git.gag.com Git - debian/gnuradio/blob - gr-radar-mono/src/python/radar_mono.py

   1 #!/usr/bin/env python
   2 #
   3 # Copyright 2007 Free Software Foundation, Inc.
   4 #
   5 # This file is part of GNU Radio
   6 #
   7 # GNU Radio is free software; you can redistribute it and/or modify
   8 # it under the terms of the GNU General Public License as published by
   9 # the Free Software Foundation; either version 2, or (at your option)
  10 # any later version.
  11 #
  12 # GNU Radio is distributed in the hope that it will be useful,
  13 # but WITHOUT ANY WARRANTY; without even the implied warranty of
  14 # MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  15 # GNU General Public License for more details.
  16 #
  17 # You should have received a copy of the GNU General Public License
  18 # along with GNU Radio; see the file COPYING.  If not, write to
  19 # the Free Software Foundation, Inc., 51 Franklin Street,
  20 # Boston, MA 02110-1301, USA.
  21 #
  22
  23 from gnuradio import gr, usrp
  24 from gnuradio import eng_notation
  25
  26 n2s = eng_notation.num_to_str
  27
  28 #-----------------------------------------------------------------------
  29 # FPGA Register Definitions
  30 #-----------------------------------------------------------------------
  31 FR_RADAR_MODE           = usrp.FR_USER_0    # Operational mode
  32 bmFR_RADAR_MODE_RESET   = 1 << 0        # bit 0: active high reset
  33 #bmFR_RADAR_MODE_LP     = 1 << 1        # bit 1: enable digital loopback
  34 #bmFR_RADAR_MODE_DR     = 1 << 2        # bit 2: enable on-board deramping
  35 #bmFR_RADAR_MODE_MD     = 1 << 3        # bit 3: enable echo metadata
  36 #bmFR_RADAR_MODE_CHIRPS = 3 << 4        # bit 4,5: number of chirp center frequencies
  37
  38 FR_RADAR_TON    = usrp.FR_USER_1        # 16-bit transmitter on time in clocks
  39 FR_RADAR_TSW    = usrp.FR_USER_2        # 16-bit transmitter switch time in clocks
  40 FR_RADAR_TLOOK  = usrp.FR_USER_3        # 16-bit receiver look time in clocks
  41 FR_RADAR_TIDLE  = usrp.FR_USER_4        # 32-bit inter-pulse idle time
  42 FR_RADAR_AMPL   = usrp.FR_USER_5        # 16-bit pulse amplitude (2s complement) into CORDIC
  43 FR_RADAR_FSTART = usrp.FR_USER_6        # 32-bit FTW for chirp start frequency
  44 FR_RADAR_FINCR  = usrp.FR_USER_7        # 32-bit FTW increment per transmit clock
  45
  46 # These are for phase II development
  47 #FR_RADAR_FREQ1N = usrp.FR_USER_8  # 24-bit N register for chirp #1
  48 #FR_RADAR_FREQ1R = usrp.FR_USER_9  # 24-bit R register for chirp #1
  49 #FR_RADAR_FREQ1C = usrp.FR_USER_10 # 24-bit control register for chirp #1
  50 #FR_RADAR_FREQ2N = usrp.FR_USER_11 # 24-bit N register for chirp #2
  51 #FR_RADAR_FREQ2R = usrp.FR_USER_12 # 24-bit R register for chirp #2
  52 #FR_RADAR_FREQ2C = usrp.FR_USER_13 # 24-bit control register for chirp #2
  53 #FR_RADAR_FREQ3N = usrp.FR_USER_14 # 24-bit N register for chirp #3
  54 #FR_RADAR_FREQ3R = usrp.FR_USER_15 # 24-bit R register for chirp #3
  55 #FR_RADAR_FREQ3C = usrp.FR_USER_16 # 24-bit control register for chirp #3
  56 #FR_RADAR_FREQ4N = usrp.FR_USER_17 # 24-bit N register for chirp #4
  57 #FR_RADAR_FREQ4R = usrp.FR_USER_18 # 24-bit R register for chirp #4
  58 #FR_RADAR_FREQ4C = usrp.FR_USER_19 # 24-bit control register for chirp #4
  59
  60 #-----------------------------------------------------------------------
  61 # Transmitter object.  Uses usrp_sink, but only for a handle to the
  62 # FPGA registers.
