uhd

//

// Copyright 2010-2012 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_impl.hpp"

#include "fw_common.h"

#include "apply_corrections.hpp"

#include <uhd/utils/log.hpp>

#include <uhd/utils/msg.hpp>

#include <uhd/exception.hpp>

#include <uhd/transport/if_addrs.hpp>

#include <uhd/transport/udp_zero_copy.hpp>

#include <uhd/types/ranges.hpp>

#include <uhd/exception.hpp>

#include <uhd/utils/static.hpp>

#include <uhd/utils/byteswap.hpp>

#include <uhd/utils/safe_call.hpp>

#include <boost/format.hpp>

#include <boost/foreach.hpp>

#include <boost/lexical_cast.hpp>

#include <boost/bind.hpp>

#include <boost/assign/list_of.hpp>

#include <boost/asio/ip/address_v4.hpp>

#include <boost/asio.hpp> //used for htonl and ntohl

using namespace uhd;

using namespace uhd::usrp;

using namespace uhd::transport;

namespace asio = boost::asio;

/***********************************************************************

 * Discovery over the udp transport

 **********************************************************************/

static device_addrs_t usrp2_find(const device_addr_t &hint_){

    //handle the multi-device discovery

    device_addrs_t hints = separate_device_addr(hint_);

    if (hints.size() > 1){

        device_addrs_t found_devices;

        BOOST_FOREACH(const device_addr_t &hint_i, hints){

            device_addrs_t found_devices_i = usrp2_find(hint_i);

            if (found_devices_i.size() != 1) throw uhd::value_error(str(boost::format(

                "Could not resolve device hint \"%s\" to a single device."

            ) % hint_i.to_string()));

            found_devices.push_back(found_devices_i[0]);

        }

        return device_addrs_t(1, combine_device_addrs(found_devices));

    }

    //initialize the hint for a single device case

    UHD_ASSERT_THROW(hints.size() <= 1);

    hints.resize(1); //in case it was empty

    device_addr_t hint = hints[0];

    device_addrs_t usrp2_addrs;

    //return an empty list of addresses when type is set to non-usrp2

    if (hint.has_key("type") and hint["type"] != "usrp2") return usrp2_addrs;

    //if no address was specified, send a broadcast on each interface

    if (not hint.has_key("addr")){

        BOOST_FOREACH(const if_addrs_t &if_addrs, get_if_addrs()){

            //avoid the loopback device

            if (if_addrs.inet == asio::ip::address_v4::loopback().to_string()) continue;

            //create a new hint with this broadcast address

            device_addr_t new_hint = hint;

            new_hint["addr"] = if_addrs.bcast;

            //call discover with the new hint and append results

            device_addrs_t new_usrp2_addrs = usrp2_find(new_hint);

            usrp2_addrs.insert(usrp2_addrs.begin(),

                new_usrp2_addrs.begin(), new_usrp2_addrs.end()

            );

        }

        return usrp2_addrs;

    }

    //Create a UDP transport to communicate:

    //Some devices will cause a throw when opened for a broadcast address.

    //We print and recover so the caller can loop through all bcast addrs.

    udp_simple::sptr udp_transport;

    try{

        udp_transport = udp_simple::make_broadcast(hint["addr"], BOOST_STRINGIZE(USRP2_UDP_CTRL_PORT));

    }

    catch(const std::exception &e){

        UHD_MSG(error) << boost::format("Cannot open UDP transport on %s\n%s") % hint["addr"] % e.what() << std::endl;

        return usrp2_addrs; //dont throw, but return empty address so caller can insert

    }

    //send a hello control packet

    usrp2_ctrl_data_t ctrl_data_out = usrp2_ctrl_data_t();

    ctrl_data_out.proto_ver = uhd::htonx<boost::uint32_t>(USRP2_FW_COMPAT_NUM);

    ctrl_data_out.id = uhd::htonx<boost::uint32_t>(USRP2_CTRL_ID_WAZZUP_BRO);

    udp_transport->send(boost::asio::buffer(&ctrl_data_out, sizeof(ctrl_data_out)));

    //loop and recieve until the 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 = udp_transport->recv(asio::buffer(usrp2_ctrl_data_in_mem));

        if (len > offsetof(usrp2_ctrl_data_t, data) and ntohl(ctrl_data_in->id) == USRP2_CTRL_ID_WAZZUP_DUDE){

            //make a boost asio ipv4 with the raw addr in host byte order

            device_addr_t new_addr;

            new_addr["type"] = "usrp2";

            //We used to get the address from the control packet.

            //Now now uses the socket itself to yield the address.

            //boost::asio::ip::address_v4 ip_addr(ntohl(ctrl_data_in->data.ip_addr));

            //new_addr["addr"] = ip_addr.to_string();

            new_addr["addr"] = udp_transport->get_recv_addr();

            //Attempt a simple 2-way communication with a connected socket.

            //Reason: Although the USRP will respond the broadcast above,

            //we may not be able to communicate directly (non-broadcast).

            udp_simple::sptr ctrl_xport = udp_simple::make_connected(

                new_addr["addr"], BOOST_STRINGIZE(USRP2_UDP_CTRL_PORT)

            );

            ctrl_xport->send(boost::asio::buffer(&ctrl_data_out, sizeof(ctrl_data_out)));

            size_t len = ctrl_xport->recv(asio::buffer(usrp2_ctrl_data_in_mem));

            if (len > offsetof(usrp2_ctrl_data_t, data) and ntohl(ctrl_data_in->id) == USRP2_CTRL_ID_WAZZUP_DUDE){

                //found the device, open up for communication!

            }

            else{

                //otherwise we don't find it...

                continue;

            }

            //Attempt to read the name from the EEPROM and perform filtering.

