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 3, 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 from gr import gr_threading as _threading
  26
  27 n2s = eng_notation.num_to_str
  28
  29 #-----------------------------------------------------------------------
  30 # FPGA Register Definitions
  31 #-----------------------------------------------------------------------
  32 FR_RADAR_MODE           = usrp.FR_USER_0    # Operational mode
  33 bmFR_RADAR_MODE_RESET   = 1 << 0        # bit 0: active high reset
  34 bmFR_RADAR_TXSIDE       = 1 << 1        # bit 1: use TX side A or B
  35 #bmFR_RADAR_MODE_LP      = 1 << 2       # bit 2: enable digital loopback
  36 #bmFR_RADAR_MODE_DR      = 1 << 3       # bit 3: enable on-board deramping
  37 #bmFR_RADAR_MODE_MD      = 1 << 4       # bit 4: enable echo metadata
  38 #bmFR_RADAR_MODE_CHIRPS  = 3 << 5       # bit 5,6: number of chirp center frequencies
  39 bmFR_RADAR_DEBUG        = 1 << 7        # bit 7: enable debugging mode
  40
  41 FR_RADAR_TON    = usrp.FR_USER_1        # 16-bit transmitter on time in clocks
  42 FR_RADAR_TSW    = usrp.FR_USER_2        # 16-bit transmitter switch time in clocks
  43 FR_RADAR_TLOOK  = usrp.FR_USER_3        # 16-bit receiver look time in clocks
  44 FR_RADAR_TIDLE  = usrp.FR_USER_4        # 32-bit inter-pulse idle time
  45 FR_RADAR_AMPL   = usrp.FR_USER_5        # 16-bit pulse amplitude (2s complement) into CORDIC
  46 FR_RADAR_FSTART = usrp.FR_USER_6        # 32-bit FTW for chirp start frequency
  47 FR_RADAR_FINCR  = usrp.FR_USER_7        # 32-bit FTW increment per transmit clock
  48 FR_RADAR_ATRDEL = usrp.FR_USER_8        # 16-bit TX delay in clocks, 16-bit RX delay in clocks
  49
  50 # These are for phase II development (need to renumber)
  51 #FR_RADAR_FREQ1N = usrp.FR_USER_8  # 24-bit N register for chirp #1
  52 #FR_RADAR_FREQ1R = usrp.FR_USER_9  # 24-bit R register for chirp #1
  53 #FR_RADAR_FREQ1C = usrp.FR_USER_10 # 24-bit C register for chirp #1
  54 #FR_RADAR_FREQ2N = usrp.FR_USER_11 # 24-bit N register for chirp #2
  55 #FR_RADAR_FREQ2R = usrp.FR_USER_12 # 24-bit R register for chirp #2
  56 #FR_RADAR_FREQ2C = usrp.FR_USER_13 # 24-bit C register for chirp #2
  57 #FR_RADAR_FREQ3N = usrp.FR_USER_14 # 24-bit N register for chirp #3
  58 #FR_RADAR_FREQ3R = usrp.FR_USER_15 # 24-bit R register for chirp #3
  59 #FR_RADAR_FREQ3C = usrp.FR_USER_16 # 24-bit C register for chirp #3
  60 #FR_RADAR_FREQ4N = usrp.FR_USER_17 # 24-bit N register for chirp #4
  61 #FR_RADAR_FREQ4R = usrp.FR_USER_18 # 24-bit R register for chirp #4
  62 #FR_RADAR_FREQ4C = usrp.FR_USER_19 # 24-bit C register for chirp #4
  63
  64 #-----------------------------------------------------------------------
  65 # Transmitter object.  Uses usrp_sink, but only for a handle to the
  66 # FPGA registers.
  67 #-----------------------------------------------------------------------
  68 class radar_tx(object):
  69     def __init__(self, options):
  70         self._subdev_spec = options.tx_subdev_spec
  71         self._verbose = options.verbose
  72         self._debug = options.debug
  73         self._u = usrp.sink_s(fpga_filename='usrp_radar_mono.rbf')
  74
  75         if self._subdev_spec == None:
  76             self._subdev_spec = usrp.pick_tx_subdevice(self._u)
  77
  78         self._subdev = usrp.selected_subdev(self._u, self._subdev_spec)
  79         self._subdev.set_lo_offset(0.0)
  80         self._ton_ticks = 0
  81         self._tsw_ticks = 0
  82         self._tlook_ticks = 0
  83         self._tidle_ticks = 0
  84
  85         if self._verbose:
  86             print "Using", self._subdev.name(), "for radar transmitter."
