Merge branch 'digital' of https://github.com/trondeau/gnuradio into digital

Conflicts:
	gnuradio-core/src/lib/general/gr_pll_carriertracking_cc.h
	gnuradio-core/src/lib/general/gr_pll_freqdet_cf.h
	gr-digital/lib/digital_constellation.h
	gr-digital/lib/digital_constellation_receiver_cb.h
	gr-digital/lib/digital_fll_band_edge_cc.h
	gr-digital/lib/digital_mpsk_receiver_cc.h

18 files changed, 617 insertions, 77 deletions

diff --git a/gnuradio-core/src/lib/general/CMakeLists.txt b/gnuradio-core/src/lib/general/CMakeLists.txt
index 1cd9c6bd1..cb3f0da4b 100644
--- a/gnuradio-core/src/lib/general/CMakeLists.txt
+++ b/gnuradio-core/src/lib/general/CMakeLists.txt
@@ -96,6 +96,7 @@ LIST(APPEND gnuradio_core_sources
 LIST(APPEND test_gnuradio_core_sources
     ${CMAKE_CURRENT_SOURCE_DIR}/qa_general.cc
     ${CMAKE_CURRENT_SOURCE_DIR}/qa_gr_circular_file.cc
+    ${CMAKE_CURRENT_SOURCE_DIR}/qa_gr_cpm.cc
     ${CMAKE_CURRENT_SOURCE_DIR}/qa_gr_firdes.cc
     ${CMAKE_CURRENT_SOURCE_DIR}/qa_gr_fxpt.cc
     ${CMAKE_CURRENT_SOURCE_DIR}/qa_gr_fxpt_nco.cc
@@ -189,6 +190,7 @@ SET(gr_core_general_triple_threats
     gr_conjugate_cc
     gr_copy
     gr_cpfsk_bc
+    gr_cpm
     gr_ctcss_squelch_ff
     gr_decode_ccsds_27_fb
     gr_diff_decoder_bb
diff --git a/gnuradio-core/src/lib/general/Makefile.am b/gnuradio-core/src/lib/general/Makefile.am
index f210cee39..fe545f98c 100644
--- a/gnuradio-core/src/lib/general/Makefile.am
+++ b/gnuradio-core/src/lib/general/Makefile.am
@@ -55,6 +55,7 @@ libgeneral_la_SOURCES = 		\
 	gr_copy.cc			\
 	gr_count_bits.cc		\
 	gr_cpfsk_bc.cc			\
+	gr_cpm.cc			\
 	gr_ctcss_squelch_ff.cc		\
 	gr_decode_ccsds_27_fb.cc	\
 	gr_deinterleave.cc		\
@@ -176,6 +177,7 @@ libgeneral_la_SOURCES = 		\
 libgeneral_qa_la_SOURCES = 		\
 	qa_general.cc			\
 	qa_gr_circular_file.cc		\
+	qa_gr_cpm.cc			\
 	qa_gr_firdes.cc			\
 	qa_gr_fxpt.cc			\
 	qa_gr_fxpt_nco.cc		\
@@ -203,6 +205,7 @@ grinclude_HEADERS = 			\
 	gr_copy.h			\
 	gr_count_bits.h			\
 	gr_cpfsk_bc.h			\
+	gr_cpm.h			\
 	gr_ctcss_squelch_ff.h		\
 	gr_decode_ccsds_27_fb.h		\
 	gr_diff_decoder_bb.h		\
@@ -340,6 +343,7 @@ grinclude_HEADERS = 			\
 noinst_HEADERS = 			\
 	qa_general.h			\
 	qa_gr_circular_file.h		\
+	qa_gr_cpm.h			\
 	qa_gr_firdes.h			\
 	qa_gr_fxpt.h			\
 	qa_gr_fxpt_nco.h		\
@@ -367,6 +371,7 @@ swiginclude_HEADERS =			\
 	gr_conjugate_cc.i		\
 	gr_copy.i			\
 	gr_cpfsk_bc.i			\
+	gr_cpm.i			\
 	gr_ctcss_squelch_ff.i		\
 	gr_decode_ccsds_27_fb.i		\
 	gr_diff_decoder_bb.i		\
diff --git a/gnuradio-core/src/lib/general/general.i b/gnuradio-core/src/lib/general/general.i
index f9adff3fa..e965eea64 100644
--- a/gnuradio-core/src/lib/general/general.i
+++ b/gnuradio-core/src/lib/general/general.i
@@ -1,6 +1,6 @@
 /* -*- c++ -*- */
 /*
- * Copyright 2004,2005,2006,2007,2008,2009 Free Software Foundation, Inc.
+ * Copyright 2004,2005,2006,2007,2008,2009,2010 Free Software Foundation, Inc.
  * 
  * This file is part of GNU Radio
  * 
@@ -137,6 +137,7 @@
 #include <gr_annotator_alltoall.h>
 #include <gr_annotator_1to1.h>
 #include <gr_burst_tagger.h>
+#include <gr_cpm.h>
 %}
 