            //This operation can throw due to compatibility mismatch.

            try{

                usrp2_iface::sptr iface = usrp2_iface::make(ctrl_xport);

                if (iface->is_device_locked()) continue; //ignore locked devices

                mboard_eeprom_t mb_eeprom = iface->mb_eeprom;

                new_addr["name"] = mb_eeprom["name"];

                new_addr["serial"] = mb_eeprom["serial"];

            }

            catch(const std::exception &){

                //set these values as empty string so the device may still be found

                //and the filter's below can still operate on the discovered device

                new_addr["name"] = "";

                new_addr["serial"] = "";

            }

            //filter the discovered device below by matching optional keys

            if (

                (not hint.has_key("name")   or hint["name"]   == new_addr["name"]) and

                (not hint.has_key("serial") or hint["serial"] == new_addr["serial"])

            ){

                usrp2_addrs.push_back(new_addr);

            }

            //dont break here, it will exit the while loop

            //just continue on to the next loop iteration

        }

        if (len == 0) break; //timeout

    }

    return usrp2_addrs;

}

/***********************************************************************

 * Make

 **********************************************************************/

static device::sptr usrp2_make(const device_addr_t &device_addr){

    return device::sptr(new usrp2_impl(device_addr));

}

UHD_STATIC_BLOCK(register_usrp2_device){

    device::register_device(&usrp2_find, &usrp2_make);

}

/***********************************************************************

 * MTU Discovery

 **********************************************************************/

struct mtu_result_t{

    size_t recv_mtu, send_mtu;

};

static mtu_result_t determine_mtu(const std::string &addr, const mtu_result_t &user_mtu){

    udp_simple::sptr udp_sock = udp_simple::make_connected(

        addr, BOOST_STRINGIZE(USRP2_UDP_CTRL_PORT)

    );

    //The FPGA offers 4K buffers, and the user may manually request this.

    //However, multiple simultaneous receives (2DSP slave + 2DSP master),

    //require that buffering to be used internally, and this is a safe setting.

    std::vector<boost::uint8_t> buffer(std::max(user_mtu.recv_mtu, user_mtu.send_mtu));

    usrp2_ctrl_data_t *ctrl_data = reinterpret_cast<usrp2_ctrl_data_t *>(&buffer.front());

    static const double echo_timeout = 0.020; //20 ms

    //test holler - check if its supported in this fw version

    ctrl_data->id = htonl(USRP2_CTRL_ID_HOLLER_AT_ME_BRO);

    ctrl_data->proto_ver = htonl(USRP2_FW_COMPAT_NUM);

    ctrl_data->data.echo_args.len = htonl(sizeof(usrp2_ctrl_data_t));

    udp_sock->send(boost::asio::buffer(buffer, sizeof(usrp2_ctrl_data_t)));

    udp_sock->recv(boost::asio::buffer(buffer), echo_timeout);

    if (ntohl(ctrl_data->id) != USRP2_CTRL_ID_HOLLER_BACK_DUDE)

        throw uhd::not_implemented_error("holler protocol not implemented");

    size_t min_recv_mtu = sizeof(usrp2_ctrl_data_t), max_recv_mtu = user_mtu.recv_mtu;

    size_t min_send_mtu = sizeof(usrp2_ctrl_data_t), max_send_mtu = user_mtu.send_mtu;

    while (min_recv_mtu < max_recv_mtu){

        size_t test_mtu = (max_recv_mtu/2 + min_recv_mtu/2 + 3) & ~3;

        ctrl_data->id = htonl(USRP2_CTRL_ID_HOLLER_AT_ME_BRO);

        ctrl_data->proto_ver = htonl(USRP2_FW_COMPAT_NUM);

        ctrl_data->data.echo_args.len = htonl(test_mtu);

        udp_sock->send(boost::asio::buffer(buffer, sizeof(usrp2_ctrl_data_t)));

        size_t len = udp_sock->recv(boost::asio::buffer(buffer), echo_timeout);

        if (len >= test_mtu) min_recv_mtu = test_mtu;

        else                 max_recv_mtu = test_mtu - 4;

    }

    while (min_send_mtu < max_send_mtu){

        size_t test_mtu = (max_send_mtu/2 + min_send_mtu/2 + 3) & ~3;

        ctrl_data->id = htonl(USRP2_CTRL_ID_HOLLER_AT_ME_BRO);

        ctrl_data->proto_ver = htonl(USRP2_FW_COMPAT_NUM);

        ctrl_data->data.echo_args.len = htonl(sizeof(usrp2_ctrl_data_t));

        udp_sock->send(boost::asio::buffer(buffer, test_mtu));

        size_t len = udp_sock->recv(boost::asio::buffer(buffer), echo_timeout);

        if (len >= sizeof(usrp2_ctrl_data_t)) len = ntohl(ctrl_data->data.echo_args.len);

        if (len >= test_mtu) min_send_mtu = test_mtu;

        else                 max_send_mtu = test_mtu - 4;

    }

    mtu_result_t mtu;

    mtu.recv_mtu = min_recv_mtu;

    mtu.send_mtu = min_send_mtu;

    return mtu;

}

/***********************************************************************

 * Helpers

 **********************************************************************/

static zero_copy_if::sptr make_xport(

    const std::string &addr,

    const std::string &port,

    const device_addr_t &hints,

    const std::string &filter

){

    //only copy hints that contain the filter word

    device_addr_t filtered_hints;

    BOOST_FOREACH(const std::string &key, hints.keys()){

        if (key.find(filter) == std::string::npos) continue;

        filtered_hints[key] = hints[key];

    }

    //make the transport object with the filtered hints

    zero_copy_if::sptr xport = udp_zero_copy::make(addr, port, filtered_hints);

    //Send a small data packet so the usrp2 knows the udp source port.

