }

    // get descriptors again with serial number, but using the initialized VID/PID now
    // since we have firmware
    vid = USRP1_VENDOR_ID;
    pid = USRP1_PRODUCT_ID;

    const auto timeout_time = std::chrono::steady_clock::now()
                              + std::chrono::milliseconds(REENUMERATION_TIMEOUT_MS);

    // search for the device until found or timeout
    while (std::chrono::steady_clock::now() < timeout_time and usrp1_addrs.empty()
           and found != 0) {
        for (usb_device_handle::sptr handle :
            usb_device_handle::get_device_list(vid, pid)) {
            usb_control::sptr control;
            try {
                control = usb_control::make(handle, 0);
            } catch (const uhd::exception&) {
                continue;
            } // ignore claimed

            fx2_ctrl::sptr fx2_ctrl         = fx2_ctrl::make(control);
            const mboard_eeprom_t mb_eeprom = usrp1_impl::get_mb_eeprom(fx2_ctrl);
            device_addr_t new_addr;
            new_addr["type"]   = "usrp1";
            new_addr["name"]   = mb_eeprom["name"];
            new_addr["serial"] = handle->get_serial();
            // this is a found usrp1 when the hint serial and name match or blank
            if ((not hint.has_key("name") or hint["name"] == new_addr["name"])
                and (not hint.has_key("serial")
                        or hint["serial"] == new_addr["serial"])) {
                usrp1_addrs.push_back(new_addr);
            }
        }
    }

    return usrp1_addrs;
}

/***********************************************************************
 * Make
 **********************************************************************/
static device::sptr usrp1_make(const device_addr_t& device_addr)
{
    return device::sptr(new usrp1_impl(device_addr));
}

UHD_STATIC_BLOCK(register_usrp1_device)
{
    device::register_device(&usrp1_find, &usrp1_make, device::USRP);
}

/***********************************************************************
 * Structors
 **********************************************************************/
usrp1_impl::usrp1_impl(const device_addr_t& device_addr)
{
    UHD_LOGGER_INFO("USRP1") << "Opening a USRP1 device...";
    _type = device::USRP;

    // extract the FPGA path for the USRP1
    std::string usrp1_fpga_image =
        find_image_path(device_addr.get("fpga", "usrp1_fpga.rbf"));
    UHD_LOGGER_DEBUG("USRP1") << "USRP1 FPGA image: " << usrp1_fpga_image;

    // try to match the given device address with something on the USB bus
    std::vector<usb_device_handle::sptr> device_list =
        usb_device_handle::get_device_list(USRP1_VENDOR_ID, USRP1_PRODUCT_ID);

    // locate the matching handle in the device list
    usb_device_handle::sptr handle;
    for (usb_device_handle::sptr dev_handle : device_list) {
        if (dev_handle->get_serial() == device_addr["serial"]) {
            handle = dev_handle;
            break;
        }
    }
    UHD_ASSERT_THROW(handle.get() != NULL); // better be found

    ////////////////////////////////////////////////////////////////////
    // Create controller objects
    ////////////////////////////////////////////////////////////////////
    // usb_control::sptr usb_ctrl = usb_control::make(handle);
    _fx2_ctrl = fx2_ctrl::make(usb_control::make(handle, 0));
    _fx2_ctrl->usrp_load_fpga(usrp1_fpga_image);
    _fx2_ctrl->usrp_init();
    _data_transport = usb_zero_copy::make(handle, // identifier
        2,
        6, // IN interface, endpoint
        1,
        2, // OUT interface, endpoint
        device_addr // param hints
    );
    _iface          = usrp1_iface::make(_fx2_ctrl);
    _soft_time_ctrl =
        soft_time_ctrl::make(boost::bind(&usrp1_impl::rx_stream_on_off, this, _1));
    _dbc["A"];
    _dbc["B"]; // ensure that keys exist

    // Normal mode with no loopback or Rx counting
    _iface->poke32(FR_MODE, 0x00000000);
    _iface->poke32(FR_DEBUG_EN, 0x00000000);

    UHD_LOGGER_DEBUG("USRP1") << "USRP1 Capabilities"
                              << "    number of duc's: " << get_num_ddcs()
                              << "    number of ddc's: " << get_num_ducs()
                              << "    rx halfband:     " << has_rx_halfband()
                              << "    tx halfband:     " << has_tx_halfband();

