#-----------------------------------------------------------------------
FR_RADAR_MODE = usrp.FR_USER_0 # Operational mode
bmFR_RADAR_MODE_RESET = 1 << 0 # bit 0: active high reset
-bmFR_RADAR_MODE_TX = 1 << 1 # bit 1: enable transmitter
-#bmFR_RADAR_MODE_RX = 1 << 2 # bit 2: enable receiver
-#bmFR_RADAR_MODE_LP = 1 << 3 # bit 3: enable digital loopback
-#bmFR_RADAR_MODE_DR = 1 << 4 # bit 4: enable on-board deramping
-#bmFR_RADAR_MODE_MD = 1 << 5 # bit 5: enable echo metadata
-#bmFR_RADAR_MODE_CHIRPS = 3 << 6 # bit 6,7: number of chirp center frequencies
+#bmFR_RADAR_MODE_LP = 1 << 1 # bit 1: enable digital loopback
+#bmFR_RADAR_MODE_DR = 1 << 2 # bit 2: enable on-board deramping
+#bmFR_RADAR_MODE_MD = 1 << 3 # bit 3: enable echo metadata
+#bmFR_RADAR_MODE_CHIRPS = 3 << 4 # bit 4,5: number of chirp center frequencies
-#FR_RADAR_TON = usrp.FR_USER_1 # 16-bit transmitter on time in clocks
-#FR_RADAR_TSW = usrp.FR_USER_2 # 16-bit transmitter switch time in clocks
-#FR_RADAR_TLOOK = usrp.FR_USER_3 # 16-bit receiver look time in clocks
-#FR_RADAR_TIDLE = usrp.FR_USER_4 # 32-bit inter-pulse idle time
+FR_RADAR_TON = usrp.FR_USER_1 # 16-bit transmitter on time in clocks
+FR_RADAR_TSW = usrp.FR_USER_2 # 16-bit transmitter switch time in clocks
+FR_RADAR_TLOOK = usrp.FR_USER_3 # 16-bit receiver look time in clocks
+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_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
# These are for phase II development
-
-# Temporarily use this for transmitter frequency calibration
-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 control register for chirp #1
-FR_RADAR_FREQ2N = usrp.FR_USER_11 # 24-bit N register for chirp #2
-FR_RADAR_FREQ2R = usrp.FR_USER_12 # 24-bit R register for chirp #2
-FR_RADAR_FREQ2C = usrp.FR_USER_13 # 24-bit control register for chirp #2
-FR_RADAR_FREQ3N = usrp.FR_USER_14 # 24-bit N register for chirp #3
-FR_RADAR_FREQ3R = usrp.FR_USER_15 # 24-bit R register for chirp #3
-FR_RADAR_FREQ3C = usrp.FR_USER_16 # 24-bit control register for chirp #3
-FR_RADAR_FREQ4N = usrp.FR_USER_17 # 24-bit N register for chirp #4
-FR_RADAR_FREQ4R = usrp.FR_USER_18 # 24-bit R register for chirp #4
-FR_RADAR_FREQ4C = usrp.FR_USER_19 # 24-bit control register for chirp #4
+#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 control register for chirp #1
+#FR_RADAR_FREQ2N = usrp.FR_USER_11 # 24-bit N register for chirp #2
+#FR_RADAR_FREQ2R = usrp.FR_USER_12 # 24-bit R register for chirp #2
+#FR_RADAR_FREQ2C = usrp.FR_USER_13 # 24-bit control register for chirp #2
+#FR_RADAR_FREQ3N = usrp.FR_USER_14 # 24-bit N register for chirp #3
+#FR_RADAR_FREQ3R = usrp.FR_USER_15 # 24-bit R register for chirp #3
+#FR_RADAR_FREQ3C = usrp.FR_USER_16 # 24-bit control register for chirp #3
+#FR_RADAR_FREQ4N = usrp.FR_USER_17 # 24-bit N register for chirp #4
+#FR_RADAR_FREQ4R = usrp.FR_USER_18 # 24-bit R register for chirp #4
+#FR_RADAR_FREQ4C = usrp.FR_USER_19 # 24-bit control register for chirp #4
#-----------------------------------------------------------------------
# Transmitter object. Uses usrp_sink, but only for a handle to the
self._u = usrp.sink_s(fpga_filename='usrp_radar_mono.rbf')
self._subdev_spec = (0,0); # FPGA code only implements side A
self._subdev = usrp.selected_subdev(self._u, self._subdev_spec)
+ self._ton_ticks = 0
+ self._tsw_ticks = 0
+ self._tlook_ticks = 0
+ self._tidle_ticks = 0
+
if self._verbose:
print "Using", self._subdev.name(), "for radar transmitter."
- def tune(self, center_freq, waveform_freq):
- self._center_freq = center_freq
- self._waveform_freq = waveform_freq
- self._ftw = int(waveform_freq*(2**32)/32e6)
- if self._verbose:
- print "Setting transmitter center frequency to", n2s(center_freq)
- print "Setting waveform frequency offset to", n2s(waveform_freq), "with ftw of", self._ftw
- result = self._u.tune(0, self._subdev, center_freq)
- if result == False:
- raise RuntimeError("Failed to set transmitter frequency.")