    //This setup must happen before further initialization occurs

    //or the async update packets will cause ICMP destination unreachable.

    static const boost::uint32_t data[2] = {

        uhd::htonx(boost::uint32_t(0 /* don't care seq num */)),

        uhd::htonx(boost::uint32_t(USRP2_INVALID_VRT_HEADER))

    };

    transport::managed_send_buffer::sptr send_buff = xport->get_send_buff();

    std::memcpy(send_buff->cast<void*>(), &data, sizeof(data));

    send_buff->commit(sizeof(data));

    return xport;

}

/***********************************************************************

 * Structors

 **********************************************************************/

usrp2_impl::usrp2_impl(const device_addr_t &_device_addr){

    UHD_MSG(status) << "Opening a USRP2/N-Series device..." << std::endl;

    device_addr_t device_addr = _device_addr;

    //setup the dsp transport hints (default to a large recv buff)

    if (not device_addr.has_key("recv_buff_size")){

        #if defined(UHD_PLATFORM_MACOS) || defined(UHD_PLATFORM_BSD)

            //limit buffer resize on macos or it will error

            device_addr["recv_buff_size"] = "1e6";

        #elif defined(UHD_PLATFORM_LINUX) || defined(UHD_PLATFORM_WIN32)

            //set to half-a-second of buffering at max rate

            device_addr["recv_buff_size"] = "50e6";

        #endif

    }

    if (not device_addr.has_key("send_buff_size")){

        //The buffer should be the size of the SRAM on the device,

        //because we will never commit more than the SRAM can hold.

        device_addr["send_buff_size"] = boost::lexical_cast<std::string>(USRP2_SRAM_BYTES);

    }

    device_addrs_t device_args = separate_device_addr(device_addr);

    //extract the user's requested MTU size or default

    mtu_result_t user_mtu;

    user_mtu.recv_mtu = size_t(device_addr.cast<double>("recv_frame_size", udp_simple::mtu));

    user_mtu.send_mtu = size_t(device_addr.cast<double>("send_frame_size", udp_simple::mtu));

    try{

        //calculate the minimum send and recv mtu of all devices

        mtu_result_t mtu = determine_mtu(device_args[0]["addr"], user_mtu);

        for (size_t i = 1; i < device_args.size(); i++){

            mtu_result_t mtu_i = determine_mtu(device_args[i]["addr"], user_mtu);

            mtu.recv_mtu = std::min(mtu.recv_mtu, mtu_i.recv_mtu);

            mtu.send_mtu = std::min(mtu.send_mtu, mtu_i.send_mtu);

        }

        device_addr["recv_frame_size"] = boost::lexical_cast<std::string>(mtu.recv_mtu);

        device_addr["send_frame_size"] = boost::lexical_cast<std::string>(mtu.send_mtu);

        UHD_MSG(status) << boost::format("Current recv frame size: %d bytes") % mtu.recv_mtu << std::endl;

        UHD_MSG(status) << boost::format("Current send frame size: %d bytes") % mtu.send_mtu << std::endl;

    }

    catch(const uhd::not_implemented_error &){

        //just ignore this error, makes older fw work...

    }

    device_args = separate_device_addr(device_addr); //update args for new frame sizes

    ////////////////////////////////////////////////////////////////////

    // create controller objects and initialize the properties tree

    ////////////////////////////////////////////////////////////////////

    _tree = property_tree::make();

    _tree->create<std::string>("/name").set("USRP2 / N-Series Device");

    for (size_t mbi = 0; mbi < device_args.size(); mbi++){

        const device_addr_t device_args_i = device_args[mbi];

        const std::string mb = boost::lexical_cast<std::string>(mbi);

        const std::string addr = device_args_i["addr"];

        const fs_path mb_path = "/mboards/" + mb;

        ////////////////////////////////////////////////////////////////

        // create the iface that controls i2c, spi, uart, and wb

        ////////////////////////////////////////////////////////////////

        _mbc[mb].iface = usrp2_iface::make(udp_simple::make_connected(

            addr, BOOST_STRINGIZE(USRP2_UDP_CTRL_PORT)

        ));

        _tree->create<std::string>(mb_path / "name").set(_mbc[mb].iface->get_cname());

        _tree->create<std::string>(mb_path / "fw_version").set(_mbc[mb].iface->get_fw_version_string());

        //check the fpga compatibility number

        const boost::uint32_t fpga_compat_num = _mbc[mb].iface->peek32(U2_REG_COMPAT_NUM_RB);

        boost::uint16_t fpga_major = fpga_compat_num >> 16, fpga_minor = fpga_compat_num & 0xffff;

        if (fpga_major == 0){ //old version scheme

            fpga_major = fpga_minor;

            fpga_minor = 0;

        }

        if (fpga_major != USRP2_FPGA_COMPAT_NUM){

            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 FPGA compatibility number %d, but got %d:\n"

                "The FPGA build is not compatible with the host code build.\n"

                "%s\n"

            ) % int(USRP2_FPGA_COMPAT_NUM) % fpga_major % _mbc[mb].iface->images_warn_help_message()));

        }

        _tree->create<std::string>(mb_path / "fpga_version").set(str(boost::format("%u.%u") % fpga_major % fpga_minor));

        //lock the device/motherboard to this process

        _mbc[mb].iface->lock_device(true);

        ////////////////////////////////////////////////////////////////

        // construct transports for RX and TX DSPs

        ////////////////////////////////////////////////////////////////

        UHD_LOG << "Making transport for RX DSP0..." << std::endl;

        _mbc[mb].rx_dsp_xports.push_back(make_xport(

            addr, BOOST_STRINGIZE(USRP2_UDP_RX_DSP0_PORT), device_args_i, "recv"

        ));