  87
  88     def set_ton(self, ton):
  89         self._ton_ticks = 2*(int(ton*64e6)/2)-1  # Even number, then subtract 1
  90         if self._verbose:
  91             print "Setting pulse on time to", ton, " sec ("+`self._ton_ticks+1`+" ticks)"
  92         self._u._write_fpga_reg(FR_RADAR_TON, self._ton_ticks)
  93
  94     def set_tsw(self, tsw):
  95         self._tsw_ticks = 2*(int(tsw*64e6)/2)-1  # Even number, then subtract 1
  96         if self._verbose:
  97             print "Setting pulse switching time to", tsw, " sec ("+`self._tsw_ticks+1`+" ticks)"
  98         self._u._write_fpga_reg(FR_RADAR_TSW, self._tsw_ticks)
  99
 100     def set_tlook(self, tlook):
 101         self._tlook_ticks = 2*(int(tlook*64e6)/2)-1  # Even number, then subtract 1
 102         if self._verbose:
 103             print "Setting receiver look time to", tlook, " sec ("+`self._tlook_ticks+1`+" ticks)"
 104         self._u._write_fpga_reg(FR_RADAR_TLOOK, self._tlook_ticks)
 105
 106     def set_prf(self, prf):
 107         period = 2*int(32e6/prf)
 108         self._tidle_ticks = period-(self._ton_ticks+self._tsw_ticks+self._tlook_ticks+3)-1
 109         if self._verbose:
 110             print "Setting PRF to", prf, "Hz ("+`self._tidle_ticks+1`+" ticks idle time)"
 111         self._u._write_fpga_reg(FR_RADAR_TIDLE, self._tidle_ticks)
 112
 113     def set_amplitude(self, ampl):
 114         self._amplitude = int(ampl*9946/100.0) # CORDIC gain correction
 115         self._u._write_fpga_reg(FR_RADAR_AMPL, self._amplitude)
 116
 117     def set_freq(self, center_freq, chirp_width):
 118         self._center_freq = center_freq
 119         self._chirp_width = chirp_width
 120         self._fstart = -int((chirp_width/2)*(2**32)/32e6)
 121         self._fincr = int((chirp_width/16e6)*(2**32)/(self._ton_ticks+1))
 122
 123         if self._verbose:
 124             print "Setting transmitter center frequency to", n2s(center_freq)
 125             print "Setting chirp width to", n2s(chirp_width), "Hz "+"("+hex(self._fstart)+", "+hex(self._fincr)+")"
 126
 127         result = self._u.tune(0, self._subdev, center_freq)
 128         if result == False:
 129             raise RuntimeError("Failed to set transmitter frequency.")
 130         self._u._write_fpga_reg(FR_RADAR_FSTART, self._fstart)
 131         self._u._write_fpga_reg(FR_RADAR_FINCR, self._fincr)
 132
 133     def start(self):
 134         self._u.start()
 135         self._subdev.set_enable(True)
 136
 137     def stop(self):
 138         self._subdev.set_enable(False)
 139         self._u.stop()
 140
 141     def subdev_spec(self):
 142         return self._subdev_spec
 143
 144     def echo_length(self):
 145         return self._tlook_ticks+1
 146
 147     def __del__(self):
 148         del self._subdev # Avoid weak reference error
 149
 150 #-----------------------------------------------------------------------
 151 # Receiver object.  Uses usrp_source_c to receive echo records.
 152 #-----------------------------------------------------------------------
 153 class radar_rx(gr.top_block):
 154     def __init__(self, options, callback):
 155         gr.top_block.__init__(self, "radar_rx")
 156
 157         self._u = None
 158         self._subdev_spec = options.rx_subdev_spec
 159         self._gain = options.gain
 160         self._verbose = options.verbose
 161         self._debug = options.debug
 162         self._callback = callback
 163         self._length_set = False
 164         self._connected = False
 165         self._frequency = 0.0
 166         self._msgq = gr.msg_queue()
 167         self._watcher = _queue_watcher_thread(self._msgq, self._callback)
 168
 169     def set_echo_length(self, length):
 170         # Only call once
 171         if self._length_set is True:
 172             raise RuntimeError("Can only set echo length once.")
 173         self._length = length
 174         self._length_set = True
 175
 176     def tune(self, frequency):
 177         if self._verbose:
 178             print "Setting receiver frequency to", n2s(frequency)
 179         self._frequency = frequency
 180         if (self._u):
 181             result = self._u.tune(0, self._subdev, frequency)
 182             if result == False:
 183                 raise RuntimeError("Failed to set receiver frequency.")
 184
 185     def set_gain(self, gain):
 186         self._gain = gain
 187         if self._gain == None:
 188             # if no gain was specified, use the mid-point in dB
 189             g = self._subdev.gain_range()
 190             self._gain = float(g[0]+g[1])/2
 191         self._subdev.set_gain(self._gain)
 192
 193     def begin(self):
 194         if not self._connected:
 195             self._setup_connections()
 196
 197         if self._verbose:
 198             print "Starting receiver..."