 %include "gri_control_loop.i"
@@ -254,3 +255,4 @@
 %include "gr_annotator_alltoall.i"
 %include "gr_annotator_1to1.i"
 %include "gr_burst_tagger.i"
+%include "gr_cpm.i"
diff --git a/gnuradio-core/src/lib/general/gr_cpm.cc b/gnuradio-core/src/lib/general/gr_cpm.cc
new file mode 100644
index 000000000..a00526b52
--- /dev/null
+++ b/gnuradio-core/src/lib/general/gr_cpm.cc
@@ -0,0 +1,214 @@
+/* -*- c++ -*- */
+/*
+ * Copyright 2010 Free Software Foundation, Inc.
+ * 
+ * GNU Radio is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3, or (at your option)
+ * any later version.
+ * 
+ * GNU Radio is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ * 
+ * You should have received a copy of the GNU General Public License
+ * along with GNU Radio; see the file COPYING.  If not, write to
+ * the Free Software Foundation, Inc., 51 Franklin Street,
+ * Boston, MA 02110-1301, USA.
+ */
+
+// Calculate the taps for the CPM phase responses
+
+#ifdef HAVE_CONFIG_H
+#include "config.h"
+#endif
+
+#include <cmath>
+#include <cfloat>
+#include <gr_cpm.h>
+
+#ifndef M_TWOPI
+#  define M_TWOPI (2*M_PI)
+#endif
+
+//! Normalised sinc function, sinc(x)=sin(pi*x)/pi*x
+inline double
+sinc(double x)
+{
+	if (x == 0) {
+		return 1.0;
+	}
+
+	return sin(M_PI * x) / (M_PI * x);
+}
+
+
+//! Taps for L-RC CPM (Raised cosine of length L symbols)
+std::vector<float>
+generate_cpm_lrc_taps(unsigned samples_per_sym, unsigned L)
+{
+	std::vector<float> taps(samples_per_sym * L, 1.0/L/samples_per_sym);
+	for (unsigned i = 0; i < samples_per_sym * L; i++) {
+		taps[i] *= 1 - cos(M_TWOPI * i / L / samples_per_sym);
+	}
+
+	return taps;
+}
+
+
+/*! Taps for L-SRC CPM (Spectral raised cosine of length L symbols).
+ *
+ * L-SRC has a time-continuous phase response function of
+ *
+ * g(t) = 1/LT * sinc(2t/LT) * cos(beta * 2pi t / LT) / (1 - (4beta / LT * t)^2)
+ *
+ * which is the Fourier transform of a cos-rolloff function with rolloff
+ * beta, and looks like a sinc-function, multiplied with a rolloff term.
+ * We return the main lobe of the sinc, i.e., everything between the
+ * zero crossings.
+ * The time-discrete IR is thus
+ *
+ * g(k) = 1/Ls * sinc(2k/Ls) * cos(beta * pi k / Ls) / (1 - (4beta / Ls * k)^2)
+ * where k = 0...Ls-1
+ * and s = samples per symbol.
+ */
+std::vector<float>
+generate_cpm_lsrc_taps(unsigned samples_per_sym, unsigned L, double beta)
+{
+	double Ls = (double) L * samples_per_sym;
+	std::vector<double> taps_d(L * samples_per_sym, 0.0);
+	std::vector<float> taps(L * samples_per_sym, 0.0);
+
+	double sum = 0;
+	for (unsigned i = 0; i < samples_per_sym * L; i++) {
+		double k =  i - Ls/2; // Causal to acausal
+
+		taps_d[i] = 1.0 / Ls * sinc(2.0 * k / Ls);
+
+		// For k = +/-Ls/4*beta, the rolloff term's cos-function becomes zero
+		// and the whole thing converges to PI/4 (to prove this, use de
+		// l'hopital's rule).
+		if (fabs(fabs(k) - Ls/4/beta) < 2*DBL_EPSILON) {
+			taps_d[i] *= M_PI_4;
+		} else {
+			double tmp = 4.0 * beta * k / Ls;
+			taps_d[i] *= cos(beta * M_TWOPI * k / Ls) / (1 - tmp * tmp);
+		}
+		sum += taps_d[i];
+	}
+	for (unsigned i = 0; i < samples_per_sym * L; i++) {
+		taps[i] = (float) taps_d[i] / sum;
+	}
+
+	return taps;
+}
+
+
+//! Taps for L-REC CPM (Rectangular pulse shape of length L symbols)
+std::vector<float>
+generate_cpm_lrec_taps(unsigned samples_per_sym, unsigned L)
+{
+	return std::vector<float>(samples_per_sym * L, 1.0/L/samples_per_sym);
+}
+
+
+//! Helper function for TFM
+double tfm_g0(double k, double sps)
+{
+	if (fabs(k) < 2 * DBL_EPSILON) {
+		return 1.145393004159143; // 1 + pi^2/48 / sqrt(2)
+	}
+
+	const double pi2_24 = 0.411233516712057; // pi^2/24
+	double f = M_PI * k / sps;
+	return sinc(k/sps) - pi2_24 * (2 * sin(f) - 2*f*cos(f) - f*f*sin(f)) / (f*f*f);
+}
+
+
+//! Taps for TFM CPM (Tamed frequency modulation)
+//
+// See [2, Chapter 2.7.2].
+//
+// [2]: Anderson, Aulin and Sundberg; Digital Phase Modulation
+std::vector<float>
+generate_cpm_tfm_taps(unsigned sps, unsigned L)
+{
+	unsigned causal_shift = sps * L / 2;
+	std::vector<double> taps_d(sps * L, 0.0);
+	std::vector<float> taps(sps * L, 0.0);
+
+	double sum = 0;
+	for (unsigned i = 0; i < sps * L; i++) {
+		double k = (double)(((int)i) - ((int)causal_shift)); // Causal to acausal
+
+		taps_d[i] =     tfm_g0(k - sps, sps) +
+		            2 * tfm_g0(k,       sps) +
+		                tfm_g0(k + sps, sps);
+		sum += taps_d[i];
+	}
+	for (unsigned i = 0; i < sps * L; i++) {
+		taps[i] = (float) taps_d[i] / sum;
+	}
+
+	return taps;
+}
+
+
+//! Taps for Gaussian CPM. Phase response is truncated after \p L symbols.
+//  \p bt sets the 3dB-time-bandwidth product.
+//
+// Note: for h = 0.5, this is the phase response for GMSK.
+//
+// This C99-compatible formula for the taps is taken straight
+// from [1, Chapter 9.2.3].
+// A version in Q-notation can be found in [2, Chapter 2.7.2].
+//
+// [1]: Karl-Dirk Kammeyer; Nachrichtenübertragung, 4th Edition.
+// [2]: Anderson, Aulin and Sundberg; Digital Phase Modulation
+//
+std::vector<float>
+generate_cpm_gaussian_taps(unsigned samples_per_sym, unsigned L, double bt)
+{
+	double Ls = (double) L * samples_per_sym;
+	std::vector<double> taps_d(L * samples_per_sym, 0.0);
+	std::vector<float> taps(L * samples_per_sym, 0.0);
+
+	// alpha = sqrt(2/ln(2)) * pi * BT
+	double alpha = 5.336446256636997 * bt;