        UHD_LOG << "Making transport for RX DSP1..." << std::endl;

        _mbc[mb].rx_dsp_xports.push_back(make_xport(

            addr, BOOST_STRINGIZE(USRP2_UDP_RX_DSP1_PORT), device_args_i, "recv"

        ));

        UHD_LOG << "Making transport for TX DSP0..." << std::endl;

        _mbc[mb].tx_dsp_xport = make_xport(

            addr, BOOST_STRINGIZE(USRP2_UDP_TX_DSP0_PORT), device_args_i, "send"

        );

        UHD_LOG << "Making transport for Control..." << std::endl;

        _mbc[mb].fifo_ctrl_xport = make_xport(

            addr, BOOST_STRINGIZE(USRP2_UDP_FIFO_CRTL_PORT), device_addr_t(), ""

        );

        //set the filter on the router to take dsp data from this port

        _mbc[mb].iface->poke32(U2_REG_ROUTER_CTRL_PORTS, (USRP2_UDP_FIFO_CRTL_PORT << 16) | USRP2_UDP_TX_DSP0_PORT);

        //create the fifo control interface for high speed register access

        _mbc[mb].fifo_ctrl = usrp2_fifo_ctrl::make(_mbc[mb].fifo_ctrl_xport);

        switch(_mbc[mb].iface->get_rev()){

        case usrp2_iface::USRP_N200:

        case usrp2_iface::USRP_N210:

        case usrp2_iface::USRP_N200_R4:

        case usrp2_iface::USRP_N210_R4:

            _mbc[mb].wbiface = _mbc[mb].fifo_ctrl;

            _mbc[mb].spiface = _mbc[mb].fifo_ctrl;

            break;

        default:

            _mbc[mb].wbiface = _mbc[mb].iface;

            _mbc[mb].spiface = _mbc[mb].iface;

            break;

        }

        ////////////////////////////////////////////////////////////////

        // setup the mboard eeprom

        ////////////////////////////////////////////////////////////////

        _tree->create<mboard_eeprom_t>(mb_path / "eeprom")

            .set(_mbc[mb].iface->mb_eeprom)

            .subscribe(boost::bind(&usrp2_impl::set_mb_eeprom, this, mb, _1));

        ////////////////////////////////////////////////////////////////

        // create clock control objects

        ////////////////////////////////////////////////////////////////

        _mbc[mb].clock = usrp2_clock_ctrl::make(_mbc[mb].iface, _mbc[mb].spiface);

        _tree->create<double>(mb_path / "tick_rate")

            .publish(boost::bind(&usrp2_clock_ctrl::get_master_clock_rate, _mbc[mb].clock))

            .subscribe(boost::bind(&usrp2_impl::update_tick_rate, this, _1));

        ////////////////////////////////////////////////////////////////

        // create codec control objects

        ////////////////////////////////////////////////////////////////

        const fs_path rx_codec_path = mb_path / "rx_codecs/A";

        const fs_path tx_codec_path = mb_path / "tx_codecs/A";

        _tree->create<int>(rx_codec_path / "gains"); //phony property so this dir exists

        _tree->create<int>(tx_codec_path / "gains"); //phony property so this dir exists

        _mbc[mb].codec = usrp2_codec_ctrl::make(_mbc[mb].iface, _mbc[mb].spiface);

        switch(_mbc[mb].iface->get_rev()){

        case usrp2_iface::USRP_N200:

        case usrp2_iface::USRP_N210:

        case usrp2_iface::USRP_N200_R4:

        case usrp2_iface::USRP_N210_R4:{

            _tree->create<std::string>(rx_codec_path / "name").set("ads62p44");

            _tree->create<meta_range_t>(rx_codec_path / "gains/digital/range").set(meta_range_t(0, 6.0, 0.5));

            _tree->create<double>(rx_codec_path / "gains/digital/value")

                .subscribe(boost::bind(&usrp2_codec_ctrl::set_rx_digital_gain, _mbc[mb].codec, _1)).set(0);

            _tree->create<meta_range_t>(rx_codec_path / "gains/fine/range").set(meta_range_t(0, 0.5, 0.05));

            _tree->create<double>(rx_codec_path / "gains/fine/value")

                .subscribe(boost::bind(&usrp2_codec_ctrl::set_rx_digital_fine_gain, _mbc[mb].codec, _1)).set(0);

        }break;

        case usrp2_iface::USRP2_REV3:

        case usrp2_iface::USRP2_REV4:

            _tree->create<std::string>(rx_codec_path / "name").set("ltc2284");

            break;

        case usrp2_iface::USRP_NXXX:

            _tree->create<std::string>(rx_codec_path / "name").set("??????");

            break;

        }

        _tree->create<std::string>(tx_codec_path / "name").set("ad9777");

        ////////////////////////////////////////////////////////////////////

        // Create the GPSDO control

        ////////////////////////////////////////////////////////////////////

        static const boost::uint32_t dont_look_for_gpsdo = 0x1234abcdul;

        //disable check for internal GPSDO when not the following:

        switch(_mbc[mb].iface->get_rev()){

        case usrp2_iface::USRP_N200:

        case usrp2_iface::USRP_N210:

        case usrp2_iface::USRP_N200_R4:

        case usrp2_iface::USRP_N210_R4:

            break;

        default:

            _mbc[mb].iface->pokefw(U2_FW_REG_HAS_GPSDO, dont_look_for_gpsdo);

        }

        //otherwise if not disabled, look for the internal GPSDO

        if (_mbc[mb].iface->peekfw(U2_FW_REG_HAS_GPSDO) != dont_look_for_gpsdo)

