3 # Copyright 2007 Free Software Foundation, Inc.
5 # This file is part of GNU Radio
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)
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.
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.
23 from gnuradio import gr, usrp
24 from gnuradio import eng_notation
26 n2s = eng_notation.num_to_str
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_TXSIDE = 1 << 1 # bit 1: use TX side A or B
34 #bmFR_RADAR_MODE_LP = 1 << 2 # bit 2: enable digital loopback
35 #bmFR_RADAR_MODE_DR = 1 << 3 # bit 3: enable on-board deramping
36 #bmFR_RADAR_MODE_MD = 1 << 4 # bit 4: enable echo metadata
37 #bmFR_RADAR_MODE_CHIRPS = 3 << 5 # bit 5,6: number of chirp center frequencies
38 bmFR_RADAR_DEBUG = 1 << 7 # bit 7: enable debugging mode
40 FR_RADAR_TON = usrp.FR_USER_1 # 16-bit transmitter on time in clocks
41 FR_RADAR_TSW = usrp.FR_USER_2 # 16-bit transmitter switch time in clocks
42 FR_RADAR_TLOOK = usrp.FR_USER_3 # 16-bit receiver look time in clocks
43 FR_RADAR_TIDLE = usrp.FR_USER_4 # 32-bit inter-pulse idle time
44 FR_RADAR_AMPL = usrp.FR_USER_5 # 16-bit pulse amplitude (2s complement) into CORDIC
45 FR_RADAR_FSTART = usrp.FR_USER_6 # 32-bit FTW for chirp start frequency
46 FR_RADAR_FINCR = usrp.FR_USER_7 # 32-bit FTW increment per transmit clock
48 # These are for phase II development
49 #FR_RADAR_FREQ1N = usrp.FR_USER_8 # 24-bit N register for chirp #1
50 #FR_RADAR_FREQ1R = usrp.FR_USER_9 # 24-bit R register for chirp #1
51 #FR_RADAR_FREQ1C = usrp.FR_USER_10 # 24-bit C register for chirp #1
52 #FR_RADAR_FREQ2N = usrp.FR_USER_11 # 24-bit N register for chirp #2
53 #FR_RADAR_FREQ2R = usrp.FR_USER_12 # 24-bit R register for chirp #2
54 #FR_RADAR_FREQ2C = usrp.FR_USER_13 # 24-bit C register for chirp #2
55 #FR_RADAR_FREQ3N = usrp.FR_USER_14 # 24-bit N register for chirp #3
56 #FR_RADAR_FREQ3R = usrp.FR_USER_15 # 24-bit R register for chirp #3
57 #FR_RADAR_FREQ3C = usrp.FR_USER_16 # 24-bit C register for chirp #3
58 #FR_RADAR_FREQ4N = usrp.FR_USER_17 # 24-bit N register for chirp #4
59 #FR_RADAR_FREQ4R = usrp.FR_USER_18 # 24-bit R register for chirp #4
60 #FR_RADAR_FREQ4C = usrp.FR_USER_19 # 24-bit C register for chirp #4
62 #-----------------------------------------------------------------------
63 # Transmitter object. Uses usrp_sink, but only for a handle to the
65 #-----------------------------------------------------------------------
67 def __init__(self, subdev_spec=None, verbose=False, debug=False):
68 self._subdev_spec = subdev_spec
69 self._verbose = verbose
71 self._u = usrp.sink_s(fpga_filename='usrp_radar_mono.rbf')
73 if self._subdev_spec == None:
74 self._subdev_spec = usrp.pick_tx_subdevice(self._u)
76 self._subdev = usrp.selected_subdev(self._u, self._subdev_spec)
77 self._subdev.set_lo_offset(0.0)
84 print "Using", self._subdev.name(), "for radar transmitter."
86 def set_ton(self, ton):
87 self._ton_ticks = 2*(int(ton*64e6)/2)-1 # Even number, then subtract 1
89 print "Setting pulse on time to", ton, " sec ("+`self._ton_ticks+1`+" ticks)"
90 self._u._write_fpga_reg(FR_RADAR_TON, self._ton_ticks)
92 def set_tsw(self, tsw):
93 self._tsw_ticks = 2*(int(tsw*64e6)/2)-1 # Even number, then subtract 1
95 print "Setting pulse switching time to", tsw, " sec ("+`self._tsw_ticks+1`+" ticks)"
96 self._u._write_fpga_reg(FR_RADAR_TSW, self._tsw_ticks)
98 def set_tlook(self, tlook):
99 self._tlook_ticks = 2*(int(tlook*64e6)/2)-1 # Even number, then subtract 1
101 print "Setting receiver look time to", tlook, " sec ("+`self._tlook_ticks+1`+" ticks)"
102 self._u._write_fpga_reg(FR_RADAR_TLOOK, self._tlook_ticks)
104 def set_prf(self, prf):
105 period = 2*int(32e6/prf)
106 self._tidle_ticks = period-(self._ton_ticks+self._tsw_ticks+self._tlook_ticks+3)-1
108 print "Setting PRF to", prf, "Hz ("+`self._tidle_ticks+1`+" ticks idle time)"
109 self._u._write_fpga_reg(FR_RADAR_TIDLE, self._tidle_ticks)
111 def set_amplitude(self, ampl):
112 self._amplitude = int(ampl*9946/100.0) # CORDIC gain correction
113 self._u._write_fpga_reg(FR_RADAR_AMPL, self._amplitude)
115 def set_freq(self, center_freq, chirp_width):
116 self._center_freq = center_freq
117 self._chirp_width = chirp_width
118 self._fstart = -int((chirp_width/2)*(2**32)/32e6)
119 self._fincr = int((chirp_width/16e6)*(2**32)/(self._ton_ticks+1))
122 print "Setting transmitter center frequency to", n2s(center_freq)
123 print "Setting chirp width to", n2s(chirp_width), "Hz "+"("+hex(self._fstart)+", "+hex(self._fincr)+")"
125 result = self._u.tune(0, self._subdev, center_freq)
127 raise RuntimeError("Failed to set transmitter frequency.")