+	for (unsigned i = 0; i < samples_per_sym * L; i++) {
+		double k =  i - Ls/2; // Causal to acausal
+		taps_d[i] = (erf(alpha * (k / samples_per_sym + 0.5)) -
+		             erf(alpha * (k / samples_per_sym - 0.5)))
+			        * 0.5 / samples_per_sym;
+		taps[i] = (float) taps_d[i];
+	}
+
+	return taps;
+}
+
+
+std::vector<float>
+gr_cpm::phase_response(cpm_type type, unsigned samples_per_sym, unsigned L, double beta)
+{
+	switch (type) {
+		case LRC:
+			return generate_cpm_lrc_taps(samples_per_sym, L);
+
+		case LSRC:
+			return generate_cpm_lsrc_taps(samples_per_sym, L, beta);
+
+		case LREC:
+			return generate_cpm_lrec_taps(samples_per_sym, L);
+
+		case TFM:
+			return generate_cpm_tfm_taps(samples_per_sym, L);
+
+		case GAUSSIAN:
+			return generate_cpm_gaussian_taps(samples_per_sym, L, beta);
+
+		default:
+			return generate_cpm_lrec_taps(samples_per_sym, 1);
+	}
+}
+
diff --git a/gnuradio-core/src/lib/general/gr_cpm.h b/gnuradio-core/src/lib/general/gr_cpm.h
new file mode 100644
index 000000000..ef2ff8414
--- /dev/null
+++ b/gnuradio-core/src/lib/general/gr_cpm.h
@@ -0,0 +1,81 @@
+/* -*- c++ -*- */
+/*
+ * Copyright 2010 Free Software Foundation, Inc.
+ *
+ * GNU Radio is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3, or (at your option)
+ * any later version.
+ *
+ * GNU Radio is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with GNU Radio; see the file COPYING.  If not, write to
+ * the Free Software Foundation, Inc., 51 Franklin Street,
+ * Boston, MA 02110-1301, USA.
+ */
+
+
+#ifndef INCLUDED_GR_CPM_H
+#define INCLUDED_GR_CPM_H
+
+#include <gr_core_api.h>
+#include <vector>
+
+class GR_CORE_API gr_cpm
+{
+ public:
+	enum cpm_type {
+	 LRC,
+	 LSRC,
+	 LREC,
+	 TFM,
+	 GAUSSIAN,
+	 GENERIC = 999
+	};
+
+    /*! \brief Return the taps for an interpolating FIR filter (gr_interp_fir_filter_fff).
+	 *
+	 * These taps represent the phase response \f$g(k)\f$ for use in a CPM modulator,
+	 * see also gr_cpmmod_bc.
+	 *
+	 * \param type The CPM type (Rectangular, Raised Cosine, Spectral Raised Cosine,
+	 *             Tamed FM or Gaussian).
+	 * \param samples_per_sym Samples per symbol.
+	 * \param L The length of the phase response in symbols.
+	 * \param beta For Spectral Raised Cosine, this is the rolloff factor. For Gaussian
+	 *             phase responses, this the 3dB-time-bandwidth product. For all other
+	 *             cases, it is ignored.
+	 *
+	 * Output: returns a vector of length \a K = \p samples_per_sym x \p L.
+	 *         This can be used directly in an interpolating FIR filter such as
+	 *         gr_interp_fir_filter_fff with interpolation factor \p samples_per_sym.
+	 *
+	 * All phase responses are normalised s.t. \f$ \sum_{k=0}^{K-1} g(k) = 1\f$; this will cause
+	 * a maximum phase change of \f$ h \cdot \pi\f$ between two symbols, where \a h is the
+	 * modulation index.
+	 *
+	 * The following phase responses can be generated:
+	 * - LREC: Rectangular phase response.
+	 * - LRC: Raised cosine phase response, looks like 1 - cos(x).
+	 * - LSRC: Spectral raised cosine. This requires a rolloff factor beta.
+	 *         The phase response is the Fourier transform of raised cosine
+	 *         function.
+	 * - TFM: Tamed frequency modulation. This scheme minimizes phase change for
+	 *        rapidly varying input symbols.
+	 * - GAUSSIAN: A Gaussian phase response. For a modulation index h = 1/2, this
+	 *             results in GMSK.
+	 *
+	 * A short description of all these phase responses can be found in [1].
+	 *
+	 * [1]: Anderson, Aulin and Sundberg; Digital Phase Modulation
+     */
+	static std::vector<float>
+	phase_response(cpm_type type, unsigned samples_per_sym, unsigned L, double beta=0.3);
+};
+
+#endif /* INCLUDED_GR_CPM_H */
+
diff --git a/gnuradio-core/src/lib/general/gr_cpm.i b/gnuradio-core/src/lib/general/gr_cpm.i
new file mode 100644
index 000000000..f01aba34e
--- /dev/null
+++ b/gnuradio-core/src/lib/general/gr_cpm.i
@@ -0,0 +1,40 @@
+/* -*- C++ -*- */
+/*
+ * Copyright 2010 Free Software Foundation, Inc.
+ * 
+ * This file is part of GNU Radio
+ * 
+ * GNU Radio is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3, or (at your option)
+ * any later version.
+ * 
+ * GNU Radio is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ * 
+ * You should have received a copy of the GNU General Public License
+ * along with GNU Radio; see the file COPYING.  If not, write to
+ * the Free Software Foundation, Inc., 51 Franklin Street,
+ * Boston, MA 02110-1301, USA.
+ */
+
+%rename(cpm) gr_cpm;
+
+class gr_cpm
+{
+ public:
+	enum cpm_type {
+	 LRC,
+	 LSRC,
+	 LREC,
+	 TFM,
+	 GAUSSIAN,
+	 GENERIC = 999
+	};
+
+	static std::vector<float>
+	phase_response(cpm_type type, unsigned samples_per_sym, unsigned L, double beta=0.3);
+};
+
diff --git a/gnuradio-core/src/lib/general/gr_pll_carriertracking_cc.cc b/gnuradio-core/src/lib/general/gr_pll_carriertracking_cc.cc
index 19ab316a1..583e0eb70 100644
--- a/gnuradio-core/src/lib/general/gr_pll_carriertracking_cc.cc
+++ b/gnuradio-core/src/lib/general/gr_pll_carriertracking_cc.cc
@@ -1,6 +1,6 @@
 /* -*- c++ -*- */
 /*
- * Copyright 2006,2010 Free Software Foundation, Inc.
+ * Copyright 2006,2010,2011 Free Software Foundation, Inc.
  * 
  * This file is part of GNU Radio
  * 
@@ -30,22 +30,24 @@
 #include <math.h>
 #include <gr_math.h>
 