        {

            UHD_MSG(status) << "Detecting internal GPSDO.... " << std::flush;

            try{

                _mbc[mb].gps = gps_ctrl::make(udp_simple::make_uart(udp_simple::make_connected(

                    addr, BOOST_STRINGIZE(USRP2_UDP_UART_GPS_PORT)

                )));

            }

            catch(std::exception &e){

                UHD_MSG(error) << "An error occurred making GPSDO control: " << e.what() << std::endl;

            }

            if (_mbc[mb].gps and _mbc[mb].gps->gps_detected())

            {

                UHD_MSG(status) << "found" << std::endl;

                BOOST_FOREACH(const std::string &name, _mbc[mb].gps->get_sensors())

                {

                    _tree->create<sensor_value_t>(mb_path / "sensors" / name)

                        .publish(boost::bind(&gps_ctrl::get_sensor, _mbc[mb].gps, name));

                }

            }

            else

            {

                UHD_MSG(status) << "not found" << std::endl;

                _mbc[mb].iface->pokefw(U2_FW_REG_HAS_GPSDO, dont_look_for_gpsdo);

            }

        }

        ////////////////////////////////////////////////////////////////

        // and do the misc mboard sensors

        ////////////////////////////////////////////////////////////////

        _tree->create<sensor_value_t>(mb_path / "sensors/mimo_locked")

            .publish(boost::bind(&usrp2_impl::get_mimo_locked, this, mb));

        _tree->create<sensor_value_t>(mb_path / "sensors/ref_locked")

            .publish(boost::bind(&usrp2_impl::get_ref_locked, this, mb));

        ////////////////////////////////////////////////////////////////

        // create frontend control objects

        ////////////////////////////////////////////////////////////////

        _mbc[mb].rx_fe = rx_frontend_core_200::make(

            _mbc[mb].wbiface, U2_REG_SR_ADDR(SR_RX_FRONT)

        );

        _mbc[mb].tx_fe = tx_frontend_core_200::make(

            _mbc[mb].wbiface, U2_REG_SR_ADDR(SR_TX_FRONT)

        );

        _tree->create<subdev_spec_t>(mb_path / "rx_subdev_spec")

            .subscribe(boost::bind(&usrp2_impl::update_rx_subdev_spec, this, mb, _1));

        _tree->create<subdev_spec_t>(mb_path / "tx_subdev_spec")

            .subscribe(boost::bind(&usrp2_impl::update_tx_subdev_spec, this, mb, _1));

        const fs_path rx_fe_path = mb_path / "rx_frontends" / "A";

        const fs_path tx_fe_path = mb_path / "tx_frontends" / "A";

        _tree->create<std::complex<double> >(rx_fe_path / "dc_offset" / "value")

            .coerce(boost::bind(&rx_frontend_core_200::set_dc_offset, _mbc[mb].rx_fe, _1))

            .set(std::complex<double>(0.0, 0.0));

        _tree->create<bool>(rx_fe_path / "dc_offset" / "enable")

            .subscribe(boost::bind(&rx_frontend_core_200::set_dc_offset_auto, _mbc[mb].rx_fe, _1))

            .set(true);

        _tree->create<std::complex<double> >(rx_fe_path / "iq_balance" / "value")

            .subscribe(boost::bind(&rx_frontend_core_200::set_iq_balance, _mbc[mb].rx_fe, _1))

            .set(std::complex<double>(0.0, 0.0));

        _tree->create<std::complex<double> >(tx_fe_path / "dc_offset" / "value")

            .coerce(boost::bind(&tx_frontend_core_200::set_dc_offset, _mbc[mb].tx_fe, _1))

            .set(std::complex<double>(0.0, 0.0));

        _tree->create<std::complex<double> >(tx_fe_path / "iq_balance" / "value")

            .subscribe(boost::bind(&tx_frontend_core_200::set_iq_balance, _mbc[mb].tx_fe, _1))

            .set(std::complex<double>(0.0, 0.0));

        ////////////////////////////////////////////////////////////////

        // create rx dsp control objects

        ////////////////////////////////////////////////////////////////

        _mbc[mb].rx_dsps.push_back(rx_dsp_core_200::make(

            _mbc[mb].wbiface, U2_REG_SR_ADDR(SR_RX_DSP0), U2_REG_SR_ADDR(SR_RX_CTRL0), USRP2_RX_SID_BASE + 0, true

        ));

        _mbc[mb].rx_dsps.push_back(rx_dsp_core_200::make(

            _mbc[mb].wbiface, U2_REG_SR_ADDR(SR_RX_DSP1), U2_REG_SR_ADDR(SR_RX_CTRL1), USRP2_RX_SID_BASE + 1, true

        ));

        for (size_t dspno = 0; dspno < _mbc[mb].rx_dsps.size(); dspno++){

            _mbc[mb].rx_dsps[dspno]->set_link_rate(USRP2_LINK_RATE_BPS);

            _tree->access<double>(mb_path / "tick_rate")

                .subscribe(boost::bind(&rx_dsp_core_200::set_tick_rate, _mbc[mb].rx_dsps[dspno], _1));

            fs_path rx_dsp_path = mb_path / str(boost::format("rx_dsps/%u") % dspno);

            _tree->create<meta_range_t>(rx_dsp_path / "rate/range")

                .publish(boost::bind(&rx_dsp_core_200::get_host_rates, _mbc[mb].rx_dsps[dspno]));

            _tree->create<double>(rx_dsp_path / "rate/value")

                .set(1e6) //some default

                .coerce(boost::bind(&rx_dsp_core_200::set_host_rate, _mbc[mb].rx_dsps[dspno], _1))

                .subscribe(boost::bind(&usrp2_impl::update_rx_samp_rate, this, mb, dspno, _1));

            _tree->create<double>(rx_dsp_path / "freq/value")

                .coerce(boost::bind(&rx_dsp_core_200::set_freq, _mbc[mb].rx_dsps[dspno], _1));