- self._u._write_fpga_reg(FR_RADAR_FREQ1N, self._ftw)
+ def set_ton(self, ton):
+ self._ton_ticks = 2*(int(ton*64e6)/2)-1 # Even number, then subtract 1
+ if self._verbose:
+ print "Setting pulse on time to", ton, " sec ("+`self._ton_ticks+1`+" ticks)"
+ self._u._write_fpga_reg(FR_RADAR_TON, self._ton_ticks)
+
+ def set_tsw(self, tsw):
+ self._tsw_ticks = 2*(int(tsw*64e6)/2)-1 # Even number, then subtract 1
+ if self._verbose:
+ print "Setting pulse switching time to", tsw, " sec ("+`self._tsw_ticks+1`+" ticks)"
+ self._u._write_fpga_reg(FR_RADAR_TSW, self._tsw_ticks)
+
+ def set_tlook(self, tlook):
+ self._tlook_ticks = 2*(int(tlook*64e6)/2)-1 # Even number, then subtract 1
+ if self._verbose:
+ print "Setting receiver look time to", tlook, " sec ("+`self._tlook_ticks+1`+" ticks)"
+ self._u._write_fpga_reg(FR_RADAR_TLOOK, self._tlook_ticks)
+
+ def set_prf(self, prf):
+ period = 2*int(32e6/prf)
+ self._tidle_ticks = period-(self._ton_ticks+self._tsw_ticks+self._tlook_ticks+3)-1
+ if self._verbose:
+ print "Setting PRF to", prf, "Hz ("+`self._tidle_ticks+1`+" ticks idle time)"
+ self._u._write_fpga_reg(FR_RADAR_TIDLE, self._tidle_ticks)
def set_amplitude(self, ampl):
self._amplitude = int(ampl*9946/100.0) # CORDIC gain correction
print "Writing amplitude register with:", hex(self._amplitude)
self._u._write_fpga_reg(FR_RADAR_AMPL, self._amplitude)
+ def set_freq(self, center_freq, chirp_width):
+ self._center_freq = center_freq
+ self._chirp_width = chirp_width
+ self._fstart = -int((chirp_width/2)*(2**32)/32e6)
+ self._fincr = int((chirp_width/16e6)*(2**32)/(self._ton_ticks+1))
+
+ if self._verbose:
+ print "Setting transmitter center frequency to", n2s(center_freq)
+ print "Setting chirp width to", n2s(chirp_width), "Hz "+"("+hex(self._fstart)+", "+hex(self._fincr)+")"
+
+ result = self._u.tune(0, self._subdev, center_freq)
+ if result == False:
+ raise RuntimeError("Failed to set transmitter frequency.")
+ self._u._write_fpga_reg(FR_RADAR_FSTART, self._fstart)
+ self._u._write_fpga_reg(FR_RADAR_FINCR, self._fincr)
+
def start(self):
self._u.start()
self._debug = debug
self._mode = 0
- self._transmitting = False
self._trans = radar_tx(verbose=self._verbose, debug=self._debug)
self.set_reset(True)
- def set_amplitude(self, ampl):
- self._trans.set_amplitude(ampl)
-
- def tune(self, center_freq, waveform_freq):
- self._trans.tune(center_freq, waveform_freq)
-
def _write_mode(self):
if self._debug:
print "Writing mode register with:", hex(self._mode)
self._trans._u._write_fpga_reg(FR_RADAR_MODE, self._mode)
- def enable_tx(self, value):
+ def set_reset(self, value):
if value:
- if self._verbose:
- print "Enabling transmitter."
- self._mode |= bmFR_RADAR_MODE_TX
- self._transmitting = True
+ if self._debug:
+ print "Asserting reset."
+ self._mode |= bmFR_RADAR_MODE_RESET
else:
- if self._verbose:
- print "Disabling transmitter."
- self._mode &= ~bmFR_RADAR_MODE_TX
- self._transmitting = False
+ if self._debug:
+ print "De-asserting reset."
+ self._mode &= ~bmFR_RADAR_MODE_RESET
self._write_mode()
-
- """
- def enable_rx(self, value):
- if value:
- self._mode |= bmFR_RADAR_MODE_RX
- self._write_mode()
- self._rcvr.start()
- self._receiving = True
- else:
- self._rcvr.stop()
- self._mode &= ~bmFR_RADAR_MODE_RX
- self._write_mode()
- self._receiving = False
- """
+
"""
def set_loopback(self, value):
if value:
self._write_mode()
"""
- def set_reset(self, value):
- if value:
- if self._debug:
- print "Asserting reset."
- self._mode |= bmFR_RADAR_MODE_RESET
- else:
- if self._debug:
- print "De-asserting reset."
- self._mode &= ~bmFR_RADAR_MODE_RESET
- self._write_mode()
+ def set_ton(self, ton):
+ self._trans.set_ton(ton)
+
+ def set_tsw(self, tsw):
+ self._trans.set_tsw(tsw)
+
+ def set_tlook(self, tlook):
+ self._trans.set_tlook(tlook)
+
+ def set_prf(self, prf):
+ self._trans.set_prf(prf)
+
+ def set_amplitude(self, ampl):
+ self._trans.set_amplitude(ampl)
+ def set_freq(self, center_freq, chirp_width):
+ self._trans.set_freq(center_freq, chirp_width)
+ # set receiver center frequency
+
def start(self):
self._trans.start()
- self.enable_tx(True)
self.set_reset(False)
def stop(self):
self.set_reset(True)
self._trans.stop()
- if self._transmitting:
- self.enable_tx(False)
def __del__(self):
self.stop()
projects / debian / gnuradio / blobdiff