 199         self.start()
 200
 201     def end(self):
 202         if self._verbose:
 203             print "Stopping receiver..."
 204         self.stop()
 205         self.wait()
 206         if self._verbose:
 207             print "Receiver stopped."
 208
 209     def _setup_usrp(self):
 210         self._u = usrp.source_c(fpga_filename='usrp_radar_mono.rbf')
 211         if self._subdev_spec == None:
 212             self._subdev_spec = usrp.pick_rx_subdevice(self._u)
 213         self._u.set_mux(usrp.determine_rx_mux_value(self._u, self._subdev_spec))
 214         self._subdev = usrp.selected_subdev(self._u, self._subdev_spec)
 215
 216         if self._verbose:
 217             print "Using", self._subdev.side_and_name(), "for radar receiver."
 218             print "Setting receiver gain to", self._gain
 219         self.set_gain(self._gain)
 220         self.tune(self._frequency)
 221
 222     def _setup_connections(self):
 223         if not self._length_set:
 224             raise RuntimeError("Echo length not set.")
 225         self._setup_usrp()
 226         self._vblen = gr.sizeof_gr_complex*self._length
 227         self._s2v = gr.stream_to_vector(gr.sizeof_gr_complex, self._length)
 228         self._sink = gr.message_sink(self._vblen, self._msgq, False)
 229         self.connect(self._u, self._s2v, self._sink)
 230
 231         if self._verbose:
 232             print "Generating echo vectors of length", self._length, \
 233                   "(samples)", self._vblen, "(bytes)"
 234
 235         self._connected = True
 236
 237 class radar(object):
 238     def __init__(self, options, callback):
 239
 240         self._verbose = options.verbose
 241         self._debug = options.debug
 242
 243         self._mode = 0
 244         self._trans = radar_tx(options)
 245         self._rcvr = radar_rx(options, callback)
 246         self.set_reset(True)
 247         self.set_tx_board(self._trans.subdev_spec())
 248         self.set_debug(self._debug)
 249
 250     def _write_mode(self):
 251         self._trans._u._write_fpga_reg(FR_RADAR_MODE, self._mode)
 252
 253     def set_reset(self, value):
 254         if value:
 255             self._mode |= bmFR_RADAR_MODE_RESET
 256         else:
 257             self._mode &= ~bmFR_RADAR_MODE_RESET
 258         self._write_mode()
 259
 260     def set_tx_board(self, tx_subdev_spec):
 261         if tx_subdev_spec[0] == 1:
 262             self._mode |= bmFR_RADAR_TXSIDE
 263         else:
 264             self._mode &= ~bmFR_RADAR_TXSIDE
 265         self._write_mode()
 266
 267     def set_debug(self, value):
 268         if value:
 269             self._mode |= bmFR_RADAR_DEBUG
 270         else:
 271             self._mode &= ~bmFR_RADAR_DEBUG
 272         self._write_mode()
 273
 274     def set_ton(self, ton):
 275         self._trans.set_ton(ton)
 276
 277     def set_tsw(self, tsw):
 278         self._trans.set_tsw(tsw)
 279
 280     def set_tlook(self, tlook):
 281         self._trans.set_tlook(tlook)
 282         self._rcvr.set_echo_length(self._trans.echo_length())
 283
 284     def set_prf(self, prf):
 285         self._trans.set_prf(prf)
 286
 287     def set_amplitude(self, ampl):
 288         self._trans.set_amplitude(ampl)
 289
 290     def set_freq(self, center_freq, chirp_width):
 291         self._trans.set_freq(center_freq, chirp_width)
 292         self._rcvr.tune(center_freq)
 293
 294     def set_atrdel(self, tx_delay, rx_delay):
 295         if self._verbose:
 296             print "Setting TX delay of", tx_delay, "clocks, RX delay of", rx_delay
 297         self._trans._u._write_fpga_reg(FR_RADAR_ATRDEL, tx_delay << 16 | rx_delay)
 298
 299     def start(self):
 300         self.set_reset(False)
 301         self._trans.start()
 302         self._rcvr.begin()
 303
 304     def stop(self):
 305         self._rcvr.end()
 306         self._trans.stop()
 307         self.set_reset(True)
 308
 309 #-----------------------------------------------------------------------
 310 # Queue watcher.  Dispatches received echos to callback.
 311 #-----------------------------------------------------------------------
 312 class _queue_watcher_thread(_threading.Thread):
 313     def __init__(self, msgq, callback):
 314         _threading.Thread.__init__(self)
 315         self.setDaemon(1)
 316         self._msgq = msgq
 317         self._callback = callback
 318         self._keep_running = True
 319         self.start()
 320
 321     def run(self):
 322         while self._keep_running == True:
 323             msg = self._msgq.delete_head()
 324             if self._callback:
 325                 self._callback(msg.to_string())
 326