            _tree->create<meta_range_t>(rx_dsp_path / "freq/range")

                .publish(boost::bind(&rx_dsp_core_200::get_freq_range, _mbc[mb].rx_dsps[dspno]));

            _tree->create<stream_cmd_t>(rx_dsp_path / "stream_cmd")

                .subscribe(boost::bind(&rx_dsp_core_200::issue_stream_command, _mbc[mb].rx_dsps[dspno], _1));

        }

        ////////////////////////////////////////////////////////////////

        // create tx dsp control objects

        ////////////////////////////////////////////////////////////////

        _mbc[mb].tx_dsp = tx_dsp_core_200::make(

            _mbc[mb].wbiface, U2_REG_SR_ADDR(SR_TX_DSP), U2_REG_SR_ADDR(SR_TX_CTRL), USRP2_TX_ASYNC_SID

        );

        _mbc[mb].tx_dsp->set_link_rate(USRP2_LINK_RATE_BPS);

        _tree->access<double>(mb_path / "tick_rate")

            .subscribe(boost::bind(&tx_dsp_core_200::set_tick_rate, _mbc[mb].tx_dsp, _1));

        _tree->create<meta_range_t>(mb_path / "tx_dsps/0/rate/range")

            .publish(boost::bind(&tx_dsp_core_200::get_host_rates, _mbc[mb].tx_dsp));

        _tree->create<double>(mb_path / "tx_dsps/0/rate/value")

            .set(1e6) //some default

            .coerce(boost::bind(&tx_dsp_core_200::set_host_rate, _mbc[mb].tx_dsp, _1))

            .subscribe(boost::bind(&usrp2_impl::update_tx_samp_rate, this, mb, 0, _1));

        _tree->create<double>(mb_path / "tx_dsps/0/freq/value")

            .coerce(boost::bind(&usrp2_impl::set_tx_dsp_freq, this, mb, _1));

        _tree->create<meta_range_t>(mb_path / "tx_dsps/0/freq/range")

            .publish(boost::bind(&usrp2_impl::get_tx_dsp_freq_range, this, mb));

        //setup dsp flow control

        const double ups_per_sec = device_args_i.cast<double>("ups_per_sec", 20);

        const size_t send_frame_size = _mbc[mb].tx_dsp_xport->get_send_frame_size();

        const double ups_per_fifo = device_args_i.cast<double>("ups_per_fifo", 8.0);

        _mbc[mb].tx_dsp->set_updates(

            (ups_per_sec > 0.0)? size_t(100e6/*approx tick rate*//ups_per_sec) : 0,

            (ups_per_fifo > 0.0)? size_t(USRP2_SRAM_BYTES/ups_per_fifo/send_frame_size) : 0

        );

        ////////////////////////////////////////////////////////////////

        // create time control objects

        ////////////////////////////////////////////////////////////////

        time64_core_200::readback_bases_type time64_rb_bases;

        time64_rb_bases.rb_hi_now = U2_REG_TIME64_HI_RB_IMM;

        time64_rb_bases.rb_lo_now = U2_REG_TIME64_LO_RB_IMM;

        time64_rb_bases.rb_hi_pps = U2_REG_TIME64_HI_RB_PPS;

        time64_rb_bases.rb_lo_pps = U2_REG_TIME64_LO_RB_PPS;

        _mbc[mb].time64 = time64_core_200::make(

            _mbc[mb].wbiface, U2_REG_SR_ADDR(SR_TIME64), time64_rb_bases, mimo_clock_sync_delay_cycles

        );

        _tree->access<double>(mb_path / "tick_rate")

            .subscribe(boost::bind(&time64_core_200::set_tick_rate, _mbc[mb].time64, _1));

        _tree->create<time_spec_t>(mb_path / "time/now")

            .publish(boost::bind(&time64_core_200::get_time_now, _mbc[mb].time64))

            .subscribe(boost::bind(&time64_core_200::set_time_now, _mbc[mb].time64, _1));

        _tree->create<time_spec_t>(mb_path / "time/pps")

            .publish(boost::bind(&time64_core_200::get_time_last_pps, _mbc[mb].time64))

            .subscribe(boost::bind(&time64_core_200::set_time_next_pps, _mbc[mb].time64, _1));

        //setup time source props

        _tree->create<std::string>(mb_path / "time_source/value")

            .subscribe(boost::bind(&time64_core_200::set_time_source, _mbc[mb].time64, _1));

        _tree->create<std::vector<std::string> >(mb_path / "time_source/options")

            .publish(boost::bind(&time64_core_200::get_time_sources, _mbc[mb].time64));

        //setup reference source props

        _tree->create<std::string>(mb_path / "clock_source/value")

            .subscribe(boost::bind(&usrp2_impl::update_clock_source, this, mb, _1));

        std::vector<std::string> clock_sources = boost::assign::list_of("internal")("external")("mimo");

        if (_mbc[mb].gps and _mbc[mb].gps->gps_detected()) clock_sources.push_back("gpsdo");

        _tree->create<std::vector<std::string> >(mb_path / "clock_source/options").set(clock_sources);

        //plug timed commands into tree here

        switch(_mbc[mb].iface->get_rev()){

        case usrp2_iface::USRP_N200:

        case usrp2_iface::USRP_N210:

        case usrp2_iface::USRP_N200_R4:

        case usrp2_iface::USRP_N210_R4:

            _tree->create<time_spec_t>(mb_path / "time/cmd")

                .subscribe(boost::bind(&usrp2_fifo_ctrl::set_time, _mbc[mb].fifo_ctrl, _1));

        default: break; //otherwise, do not register

        }

        _tree->access<double>(mb_path / "tick_rate")