    ////////////////////////////////////////////////////////////////////
    // Initialize the properties tree
    ////////////////////////////////////////////////////////////////////
    _rx_dc_offset_shadow = 0;
    _tree                = property_tree::make();
    _tree->create<std::string>("/name").set("USRP1 Device");
    const fs_path mb_path = "/mboards/0";
    _tree->create<std::string>(mb_path / "name").set("USRP1");
    _tree->create<std::string>(mb_path / "load_eeprom")
        .add_coerced_subscriber(boost::bind(&fx2_ctrl::usrp_load_eeprom, _fx2_ctrl, _1));

    ////////////////////////////////////////////////////////////////////
    // create user-defined control objects
    ////////////////////////////////////////////////////////////////////
    _tree->create<std::pair<uint8_t, uint32_t>>(mb_path / "user" / "regs")
        .add_coerced_subscriber(boost::bind(&usrp1_impl::set_reg, this, _1));

    ////////////////////////////////////////////////////////////////////
    // setup the mboard eeprom
    ////////////////////////////////////////////////////////////////////
    // const mboard_eeprom_t mb_eeprom(*_fx2_ctrl, USRP1_EEPROM_MAP_KEY);
    const mboard_eeprom_t mb_eeprom = this->get_mb_eeprom(_fx2_ctrl);
    _tree->create<mboard_eeprom_t>(mb_path / "eeprom")
        .set(mb_eeprom)
        .add_coerced_subscriber(boost::bind(&usrp1_impl::set_mb_eeprom, this, _1));

    ////////////////////////////////////////////////////////////////////
    // create clock control objects
    ////////////////////////////////////////////////////////////////////
    _master_clock_rate = 64e6;
    if (device_addr.has_key("mcr")) {
        try {
            _master_clock_rate = std::stod(device_addr["mcr"]);
        } catch (const std::exception& e) {
            UHD_LOGGER_ERROR("USRP1")
                << "Error parsing FPGA clock rate from device address: " << e.what();
        }
    } else if (not mb_eeprom["mcr"].empty()) {
        try {
            _master_clock_rate = std::stod(mb_eeprom["mcr"]);
        } catch (const std::exception& e) {
            UHD_LOGGER_ERROR("USRP1")
                << "Error parsing FPGA clock rate from EEPROM: " << e.what();
        }
    }
    UHD_LOGGER_INFO("USRP1") << boost::format("Using FPGA clock rate of %fMHz...")
                                    % (_master_clock_rate / 1e6);
    _tree->create<double>(mb_path / "tick_rate")
        .add_coerced_subscriber(boost::bind(&usrp1_impl::update_tick_rate, this, _1))
        .set(_master_clock_rate);

    ////////////////////////////////////////////////////////////////////
    // create codec control objects
    ////////////////////////////////////////////////////////////////////
    for (const std::string& db : _dbc.keys()) {
        _dbc[db].codec = usrp1_codec_ctrl::make(
            _iface, (db == "A") ? SPI_ENABLE_CODEC_A : SPI_ENABLE_CODEC_B);
        const fs_path rx_codec_path = mb_path / "rx_codecs" / db;
        const fs_path tx_codec_path = mb_path / "tx_codecs" / db;
        _tree->create<std::string>(rx_codec_path / "name").set("ad9522");
        _tree->create<meta_range_t>(rx_codec_path / "gains/pga/range")
            .set(usrp1_codec_ctrl::rx_pga_gain_range);
        _tree->create<double>(rx_codec_path / "gains/pga/value")
            .set_coercer(boost::bind(&usrp1_impl::update_rx_codec_gain, this, db, _1))
            .set(0.0);
        _tree->create<std::string>(tx_codec_path / "name").set("ad9522");
        _tree->create<meta_range_t>(tx_codec_path / "gains/pga/range")
            .set(usrp1_codec_ctrl::tx_pga_gain_range);
        _tree->create<double>(tx_codec_path / "gains/pga/value")
            .add_coerced_subscriber(
                boost::bind(&usrp1_codec_ctrl::set_tx_pga_gain, _dbc[db].codec, _1))
            .set_publisher(
                boost::bind(&usrp1_codec_ctrl::get_tx_pga_gain, _dbc[db].codec))
            .set(0.0);
    }

    ////////////////////////////////////////////////////////////////////
    // and do the misc mboard sensors
    ////////////////////////////////////////////////////////////////////
    // none for now...
    _tree->create<int>(mb_path / "sensors"); // phony property so this dir exists