  63 #-----------------------------------------------------------------------
  64 class radar_tx:
  65     def __init__(self, verbose=False, debug=False):
  66         self._verbose = verbose
  67         self._debug = debug
  68
  69         self._u = usrp.sink_s(fpga_filename='usrp_radar_mono.rbf')
  70         self._subdev_spec = (0,0); # FPGA code only implements side A
  71         self._subdev = usrp.selected_subdev(self._u, self._subdev_spec)
  72         self._ton_ticks = 0
  73         self._tsw_ticks = 0
  74         self._tlook_ticks = 0
  75         self._tidle_ticks = 0
  76
  77         if self._verbose:
  78             print "Using", self._subdev.name(), "for radar transmitter."
  79
  80     def set_ton(self, ton):
  81         self._ton_ticks = 2*(int(ton*64e6)/2)-1  # Even number, then subtract 1
  82         if self._verbose:
  83             print "Setting pulse on time to", ton, " sec ("+`self._ton_ticks+1`+" ticks)"
  84         self._u._write_fpga_reg(FR_RADAR_TON, self._ton_ticks)
  85
  86     def set_tsw(self, tsw):
  87         self._tsw_ticks = 2*(int(tsw*64e6)/2)-1  # Even number, then subtract 1
  88         if self._verbose:
  89             print "Setting pulse switching time to", tsw, " sec ("+`self._tsw_ticks+1`+" ticks)"
  90         self._u._write_fpga_reg(FR_RADAR_TSW, self._tsw_ticks)
  91
  92     def set_tlook(self, tlook):
  93         self._tlook_ticks = 2*(int(tlook*64e6)/2)-1  # Even number, then subtract 1
  94         if self._verbose:
  95             print "Setting receiver look time to", tlook, " sec ("+`self._tlook_ticks+1`+" ticks)"
  96         self._u._write_fpga_reg(FR_RADAR_TLOOK, self._tlook_ticks)
  97
  98     def set_prf(self, prf):
  99         period = 2*int(32e6/prf)
 100         self._tidle_ticks = period-(self._ton_ticks+self._tsw_ticks+self._tlook_ticks+3)-1
 101         if self._verbose:
 102             print "Setting PRF to", prf, "Hz ("+`self._tidle_ticks+1`+" ticks idle time)"
 103         self._u._write_fpga_reg(FR_RADAR_TIDLE, self._tidle_ticks)
 104
 105     def set_amplitude(self, ampl):
 106         self._amplitude = int(ampl*9946/100.0) # CORDIC gain correction
 107         if self._debug:
 108             print "Writing amplitude register with:", hex(self._amplitude)
 109         self._u._write_fpga_reg(FR_RADAR_AMPL, self._amplitude)
 110
 111     def set_freq(self, center_freq, chirp_width):
 112         self._center_freq = center_freq
 113         self._chirp_width = chirp_width
 114         self._fstart = -int((chirp_width/2)*(2**32)/32e6)
 115         self._fincr = int((chirp_width/16e6)*(2**32)/(self._ton_ticks+1))
 116
 117         if self._verbose:
 118             print "Setting transmitter center frequency to", n2s(center_freq)
 119             print "Setting chirp width to", n2s(chirp_width), "Hz "+"("+hex(self._fstart)+", "+hex(self._fincr)+")"
 120
 121         result = self._u.tune(0, self._subdev, center_freq)
 122         if result == False:
 123             raise RuntimeError("Failed to set transmitter frequency.")
 124         self._u._write_fpga_reg(FR_RADAR_FSTART, self._fstart)
 125         self._u._write_fpga_reg(FR_RADAR_FINCR, self._fincr)
 126
 127     def start(self):
 128         self._u.start()
 129
 130     def stop(self):
 131         self._u.stop()
 132
 133 #-----------------------------------------------------------------------
 134 # Receiver object.  Uses usrp_source_c to receive echo records.
 135 # NOT IMPLEMENTED YET
 136 #-----------------------------------------------------------------------
 137 """
 138 class radar_rx:
 139     def __init__(self,gain=None,msgq=None,loopback=False,verbose=False,debug=False):
 140         self._gain = gain
 141         self._msgq = msgq
 142         self._loopback = loopback
 143         self._verbose = verbose
 144         self._debug = debug
 145
 146         self._fg = gr.flow_graph()
 147         self._u = usrp.source_c(fpga_filename='usrp_radar.rbf')
 148         if not self._loopback:
 149             self._subdev_spec = (0,0) # FPGA only implements side A
 150             self._u.set_mux(usrp.determine_rx_mux_value(self._u, self._subdev_spec))
 151             self._subdev = usrp.selected_subdev(self._u, self._subdev_spec)
 152             if self._verbose:
 153                 print "Using", self._subdev.name(), "for radar receiver."