128 self._u._write_fpga_reg(FR_RADAR_FSTART, self._fstart)
129 self._u._write_fpga_reg(FR_RADAR_FINCR, self._fincr)
133 self._subdev.set_enable(True)
136 self._subdev.set_enable(False)
139 def subdev_spec(self):
140 return self._subdev_spec
142 def echo_length(self):
143 return self._tlook_ticks+1
146 del self._subdev # Avoid weak reference error
148 #-----------------------------------------------------------------------
149 # Receiver object. Uses usrp_source_c to receive echo records.
150 #-----------------------------------------------------------------------
152 def __init__(self, gain=None, subdev_spec=None, msgq=None, length=None,
153 verbose=False, debug=False):
155 self._subdev_spec = subdev_spec
157 self._length = length
158 self._verbose = verbose
160 self._length_set = False
162 self._fg = gr.flow_graph()
163 self._u = usrp.source_c(fpga_filename='usrp_radar_mono.rbf')
164 if self._subdev_spec == None:
165 self._subdev_spec = usrp.pick_rx_subdevice(self._u)
166 self._u.set_mux(usrp.determine_rx_mux_value(self._u, self._subdev_spec))
169 self._usrp_sink = gr.file_sink(gr.sizeof_gr_complex, "usrp.dat")
170 self._fg.connect(self._u, self._usrp_sink)
172 self._subdev = usrp.selected_subdev(self._u, self._subdev_spec)
176 print "Using", self._subdev.name(), "for radar receiver."
177 print "Setting receiver gain to", self._gain
179 def set_echo_length(self, length):
181 if self._length_set is True:
182 raise RuntimeError("Can only set echo length once.")
183 self._length = length
184 self._vblen = gr.sizeof_gr_complex*self._length
185 self._s2v = gr.stream_to_vector(gr.sizeof_gr_complex, self._length)
186 self._sink = gr.message_sink(self._vblen, self._msgq, True)
187 self._fg.connect(self._u, self._s2v, self._sink)
188 self._length_set = True
190 print "Receiving echo vectors of length", self._length, \
191 "(samples)", self._vblen, "(bytes)"
193 def tune(self, frequency):
195 print "Setting receiver frequency to", n2s(frequency)
196 result = self._u.tune(0, self._subdev, frequency)
198 raise RuntimeError("Failed to set receiver frequency.")
200 def set_gain(self, gain):
202 if self._gain == None:
203 # if no gain was specified, use the mid-point in dB
204 g = self._subdev.gain_range()
205 self._gain = float(g[0]+g[1])/2
206 self._subdev.set_gain(self._gain)
210 print "Starting receiver flow graph."
215 print "Waiting for threads..."
220 print "Stopping receiver flow graph."
224 print "Receiver flow graph stopped."
227 def __init__(self, msgq=None, tx_subdev_spec=None, rx_subdev_spec=None,
228 gain=None, verbose=False, debug=False):
230 self._verbose = verbose
234 self._trans = radar_tx(subdev_spec=tx_subdev_spec, verbose=self._verbose, debug=self._debug)
235 self._rcvr = radar_rx(gain=gain, msgq=self._msgq, subdev_spec=rx_subdev_spec,
236 verbose=self._verbose, debug=self._debug)
238 self.set_tx_board(self._trans.subdev_spec())
239 self.set_debug(self._debug)
241 def _write_mode(self):
242 self._trans._u._write_fpga_reg(FR_RADAR_MODE, self._mode)
244 def set_reset(self, value):
246 self._mode |= bmFR_RADAR_MODE_RESET
248 self._mode &= ~bmFR_RADAR_MODE_RESET
251 def set_tx_board(self, tx_subdev_spec):
252 if tx_subdev_spec[0] == 1:
253 self._mode |= bmFR_RADAR_TXSIDE
255 self._mode &= ~bmFR_RADAR_TXSIDE
258 def set_debug(self, value):
260 self._mode |= bmFR_RADAR_DEBUG
262 self._mode &= ~bmFR_RADAR_DEBUG
265 def set_ton(self, ton):
266 self._trans.set_ton(ton)
268 def set_tsw(self, tsw):
269 self._trans.set_tsw(tsw)
271 def set_tlook(self, tlook):
272 self._trans.set_tlook(tlook)
273 self._rcvr.set_echo_length(self._trans.echo_length())
275 def set_prf(self, prf):
276 self._trans.set_prf(prf)
278 def set_amplitude(self, ampl):
279 self._trans.set_amplitude(ampl)
281 def set_freq(self, center_freq, chirp_width):
282 self._trans.set_freq(center_freq, chirp_width)
283 # set receiver center frequency
286 self.set_reset(False)