    ////////////////////////////////////////////////////////////////////
    // create frontend control objects
    ////////////////////////////////////////////////////////////////////
    _tree->create<subdev_spec_t>(mb_path / "rx_subdev_spec")
        .set(subdev_spec_t())
        .add_coerced_subscriber(
            boost::bind(&usrp1_impl::update_rx_subdev_spec, this, _1));
    _tree->create<subdev_spec_t>(mb_path / "tx_subdev_spec")
        .set(subdev_spec_t())
        .add_coerced_subscriber(
            boost::bind(&usrp1_impl::update_tx_subdev_spec, this, _1));

    for (const std::string& db : _dbc.keys()) {
        const fs_path rx_fe_path = mb_path / "rx_frontends" / db;
        _tree->create<std::complex<double>>(rx_fe_path / "dc_offset" / "value")
            .set_coercer(boost::bind(&usrp1_impl::set_rx_dc_offset, this, db, _1))
            .set(std::complex<double>(0.0, 0.0));
        _tree->create<bool>(rx_fe_path / "dc_offset" / "enable")
            .add_coerced_subscriber(
                boost::bind(&usrp1_impl::set_enb_rx_dc_offset, this, db, _1))
            .set(true);
    }

    ////////////////////////////////////////////////////////////////////
    // create rx dsp control objects
    ////////////////////////////////////////////////////////////////////
    _tree->create<int>(mb_path / "rx_dsps"); // dummy in case we have none
    for (size_t dspno = 0; dspno < get_num_ddcs(); dspno++) {
        fs_path rx_dsp_path = mb_path / str(boost::format("rx_dsps/%u") % dspno);
        _tree->create<meta_range_t>(rx_dsp_path / "rate/range")
            .set_publisher(boost::bind(&usrp1_impl::get_rx_dsp_host_rates, this));
        _tree->create<double>(rx_dsp_path / "rate/value")
            .set(1e6) // some default rate
            .set_coercer(boost::bind(&usrp1_impl::update_rx_samp_rate, this, dspno, _1));
        _tree->create<double>(rx_dsp_path / "freq/value")
            .set_coercer(boost::bind(&usrp1_impl::update_rx_dsp_freq, this, dspno, _1));
        _tree->create<meta_range_t>(rx_dsp_path / "freq/range")
            .set_publisher(boost::bind(&usrp1_impl::get_rx_dsp_freq_range, this));
        _tree->create<stream_cmd_t>(rx_dsp_path / "stream_cmd");
        if (dspno == 0) {
            // only add_coerced_subscriber the callback for dspno 0 since it will stream
            // all dsps
            _tree->access<stream_cmd_t>(rx_dsp_path / "stream_cmd")
                .add_coerced_subscriber(
                    boost::bind(&soft_time_ctrl::issue_stream_cmd, _soft_time_ctrl, _1));
        }
    }

    ////////////////////////////////////////////////////////////////////
    // create tx dsp control objects
    ////////////////////////////////////////////////////////////////////
    _tree->create<int>(mb_path / "tx_dsps"); // dummy in case we have none
    for (size_t dspno = 0; dspno < get_num_ducs(); dspno++) {
        fs_path tx_dsp_path = mb_path / str(boost::format("tx_dsps/%u") % dspno);
        _tree->create<meta_range_t>(tx_dsp_path / "rate/range")
            .set_publisher(boost::bind(&usrp1_impl::get_tx_dsp_host_rates, this));
        _tree->create<double>(tx_dsp_path / "rate/value")
            .set(1e6) // some default rate
            .set_coercer(boost::bind(&usrp1_impl::update_tx_samp_rate, this, dspno, _1));
        _tree->create<double>(tx_dsp_path / "freq/value")
            .set_coercer(boost::bind(&usrp1_impl::update_tx_dsp_freq, this, dspno, _1));
        _tree->create<meta_range_t>(tx_dsp_path / "freq/range")
            .set_publisher(boost::bind(&usrp1_impl::get_tx_dsp_freq_range, this));
    }

    ////////////////////////////////////////////////////////////////////
    // create time control objects
    ////////////////////////////////////////////////////////////////////
    _tree->create<time_spec_t>(mb_path / "time/now")
        .set_publisher(boost::bind(&soft_time_ctrl::get_time, _soft_time_ctrl))
        .add_coerced_subscriber(
            boost::bind(&soft_time_ctrl::set_time, _soft_time_ctrl, _1));