 154
 155         self.set_gain(self._gain)
 156
 157         # need to compute length here
 158
 159         self._vblen = gr.sizeof_gr_complex*self._length
 160         if self._debug:
 161             print "Generating echo vectors of length", self._length, "byte length", self._vblen
 162
 163         self._s2v = gr.stream_to_vector(gr.sizeof_gr_complex, self._length)
 164         self._sink = gr.message_sink(self._vblen, self._msgq, True)
 165         self._fg.connect(self._u, self._s2v, self._sink)
 166
 167     def tune(self, frequency):
 168         if self._verbose:
 169             print "Setting receiver frequency to", n2s(frequency)
 170         result = self._u.tune(0, self._subdev, frequency)
 171         if result == False:
 172             raise RuntimeError("Failed to set receiver frequency.")
 173
 174     def set_gain(self, gain):
 175         self._gain = gain
 176         if self._loopback:
 177             return
 178
 179         if self._gain is None:
 180             # if no gain was specified, use the mid-point in dB
 181             g = self._subdev.gain_range()
 182             self._gain = float(g[0]+g[1])/2
 183         if self._verbose:
 184             print "Setting receiver gain to", gain
 185         self._subdev.set_gain(self._gain)
 186
 187     def start(self):
 188         if self._debug:
 189             print "Starting receiver flow graph."
 190         self._fg.start()
 191
 192     def wait(self):
 193         if self._debug:
 194             print "Waiting for threads..."
 195         self._fg.wait()
 196
 197     def stop(self):
 198         if self._debug:
 199             print "Stopping receiver flow graph."
 200         self._fg.stop()
 201         self.wait()
 202         if self._debug:
 203             print "Receiver flow graph stopped."
 204 """
 205
 206 class radar:
 207     def __init__(self,msgq=None,verbose=False,debug=False):
 208         self._msgq = msgq
 209         self._verbose = verbose
 210         self._debug = debug
 211
 212         self._mode = 0
 213         self._trans = radar_tx(verbose=self._verbose, debug=self._debug)
 214         self.set_reset(True)
 215
 216     def _write_mode(self):
 217         if self._debug:
 218             print "Writing mode register with:", hex(self._mode)
 219         self._trans._u._write_fpga_reg(FR_RADAR_MODE, self._mode)
 220
 221     def set_reset(self, value):
 222         if value:
 223             if self._debug:
 224                 print "Asserting reset."
 225             self._mode |= bmFR_RADAR_MODE_RESET
 226         else:
 227             if self._debug:
 228                 print "De-asserting reset."
 229             self._mode &= ~bmFR_RADAR_MODE_RESET
 230         self._write_mode()
 231
 232     """
 233     def set_loopback(self, value):
 234         if value:
 235             if self._verbose:
 236                 print "Enabling digital loopback."
 237             self._mode |= bmFR_RADAR_MODE_LP
 238         else:
 239             if self._verbose:
 240                 print "Disabling digital loopback."
 241             self._mode &= ~bmFR_RADAR_MODE_LP
 242         self._write_mode()
 243     """
 244
 245     def set_ton(self, ton):
 246         self._trans.set_ton(ton)
 247
 248     def set_tsw(self, tsw):
 249         self._trans.set_tsw(tsw)
 250
 251     def set_tlook(self, tlook):
 252         self._trans.set_tlook(tlook)
 253
 254     def set_prf(self, prf):
 255         self._trans.set_prf(prf)
 256
 257     def set_amplitude(self, ampl):
 258         self._trans.set_amplitude(ampl)
 259
 260     def set_freq(self, center_freq, chirp_width):
 261         self._trans.set_freq(center_freq, chirp_width)
 262         # set receiver center frequency
 263
 264     def start(self):
 265         self._trans.start()
 266         self.set_reset(False)
 267
 268     def stop(self):
 269         self.set_reset(True)
 270         self._trans.stop()
 271
 272     def __del__(self):
 273         self.stop()