            .subscribe(boost::bind(&usrp2_fifo_ctrl::set_tick_rate, _mbc[mb].fifo_ctrl, _1));

        ////////////////////////////////////////////////////////////////////

        // create user-defined control objects

        ////////////////////////////////////////////////////////////////////

        _mbc[mb].user = user_settings_core_200::make(_mbc[mb].wbiface, U2_REG_SR_ADDR(SR_USER_REGS));

        _tree->create<user_settings_core_200::user_reg_t>(mb_path / "user/regs")

            .subscribe(boost::bind(&user_settings_core_200::set_reg, _mbc[mb].user, _1));

        ////////////////////////////////////////////////////////////////

        // create dboard control objects

        ////////////////////////////////////////////////////////////////

        //read the dboard eeprom to extract the dboard ids

        dboard_eeprom_t rx_db_eeprom, tx_db_eeprom, gdb_eeprom;

        rx_db_eeprom.load(*_mbc[mb].iface, USRP2_I2C_ADDR_RX_DB);

        tx_db_eeprom.load(*_mbc[mb].iface, USRP2_I2C_ADDR_TX_DB);

        gdb_eeprom.load(*_mbc[mb].iface, USRP2_I2C_ADDR_TX_DB ^ 5);

        //create the properties and register subscribers

        _tree->create<dboard_eeprom_t>(mb_path / "dboards/A/rx_eeprom")

            .set(rx_db_eeprom)

            .subscribe(boost::bind(&usrp2_impl::set_db_eeprom, this, mb, "rx", _1));

        _tree->create<dboard_eeprom_t>(mb_path / "dboards/A/tx_eeprom")

            .set(tx_db_eeprom)

            .subscribe(boost::bind(&usrp2_impl::set_db_eeprom, this, mb, "tx", _1));

        _tree->create<dboard_eeprom_t>(mb_path / "dboards/A/gdb_eeprom")

            .set(gdb_eeprom)

            .subscribe(boost::bind(&usrp2_impl::set_db_eeprom, this, mb, "gdb", _1));

        //create a new dboard interface and manager

        _mbc[mb].dboard_iface = make_usrp2_dboard_iface(_mbc[mb].wbiface, _mbc[mb].iface/*i2c*/, _mbc[mb].spiface, _mbc[mb].clock);

        _tree->create<dboard_iface::sptr>(mb_path / "dboards/A/iface").set(_mbc[mb].dboard_iface);

        _mbc[mb].dboard_manager = dboard_manager::make(

            rx_db_eeprom.id, tx_db_eeprom.id, gdb_eeprom.id,

            _mbc[mb].dboard_iface, _tree->subtree(mb_path / "dboards/A")

        );

        //bind frontend corrections to the dboard freq props

        const fs_path db_tx_fe_path = mb_path / "dboards" / "A" / "tx_frontends";

        BOOST_FOREACH(const std::string &name, _tree->list(db_tx_fe_path)){

            _tree->access<double>(db_tx_fe_path / name / "freq" / "value")

                .subscribe(boost::bind(&usrp2_impl::set_tx_fe_corrections, this, mb, _1));

        }

        const fs_path db_rx_fe_path = mb_path / "dboards" / "A" / "rx_frontends";

        BOOST_FOREACH(const std::string &name, _tree->list(db_rx_fe_path)){

            _tree->access<double>(db_rx_fe_path / name / "freq" / "value")

                .subscribe(boost::bind(&usrp2_impl::set_rx_fe_corrections, this, mb, _1));

        }

    }

    //initialize io handling

    this->io_init();

    //do some post-init tasks

    this->update_rates();

    BOOST_FOREACH(const std::string &mb, _mbc.keys()){

        fs_path root = "/mboards/" + mb;

        //reset cordic rates and their properties to zero

        BOOST_FOREACH(const std::string &name, _tree->list(root / "rx_dsps")){

            _tree->access<double>(root / "rx_dsps" / name / "freq" / "value").set(0.0);

        }

        BOOST_FOREACH(const std::string &name, _tree->list(root / "tx_dsps")){

            _tree->access<double>(root / "tx_dsps" / name / "freq" / "value").set(0.0);

        }

        _tree->access<subdev_spec_t>(root / "rx_subdev_spec").set(subdev_spec_t("A:" + _tree->list(root / "dboards/A/rx_frontends").at(0)));

        _tree->access<subdev_spec_t>(root / "tx_subdev_spec").set(subdev_spec_t("A:" + _tree->list(root / "dboards/A/tx_frontends").at(0)));

        _tree->access<std::string>(root / "clock_source/value").set("internal");

        _tree->access<std::string>(root / "time_source/value").set("none");

        //GPS installed: use external ref, time, and init time spec

        if (_mbc[mb].gps and _mbc[mb].gps->gps_detected()){

            _mbc[mb].time64->enable_gpsdo();

            UHD_MSG(status) << "Setting references to the internal GPSDO" << std::endl;

            _tree->access<std::string>(root / "time_source/value").set("gpsdo");

            _tree->access<std::string>(root / "clock_source/value").set("gpsdo");

            UHD_MSG(status) << "Initializing time to the internal GPSDO" << std::endl;

            _mbc[mb].time64->set_time_next_pps(time_spec_t(time_t(_mbc[mb].gps->get_sensor("gps_time").to_int()+1)));

        }

    }

}

usrp2_impl::~usrp2_impl(void){UHD_SAFE_CALL(

    BOOST_FOREACH(const std::string &mb, _mbc.keys()){

        _mbc[mb].tx_dsp->set_updates(0, 0);

    }

)}

void usrp2_impl::set_mb_eeprom(const std::string &mb, const uhd::usrp::mboard_eeprom_t &mb_eeprom){

    mb_eeprom.commit(*(_mbc[mb].iface), USRP2_EEPROM_MAP_KEY);