    _tree->create<std::vector<std::string>>(mb_path / "clock_source/options")
        .set(std::vector<std::string>(1, "internal"));
    _tree->create<std::vector<std::string>>(mb_path / "time_source/options")
        .set(std::vector<std::string>(1, "none"));
    _tree->create<std::string>(mb_path / "clock_source/value").set("internal");
    _tree->create<std::string>(mb_path / "time_source/value").set("none");

    ////////////////////////////////////////////////////////////////////
    // create dboard control objects
    ////////////////////////////////////////////////////////////////////
    for (const std::string& db : _dbc.keys()) {
        // read the dboard eeprom to extract the dboard ids
        dboard_eeprom_t rx_db_eeprom, tx_db_eeprom, gdb_eeprom;
        rx_db_eeprom.load(*_fx2_ctrl, (db == "A") ? (I2C_ADDR_RX_A) : (I2C_ADDR_RX_B));
        tx_db_eeprom.load(*_fx2_ctrl, (db == "A") ? (I2C_ADDR_TX_A) : (I2C_ADDR_TX_B));
        gdb_eeprom.load(
            *_fx2_ctrl, (db == "A") ? (I2C_ADDR_TX_A ^ 5) : (I2C_ADDR_TX_B ^ 5));

        // disable rx dc offset if LFRX
        if (rx_db_eeprom.id == 0x000f)
            _tree->access<bool>(mb_path / "rx_frontends" / db / "dc_offset" / "enable")
                .set(false);

        // create the properties and register subscribers
        _tree->create<dboard_eeprom_t>(mb_path / "dboards" / db / "rx_eeprom")
            .set(rx_db_eeprom)
            .add_coerced_subscriber(
                boost::bind(&usrp1_impl::set_db_eeprom, this, db, "rx", _1));
        _tree->create<dboard_eeprom_t>(mb_path / "dboards" / db / "tx_eeprom")
            .set(tx_db_eeprom)
            .add_coerced_subscriber(
                boost::bind(&usrp1_impl::set_db_eeprom, this, db, "tx", _1));
        _tree->create<dboard_eeprom_t>(mb_path / "dboards" / db / "gdb_eeprom")
            .set(gdb_eeprom)
            .add_coerced_subscriber(
                boost::bind(&usrp1_impl::set_db_eeprom, this, db, "gdb", _1));

        // create a new dboard interface and manager
        dboard_iface::sptr dboard_iface = make_dboard_iface(_iface,
            _dbc[db].codec,
            (db == "A") ? DBOARD_SLOT_A : DBOARD_SLOT_B,
            _master_clock_rate,
            rx_db_eeprom.id);
        _dbc[db].dboard_manager         = dboard_manager::make(rx_db_eeprom.id,
            tx_db_eeprom.id,
            gdb_eeprom.id,
            dboard_iface,
            _tree->subtree(mb_path / "dboards" / db));

        // init the subdev specs if we have a dboard (wont leave this loop empty)
        if (rx_db_eeprom.id != dboard_id_t::none() or _rx_subdev_spec.empty()) {
            _rx_subdev_spec = subdev_spec_t(
                db + ":" + _tree->list(mb_path / "dboards" / db / "rx_frontends").at(0));
        }
        if (tx_db_eeprom.id != dboard_id_t::none() or _tx_subdev_spec.empty()) {
            _tx_subdev_spec = subdev_spec_t(
                db + ":" + _tree->list(mb_path / "dboards" / db / "tx_frontends").at(0));
        }
    }

    // initialize io handling
    this->io_init();

    ////////////////////////////////////////////////////////////////////
    // do some post-init tasks
    ////////////////////////////////////////////////////////////////////
    this->update_rates();

    // reset cordic rates and their properties to zero
    for (const std::string& name : _tree->list(mb_path / "rx_dsps")) {
        _tree->access<double>(mb_path / "rx_dsps" / name / "freq" / "value").set(0.0);
    }

    if (_tree->list(mb_path / "rx_dsps").size() > 0)
        _tree->access<subdev_spec_t>(mb_path / "rx_subdev_spec").set(_rx_subdev_spec);
    if (_tree->list(mb_path / "tx_dsps").size() > 0)
        _tree->access<subdev_spec_t>(mb_path / "tx_subdev_spec").set(_tx_subdev_spec);
    _tree->create<double>(mb_path / "link_max_rate").set(USRP1_MAX_RATE_USB2);
}

usrp1_impl::~usrp1_impl(void)
{
    UHD_SAFE_CALL(this->enable_rx(false); this->enable_tx(false);)
    _soft_time_ctrl->stop(); // stops cmd task before proceeding
    _io_impl.reset(); // stops vandal before other stuff gets deconstructed
}

