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