}

void usrp2_impl::set_db_eeprom(const std::string &mb, const std::string &type, const uhd::usrp::dboard_eeprom_t &db_eeprom){

    if (type == "rx") db_eeprom.store(*_mbc[mb].iface, USRP2_I2C_ADDR_RX_DB);

    if (type == "tx") db_eeprom.store(*_mbc[mb].iface, USRP2_I2C_ADDR_TX_DB);

    if (type == "gdb") db_eeprom.store(*_mbc[mb].iface, USRP2_I2C_ADDR_TX_DB ^ 5);

}

sensor_value_t usrp2_impl::get_mimo_locked(const std::string &mb){

    const bool lock = (_mbc[mb].wbiface->peek32(U2_REG_IRQ_RB) & (1<<10)) != 0;

    return sensor_value_t("MIMO", lock, "locked", "unlocked");

}

sensor_value_t usrp2_impl::get_ref_locked(const std::string &mb){

    const bool lock = (_mbc[mb].wbiface->peek32(U2_REG_IRQ_RB) & (1<<11)) != 0;

    return sensor_value_t("Ref", lock, "locked", "unlocked");

}

void usrp2_impl::set_rx_fe_corrections(const std::string &mb, const double lo_freq){

    apply_rx_fe_corrections(this->get_tree()->subtree("/mboards/" + mb), "A", lo_freq);

}

void usrp2_impl::set_tx_fe_corrections(const std::string &mb, const double lo_freq){

    apply_tx_fe_corrections(this->get_tree()->subtree("/mboards/" + mb), "A", lo_freq);

}

#include <boost/math/special_functions/round.hpp>

#include <boost/math/special_functions/sign.hpp>

double usrp2_impl::set_tx_dsp_freq(const std::string &mb, const double freq_){

    double new_freq = freq_;

    const double tick_rate = _tree->access<double>("/mboards/"+mb+"/tick_rate").get();

    //calculate the DAC shift (multiples of rate)

    const int sign = boost::math::sign(new_freq);

    const int zone = std::min(boost::math::iround(new_freq/tick_rate), 2);

    const double dac_shift = sign*zone*tick_rate;

    new_freq -= dac_shift; //update FPGA DSP target freq

    //set the DAC shift (modulation mode)

    if (zone == 0) _mbc[mb].codec->set_tx_mod_mode(0); //no shift

    else _mbc[mb].codec->set_tx_mod_mode(sign*4/zone); //DAC interp = 4

    return _mbc[mb].tx_dsp->set_freq(new_freq) + dac_shift; //actual freq

}

meta_range_t usrp2_impl::get_tx_dsp_freq_range(const std::string &mb){

    const double tick_rate = _tree->access<double>("/mboards/"+mb+"/tick_rate").get();

    const meta_range_t dsp_range = _mbc[mb].tx_dsp->get_freq_range();

    return meta_range_t(dsp_range.start() - tick_rate*2, dsp_range.stop() + tick_rate*2, dsp_range.step());

}

void usrp2_impl::update_clock_source(const std::string &mb, const std::string &source){

    //NOTICE: U2_REG_MISC_CTRL_CLOCK is on the wb clock, and cannot be set from fifo_ctrl

    //clock source ref 10mhz

    switch(_mbc[mb].iface->get_rev()){

    case usrp2_iface::USRP_N200:

    case usrp2_iface::USRP_N210:

    case usrp2_iface::USRP_N200_R4:

    case usrp2_iface::USRP_N210_R4:

        if      (source == "internal")  _mbc[mb].iface->poke32(U2_REG_MISC_CTRL_CLOCK, 0x12);

        else if (source == "external")  _mbc[mb].iface->poke32(U2_REG_MISC_CTRL_CLOCK, 0x1C);

        else if (source == "gpsdo")     _mbc[mb].iface->poke32(U2_REG_MISC_CTRL_CLOCK, 0x1C);

        else if (source == "mimo")      _mbc[mb].iface->poke32(U2_REG_MISC_CTRL_CLOCK, 0x15);

        else throw uhd::value_error("unhandled clock configuration reference source: " + source);

        _mbc[mb].clock->enable_external_ref(true); //USRP2P has an internal 10MHz TCXO

        break;

    case usrp2_iface::USRP2_REV3:

    case usrp2_iface::USRP2_REV4:

        if      (source == "internal")  _mbc[mb].iface->poke32(U2_REG_MISC_CTRL_CLOCK, 0x10);

        else if (source == "external")  _mbc[mb].iface->poke32(U2_REG_MISC_CTRL_CLOCK, 0x1C);

        else if (source == "mimo")      _mbc[mb].iface->poke32(U2_REG_MISC_CTRL_CLOCK, 0x15);

        else throw uhd::value_error("unhandled clock configuration reference source: " + source);

        _mbc[mb].clock->enable_external_ref(source != "internal");

        break;

    case usrp2_iface::USRP_NXXX: break;

    }

    //always drive the clock over serdes if not locking to it

    _mbc[mb].clock->enable_mimo_clock_out(source != "mimo");

    //set the mimo clock delay over the serdes

    if (source != "mimo"){

        switch(_mbc[mb].iface->get_rev()){

        case usrp2_iface::USRP_N200:

        case usrp2_iface::USRP_N210:

        case usrp2_iface::USRP_N200_R4:

        case usrp2_iface::USRP_N210_R4:

            _mbc[mb].clock->set_mimo_clock_delay(mimo_clock_delay_usrp_n2xx);

            break;

        case usrp2_iface::USRP2_REV4:

            _mbc[mb].clock->set_mimo_clock_delay(mimo_clock_delay_usrp2_rev4);

            break;

        default: break; //not handled

        }

    }

}