/*!
 * Capabilities Register
 *
 *    3                   2                   1                   0
 *  1 0 9 8 7 6 5 4 3 2 1 0 9 8 7 6 5 4 3 2 1 0 9 8 7 6 5 4 3 2 1 0
 * +-----------------------------------------------+-+-----+-+-----+
 * |               Reserved                        |T|DUCs |R|DDCs |
 * +-----------------------------------------------+-+-----+-+-----+
 */
size_t usrp1_impl::get_num_ddcs(void)
{
    uint32_t regval = _iface->peek32(FR_RB_CAPS);
    return (regval >> 0) & 0x0007;
}

size_t usrp1_impl::get_num_ducs(void)
{
    uint32_t regval = _iface->peek32(FR_RB_CAPS);
    return (regval >> 4) & 0x0007;
}

bool usrp1_impl::has_rx_halfband(void)
{
    uint32_t regval = _iface->peek32(FR_RB_CAPS);
    return (regval >> 3) & 0x0001;
}

bool usrp1_impl::has_tx_halfband(void)
{
    uint32_t regval = _iface->peek32(FR_RB_CAPS);
    return (regval >> 7) & 0x0001;
}

/***********************************************************************
 * Properties callback methods below
 **********************************************************************/
void usrp1_impl::set_db_eeprom(const std::string& db,
    const std::string& type,
    const uhd::usrp::dboard_eeprom_t& db_eeprom)
{
    if (type == "rx")
        db_eeprom.store(*_fx2_ctrl, (db == "A") ? (I2C_ADDR_RX_A) : (I2C_ADDR_RX_B));
    if (type == "tx")
        db_eeprom.store(*_fx2_ctrl, (db == "A") ? (I2C_ADDR_TX_A) : (I2C_ADDR_TX_B));
    if (type == "gdb")
        db_eeprom.store(
            *_fx2_ctrl, (db == "A") ? (I2C_ADDR_TX_A ^ 5) : (I2C_ADDR_TX_B ^ 5));
}

double usrp1_impl::update_rx_codec_gain(const std::string& db, const double gain)
{
    // set gain on both I and Q, readback on one
    // TODO in the future, gains should have individual control
    _dbc[db].codec->set_rx_pga_gain(gain, 'A');
    _dbc[db].codec->set_rx_pga_gain(gain, 'B');
    return _dbc[db].codec->get_rx_pga_gain('A');
}

uhd::meta_range_t usrp1_impl::get_rx_dsp_freq_range(void)
{
    return meta_range_t(-_master_clock_rate / 2, +_master_clock_rate / 2);
}

uhd::meta_range_t usrp1_impl::get_tx_dsp_freq_range(void)
{
    // magic scalar comes from codec control:
    return meta_range_t(-_master_clock_rate * 0.6875, +_master_clock_rate * 0.6875);
}

void usrp1_impl::set_enb_rx_dc_offset(const std::string& db, const bool enb)
{
    const size_t shift = (db == "A") ? 0 : 2;
    _rx_dc_offset_shadow &= ~(0x3 << shift); // clear bits
    _rx_dc_offset_shadow |= ((enb) ? 0x3 : 0x0) << shift;
    _iface->poke32(FR_DC_OFFSET_CL_EN, _rx_dc_offset_shadow & 0xf);
}

std::complex<double> usrp1_impl::set_rx_dc_offset(
    const std::string& db, const std::complex<double>& offset)
{
    const int32_t i_off = boost::math::iround(offset.real() * (1ul << 31));
    const int32_t q_off = boost::math::iround(offset.imag() * (1ul << 31));

    if (db == "A") {
        _iface->poke32(FR_ADC_OFFSET_0, i_off);
        _iface->poke32(FR_ADC_OFFSET_1, q_off);
    }

    if (db == "B") {
        _iface->poke32(FR_ADC_OFFSET_2, i_off);
        _iface->poke32(FR_ADC_OFFSET_3, q_off);
    }

    return std::complex<double>(double(i_off) * (1ul << 31), double(q_off) * (1ul << 31));
}

void usrp1_impl::set_reg(const std::pair<uint8_t, uint32_t>& reg)
{
    _iface->poke32(reg.first, reg.second);
}