-#define M_TWOPI (2*M_PI)
+#ifndef M_TWOPI
+#define M_TWOPI (2.0f*M_PI)
+#endif
 
 gr_pll_carriertracking_cc_sptr
-gr_make_pll_carriertracking_cc (float alpha, float beta, float max_freq, float min_freq)
+gr_make_pll_carriertracking_cc (float loop_bw, float max_freq, float min_freq)
 {
-  return gnuradio::get_initial_sptr(new gr_pll_carriertracking_cc (alpha, beta, max_freq, min_freq));
+  return gnuradio::get_initial_sptr(new gr_pll_carriertracking_cc (loop_bw, max_freq, min_freq));
 }
 
-gr_pll_carriertracking_cc::gr_pll_carriertracking_cc (float alpha, float beta, float max_freq, float min_freq)
+gr_pll_carriertracking_cc::gr_pll_carriertracking_cc (float loop_bw,
+						      float max_freq,
+						      float min_freq)
   : gr_sync_block ("pll_carriertracking_cc",
 		   gr_make_io_signature (1, 1, sizeof (gr_complex)),
 		   gr_make_io_signature (1, 1, sizeof (gr_complex))),
-    d_alpha(alpha), d_beta(beta), 
-    d_max_freq(max_freq), d_min_freq(min_freq),
-    d_phase(0), d_freq((max_freq+min_freq)/2),
-    d_locksig(0),d_lock_threshold(0),d_squelch_enable(false)
+    gri_control_loop(loop_bw, max_freq, min_freq),
+    d_locksig(0), d_lock_threshold(0), d_squelch_enable(false)
 {
 }
 
