Merged r6475:6484 from jcorgan/radar into trunk.

[debian/gnuradio] / gr-radar-mono / src / python / radar_mono.py

diff --git a/gr-radar-mono/src/python/radar_mono.py b/gr-radar-mono/src/python/radar_mono.py
index 701157cc5236068ded85f4e56932cd6fc9039505..6e2c993e1d6a24aacefa0b142f1f513b9bcc236e 100644 (file)
--- a/gr-radar-mono/src/python/radar_mono.py
+++ b/gr-radar-mono/src/python/radar_mono.py
@@ -45,8 +45,9 @@ FR_RADAR_TIDLE  = usrp.FR_USER_4      # 32-bit inter-pulse idle time
 FR_RADAR_AMPL   = usrp.FR_USER_5       # 16-bit pulse amplitude (2s complement) into CORDIC
 FR_RADAR_FSTART = usrp.FR_USER_6       # 32-bit FTW for chirp start frequency
 FR_RADAR_FINCR  = usrp.FR_USER_7       # 32-bit FTW increment per transmit clock
+FR_RADAR_ATRDEL = usrp.FR_USER_8        # 16-bit TX delay in clocks, 16-bit RX delay in clocks
 
-# These are for phase II development
+# These are for phase II development (need to renumber)
 #FR_RADAR_FREQ1N = usrp.FR_USER_8  # 24-bit N register for chirp #1
 #FR_RADAR_FREQ1R = usrp.FR_USER_9  # 24-bit R register for chirp #1
 #FR_RADAR_FREQ1C = usrp.FR_USER_10 # 24-bit C register for chirp #1
@@ -153,6 +154,7 @@ class radar_rx(gr.top_block):
     def __init__(self, options, callback):
        gr.top_block.__init__(self, "radar_rx")
 
+       self._u = None
         self._subdev_spec = options.rx_subdev_spec
         self._gain = options.gain
        self._verbose = options.verbose
@@ -160,6 +162,7 @@ class radar_rx(gr.top_block):
         self._callback = callback
        self._length_set = False
        self._connected = False
+       self._frequency = 0.0
         self._msgq = gr.msg_queue()
         self._watcher = _queue_watcher_thread(self._msgq, self._callback)
                
@@ -173,9 +176,11 @@ class radar_rx(gr.top_block):
     def tune(self, frequency):
         if self._verbose:
             print "Setting receiver frequency to", n2s(frequency)
-        result = self._u.tune(0, self._subdev, frequency)
-        if result == False:
-            raise RuntimeError("Failed to set receiver frequency.")
+       self._frequency = frequency
+       if (self._u):
+            result = self._u.tune(0, self._subdev, frequency)
+           if result == False:
+               raise RuntimeError("Failed to set receiver frequency.")
 
     def set_gain(self, gain):
         self._gain = gain
@@ -212,10 +217,8 @@ class radar_rx(gr.top_block):
             print "Using", self._subdev.side_and_name(), "for radar receiver."
             print "Setting receiver gain to", self._gain
         self.set_gain(self._gain)
-       self._subdev.set_auto_tr(True)
-       self._subdev.set_atr_tx_delay(26) # TX CORDIC pipeline delay
-       self._subdev.set_atr_rx_delay(26)
-               
+       self.tune(self._frequency)
+                       
     def _setup_connections(self):
        if not self._length_set:
            raise RuntimeError("Echo length not set.")
@@ -286,8 +289,13 @@ class radar(object):
 
     def set_freq(self, center_freq, chirp_width):
         self._trans.set_freq(center_freq, chirp_width)
-        # set receiver center frequency
-        
+       self._rcvr.tune(center_freq)
+               
+    def set_atrdel(self, tx_delay, rx_delay):
+        if self._verbose:
+           print "Setting TX delay of", tx_delay, "clocks, RX delay of", rx_delay
+        self._trans._u._write_fpga_reg(FR_RADAR_ATRDEL, tx_delay << 16 | rx_delay)
+
     def start(self):
        self.set_reset(False)
        self._trans.start()