@@ -72,7 +74,7 @@ gr_pll_carriertracking_cc::phase_detector(gr_complex sample,float ref_phase)
 bool
 gr_pll_carriertracking_cc::lock_detector(void)
 {
-    return (fabs(d_locksig) > d_lock_threshold);
+    return (fabsf(d_locksig) > d_lock_threshold);
 }
 
 bool
@@ -100,17 +102,16 @@ gr_pll_carriertracking_cc::work (int noutput_items,
   
   for (int i = 0; i < noutput_items; i++){
     error = phase_detector(iptr[i],d_phase);
-    
-    d_freq = d_freq + d_beta * error;
-    d_phase = mod_2pi(d_phase + d_freq + d_alpha * error);
-    
-    if (d_freq > d_max_freq)
-      d_freq = d_max_freq;
-    else if (d_freq < d_min_freq)
-      d_freq = d_min_freq;
-    gr_sincosf(d_phase,&t_imag,&t_real);
-    optr[i] = iptr[i] * gr_complex(t_real,-t_imag);
-    d_locksig = d_locksig * (1.0 - d_alpha) + d_alpha*(iptr[i].real() * t_real + iptr[i].imag() * t_imag);
+
+    advance_loop(error);
+    phase_wrap();
+    frequency_limit();
+
+    gr_sincosf(d_phase, &t_imag, &t_real);
+    optr[i] = iptr[i] * gr_complex(t_real, -t_imag);
+
+    d_locksig = d_locksig * (1.0 - d_alpha) + \
+      d_alpha*(iptr[i].real() * t_real + iptr[i].imag() * t_imag);
     
     if ((d_squelch_enable) && !lock_detector())
       optr[i] = 0;
diff --git a/gnuradio-core/src/lib/general/gr_pll_carriertracking_cc.h b/gnuradio-core/src/lib/general/gr_pll_carriertracking_cc.h
index 27e74f111..db74bb101 100644
--- a/gnuradio-core/src/lib/general/gr_pll_carriertracking_cc.h
+++ b/gnuradio-core/src/lib/general/gr_pll_carriertracking_cc.h
@@ -1,6 +1,6 @@
 /* -*- c++ -*- */
 /*
- * Copyright 2004,206 Free Software Foundation, Inc.
+ * Copyright 2004,2006,2011 Free Software Foundation, Inc.
  * 
  * This file is part of GNU Radio
  * 
@@ -25,12 +25,14 @@
 
 #include <gr_core_api.h>
 #include <gr_sync_block.h>
+#include <gri_control_loop.h>
 
 class gr_pll_carriertracking_cc;
 typedef boost::shared_ptr<gr_pll_carriertracking_cc> gr_pll_carriertracking_cc_sptr;
 
-GR_CORE_API gr_pll_carriertracking_cc_sptr gr_make_pll_carriertracking_cc (float alpha, float beta,
-					       float max_freq, float min_freq);
+GR_CORE_API gr_pll_carriertracking_cc_sptr gr_make_pll_carriertracking_cc (float loop_bw,
+							       float max_freq,
+							       float min_freq);
 /*!
  * \brief Implements a PLL which locks to the input frequency and outputs the 
  * input signal mixed with that carrier.
@@ -42,19 +44,20 @@ GR_CORE_API gr_pll_carriertracking_cc_sptr gr_make_pll_carriertracking_cc (float
  * the input and outputs that signal, downconverted to DC
  * 
  * All settings max_freq and min_freq are in terms of radians per sample, 
- * NOT HERTZ.  Alpha is the phase gain (first order, units of radians per radian) 
- * and beta is the frequency gain (second order, units of radians per sample per radian)
+ * NOT HERTZ.  The loop bandwidth determins the lock range and should be set
+ * around pi/200 -- 2pi/100.
  * \sa gr_pll_freqdet_cf, gr_pll_carriertracking_cc
  */
 
-class GR_CORE_API gr_pll_carriertracking_cc : public gr_sync_block
+class GR_CORE_API gr_pll_carriertracking_cc : public gr_sync_block, public gri_control_loop
 {
-  friend GR_CORE_API gr_pll_carriertracking_cc_sptr gr_make_pll_carriertracking_cc (float alpha, float beta,
-							float max_freq, float min_freq);
+  friend GR_CORE_API gr_pll_carriertracking_cc_sptr gr_make_pll_carriertracking_cc (float loop_bw,
+									float max_freq,
+									float min_freq);
 
-  float d_alpha,d_beta,d_max_freq,d_min_freq,d_phase,d_freq,d_locksig,d_lock_threshold;
+  float d_locksig,d_lock_threshold;
   bool d_squelch_enable;
-  gr_pll_carriertracking_cc (float alpha, float beta, float max_freq, float min_freq);
+  gr_pll_carriertracking_cc (float loop_bw, float max_freq, float min_freq);
 
   int work (int noutput_items,
 	    gr_vector_const_void_star &input_items,
diff --git a/gnuradio-core/src/lib/general/gr_pll_carriertracking_cc.i b/gnuradio-core/src/lib/general/gr_pll_carriertracking_cc.i
index 3e84fccbe..d309111b2 100644
--- a/gnuradio-core/src/lib/general/gr_pll_carriertracking_cc.i
+++ b/gnuradio-core/src/lib/general/gr_pll_carriertracking_cc.i
@@ -1,6 +1,6 @@
 /* -*- c++ -*- */
 /*
- * Copyright 2005 Free Software Foundation, Inc.
+ * Copyright 2005,2011 Free Software Foundation, Inc.
  * 
  * This file is part of GNU Radio
  * 
@@ -23,13 +23,14 @@
 GR_SWIG_BLOCK_MAGIC(gr,pll_carriertracking_cc);
 
 gr_pll_carriertracking_cc_sptr
-gr_make_pll_carriertracking_cc (float alpha, float beta, 
-				float max_freq, float min_freq);
+gr_make_pll_carriertracking_cc (float loop_bw, 
+				float max_freq,
+				float min_freq);
 
-class gr_pll_carriertracking_cc : public gr_sync_block
+class gr_pll_carriertracking_cc : public gr_sync_block, public gri_control_loop
 {
  private:
-  gr_pll_carriertracking_cc (float alpha, float beta, float max_freq, float min_freq);
+  gr_pll_carriertracking_cc (float loop_bw, float max_freq, float min_freq);
  public:
   bool lock_detector(void);
   bool  squelch_enable(bool);
diff --git a/gnuradio-core/src/lib/general/gr_pll_freqdet_cf.cc b/gnuradio-core/src/lib/general/gr_pll_freqdet_cf.cc
index 1f17f2afc..0ae773e6e 100644
--- a/gnuradio-core/src/lib/general/gr_pll_freqdet_cf.cc
+++ b/gnuradio-core/src/lib/general/gr_pll_freqdet_cf.cc
@@ -1,6 +1,6 @@
 /* -*- c++ -*- */
 /*
- * Copyright 2004,2010 Free Software Foundation, Inc.
+ * Copyright 2004,2010,2011 Free Software Foundation, Inc.
  * 
  * This file is part of GNU Radio
  * 
@@ -20,8 +20,6 @@
  * Boston, MA 02110-1301, USA.
  */
 
-// WARNING: this file is machine generated.  Edits will be over written
-
 #ifdef HAVE_CONFIG_H
 #include "config.h"
 #endif
@@ -31,21 +29,21 @@
 #include <math.h>
 #include <gr_math.h>
 
-#define M_TWOPI (2*M_PI)
+#ifndef M_TWOPI
+#define M_TWOPI (2.0f*M_PI)
+#endif
 
 gr_pll_freqdet_cf_sptr
-gr_make_pll_freqdet_cf (float alpha, float beta, float max_freq, float min_freq)
+gr_make_pll_freqdet_cf (float loop_bw, float max_freq, float min_freq)
 {
-  return gnuradio::get_initial_sptr(new gr_pll_freqdet_cf (alpha, beta, max_freq, min_freq));
+  return gnuradio::get_initial_sptr(new gr_pll_freqdet_cf (loop_bw, max_freq, min_freq));
 }
 
-gr_pll_freqdet_cf::gr_pll_freqdet_cf (float alpha, float beta, float max_freq, float min_freq)
+gr_pll_freqdet_cf::gr_pll_freqdet_cf (float loop_bw, float max_freq, float min_freq)
   : gr_sync_block ("pll_freqdet_cf",
 		   gr_make_io_signature (1, 1, sizeof (gr_complex)),
 		   gr_make_io_signature (1, 1, sizeof (float))),
-    d_alpha(alpha), d_beta(beta), 
-    d_max_freq(max_freq), d_min_freq(min_freq),
-    d_phase(0), d_freq((max_freq+min_freq)/2)
+    gri_control_loop(loop_bw, max_freq, min_freq)    
 {
 }
 
@@ -70,8 +68,8 @@ gr_pll_freqdet_cf::phase_detector(gr_complex sample,float ref_phase)
 
 int
 gr_pll_freqdet_cf::work (int noutput_items,
-		   gr_vector_const_void_star &input_items,
-		   gr_vector_void_star &output_items)
+			 gr_vector_const_void_star &input_items,
+			 gr_vector_void_star &output_items)
 {
   const gr_complex *iptr = (gr_complex *) input_items[0];
   float *optr = (float *) output_items[0];
@@ -82,13 +80,10 @@ gr_pll_freqdet_cf::work (int noutput_items,
   while (size-- > 0) {
     error = phase_detector(*iptr++,d_phase);
     
-    d_freq = d_freq + d_beta * error;
-    d_phase = mod_2pi(d_phase + d_freq + d_alpha * error);
-    
-    if (d_freq > d_max_freq)
-      d_freq = d_max_freq;
-    else if (d_freq < d_min_freq)
-      d_freq = d_min_freq;
+    advance_loop(error);
+    phase_wrap();
+    frequency_limit();
+
     *optr++ = d_freq;
   }
   return noutput_items;
diff --git a/gnuradio-core/src/lib/general/gr_pll_freqdet_cf.h b/gnuradio-core/src/lib/general/gr_pll_freqdet_cf.h
index 6ed1f99c2..336f3fd31 100644
--- a/gnuradio-core/src/lib/general/gr_pll_freqdet_cf.h
+++ b/gnuradio-core/src/lib/general/gr_pll_freqdet_cf.h
@@ -1,6 +1,6 @@
 /* -*- c++ -*- */
 /*
- * Copyright 2004 Free Software Foundation, Inc.
+ * Copyright 2004,2011 Free Software Foundation, Inc.
  * 
  * This file is part of GNU Radio
  * 
@@ -25,12 +25,14 @@
 
 #include <gr_core_api.h>
 #include <gr_sync_block.h>
+#include <gri_control_loop.h>
 
 class gr_pll_freqdet_cf;
 typedef boost::shared_ptr<gr_pll_freqdet_cf> gr_pll_freqdet_cf_sptr;
 
-GR_CORE_API gr_pll_freqdet_cf_sptr gr_make_pll_freqdet_cf (float alpha, float beta,
-					       float max_freq, float min_freq);
+GR_CORE_API gr_pll_freqdet_cf_sptr gr_make_pll_freqdet_cf (float loop_bw,
+					       float max_freq,
+					       float min_freq);
 /*!
  * \brief Implements a PLL which locks to the input frequency and outputs 
  * an estimate of that frequency.  Useful for FM Demod.
@@ -41,24 +43,24 @@ GR_CORE_API gr_pll_freqdet_cf_sptr gr_make_pll_freqdet_cf (float alpha, float be
  * This PLL locks onto a [possibly noisy] reference carrier on
  * the input and outputs an estimate of that frequency in radians per sample.
  * All settings max_freq and min_freq are in terms of radians per sample, 
- * NOT HERTZ.  Alpha is the phase gain (first order, units of radians per radian) 
- * and beta is the frequency gain (second order, units of radians per sample per radian)
+ * NOT HERTZ.  The loop bandwidth determins the lock range and should be set
+ * around pi/200 -- 2pi/100.
  * \sa gr_pll_refout_cc, gr_pll_carriertracking_cc
  */
 
-class GR_CORE_API gr_pll_freqdet_cf : public gr_sync_block
+class GR_CORE_API gr_pll_freqdet_cf : public gr_sync_block, public gri_control_loop
 {
-  friend GR_CORE_API gr_pll_freqdet_cf_sptr gr_make_pll_freqdet_cf (float alpha, float beta,
-							float max_freq, float min_freq);
+  friend GR_CORE_API gr_pll_freqdet_cf_sptr gr_make_pll_freqdet_cf (float loop_bw,
+							float max_freq,
+							float min_freq);
 
-  float d_alpha,d_beta,d_max_freq,d_min_freq,d_phase,d_freq;
-  gr_pll_freqdet_cf (float alpha, float beta, float max_freq, float min_freq);
+  float mod_2pi (float in);
+  gr_pll_freqdet_cf (float loop_bw, float max_freq, float min_freq);
 
   int work (int noutput_items,
 	    gr_vector_const_void_star &input_items,
 	    gr_vector_void_star &output_items);
 private:
-  float mod_2pi (float in);
   float phase_detector(gr_complex sample,float ref_phase);
 };
 
diff --git a/gnuradio-core/src/lib/general/gr_pll_freqdet_cf.i b/gnuradio-core/src/lib/general/gr_pll_freqdet_cf.i
index b730f037a..f93e6e37e 100644
--- a/gnuradio-core/src/lib/general/gr_pll_freqdet_cf.i
+++ b/gnuradio-core/src/lib/general/gr_pll_freqdet_cf.i
@@ -1,6 +1,6 @@
 /* -*- c++ -*- */
 /*
- * Copyright 2005 Free Software Foundation, Inc.
+ * Copyright 2005,2011 Free Software Foundation, Inc.
  * 
  * This file is part of GNU Radio
  * 
@@ -22,11 +22,12 @@
 
 GR_SWIG_BLOCK_MAGIC(gr,pll_freqdet_cf)
 
-  gr_pll_freqdet_cf_sptr gr_make_pll_freqdet_cf (float alpha, float beta, 
-						 float max_freq, float min_freq);
+  gr_pll_freqdet_cf_sptr gr_make_pll_freqdet_cf (float loop_bw, 
+						 float max_freq,
+						 float min_freq);
 
-class gr_pll_freqdet_cf : public gr_sync_block
+class gr_pll_freqdet_cf : public gr_sync_block, public gri_control_loop
 {
  private:
-  gr_pll_freqdet_cf (float alpha, float beta, float max_freq, float min_freq);
+  gr_pll_freqdet_cf (float loop_bw, float max_freq, float min_freq);
 };
diff --git a/gnuradio-core/src/lib/general/gr_pll_refout_cc.cc b/gnuradio-core/src/lib/general/gr_pll_refout_cc.cc
index 8968cd3f1..2b480fcf1 100644
--- a/gnuradio-core/src/lib/general/gr_pll_refout_cc.cc
+++ b/gnuradio-core/src/lib/general/gr_pll_refout_cc.cc
@@ -30,7 +30,9 @@
 #include <math.h>
 #include <gr_math.h>
 
-#define M_TWOPI (2*M_PI)
+#ifndef M_TWOPI
+#define M_TWOPI (2.0f*M_PI)
+#endif
 
 gr_pll_refout_cc_sptr
 gr_make_pll_refout_cc (float loop_bw, float max_freq, float min_freq)
diff --git a/gnuradio-core/src/lib/general/gr_pll_refout_cc.h b/gnuradio-core/src/lib/general/gr_pll_refout_cc.h
index 11bce5046..dcbeb1efa 100644
--- a/gnuradio-core/src/lib/general/gr_pll_refout_cc.h
+++ b/gnuradio-core/src/lib/general/gr_pll_refout_cc.h
@@ -43,8 +43,8 @@ GR_CORE_API gr_pll_refout_cc_sptr gr_make_pll_refout_cc (float loop_bw,
  * aligned to it.
  * 
  * All settings max_freq and min_freq are in terms of radians per sample, 
- * NOT HERTZ.  Alpha is the phase gain (first order, units of radians per radian) 
- * and beta is the frequency gain (second order, units of radians per sample per radian)
+ * NOT HERTZ.  The loop bandwidth determins the lock range and should be set
+ * around pi/200 -- 2pi/100.
  * \sa gr_pll_freqdet_cf, gr_pll_carriertracking_cc
  */
 class GR_CORE_API gr_pll_refout_cc : public gr_sync_block, public gri_control_loop
diff --git a/gnuradio-core/src/lib/general/gri_control_loop.cc b/gnuradio-core/src/lib/general/gri_control_loop.cc
index caad1f5f9..4c64bb922 100644
--- a/gnuradio-core/src/lib/general/gri_control_loop.cc
+++ b/gnuradio-core/src/lib/general/gri_control_loop.cc
@@ -74,9 +74,9 @@ void
 gri_control_loop::frequency_limit()
 {  
   if (d_freq > d_max_freq)
-    d_freq = d_min_freq;
+    d_freq = d_max_freq;
   else if (d_freq < d_min_freq)
-    d_freq = d_max_freq;  
+    d_freq = d_min_freq;  
 }
 
 /*******************************************************************
diff --git a/gnuradio-core/src/lib/general/qa_general.cc b/gnuradio-core/src/lib/general/qa_general.cc
index 6984d798c..b9080f362 100644
--- a/gnuradio-core/src/lib/general/qa_general.cc
+++ b/gnuradio-core/src/lib/general/qa_general.cc
@@ -28,6 +28,7 @@
 #include <qa_general.h>
 #include <qa_gr_firdes.h>
 #include <qa_gr_circular_file.h>
+#include <qa_gr_cpm.h>
 #include <qa_gr_fxpt.h>
 #include <qa_gr_fxpt_nco.h>
 #include <qa_gr_fxpt_vco.h>
@@ -41,6 +42,7 @@ qa_general::suite ()
 
   s->addTest (qa_gr_firdes::suite ());
   s->addTest (qa_gr_circular_file::suite ());
+  s->addTest (qa_gr_cpm::suite ());
   s->addTest (qa_gr_fxpt::suite ());
   s->addTest (qa_gr_fxpt_nco::suite ());
   s->addTest (qa_gr_fxpt_vco::suite ());
diff --git a/gnuradio-core/src/lib/general/qa_gr_cpm.cc b/gnuradio-core/src/lib/general/qa_gr_cpm.cc
new file mode 100644
index 000000000..cc32d1117
--- /dev/null
+++ b/gnuradio-core/src/lib/general/qa_gr_cpm.cc
@@ -0,0 +1,140 @@
+/* -*- c++ -*- */
+/*
+ * Copyright 2010 Free Software Foundation, Inc.
+ * 
+ * This file is part of GNU Radio
+ * 
+ * GNU Radio is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3, or (at your option)
+ * any later version.
+ * 
+ * GNU Radio is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ * 
+ * You should have received a copy of the GNU General Public License
+ * along with GNU Radio; see the file COPYING.  If not, write to
+ * the Free Software Foundation, Inc., 51 Franklin Street,
+ * Boston, MA 02110-1301, USA.
+ */
+
+#include <qa_gr_cpm.h>
+#include <gr_cpm.h>
+#include <cppunit/TestAssert.h>
+
+const double DELTA = 1e-5;
+const int L = 5;
+const int samples_per_sym = 4;
+const float taps_lrc[20] = {
+                   0, 0.002447174185242, 0.009549150281253, 0.020610737385376,
+   0.034549150281253, 0.050000000000000, 0.065450849718747, 0.079389262614624,
+   0.090450849718747, 0.097552825814758, 0.100000000000000, 0.097552825814758,
+   0.090450849718747, 0.079389262614624, 0.065450849718747, 0.050000000000000,
+   0.034549150281253, 0.020610737385376, 0.009549150281253, 0.002447174185242
+};
+
+
+const float taps_lsrc[20] = { // beta = 0.2
+   0.000000000000000, 0.009062686687436, 0.019517618142920, 0.030875041875917,
+   0.042552315421249, 0.053912556756416, 0.064308860403517, 0.073130584159352,
+   0.079847961304114, 0.084051371489937, 0.085482007518284, 0.084051371489937,
+   0.079847961304114, 0.073130584159352, 0.064308860403517, 0.053912556756416,
+   0.042552315421249, 0.030875041875917, 0.019517618142920, 0.009062686687436
+};
+
+
+const float taps_tfm[20] = {
+  -0.003946522220317, -0.005147757690530, -0.003171631690177,  0.003959659609805,
+   0.017498721302356,  0.037346982678383,  0.062251889790391,  0.087364237065604,
+   0.110049050955117,  0.125677762224511,  0.132288693729399,  0.125677762224511,
+   0.110049050955117,  0.087364237065604,  0.062251889790391,  0.037346982678383,
+   0.017498721302356,  0.003959659609805, -0.003171631690177, -0.005147757690530
+};
+
+
+const float taps_gaussian[20] = { // BT = 0.3
+   0.000000743866524, 0.000009286258371, 0.000085441834550, 0.000581664421923,
+   0.002945540765422, 0.011178079812344, 0.032117220937421, 0.070841188736816,
+   0.122053715366673, 0.167389736919915, 0.185594670675172, 0.167389736919915,
+   0.122053715366673, 0.070841188736816, 0.032117220937421, 0.011178079812344,
+   0.002945540765422, 0.000581664421923, 0.000085441834550, 0.000009286258371
+};
+
+
+// Check LREC phase response
+void
+qa_gr_cpm::t1 ()
+{
+	std::vector<float> taps(gr_cpm::phase_response(gr_cpm::LREC, samples_per_sym, L));
+
+	for (int i = 0; i < L * samples_per_sym; i++) {
+		CPPUNIT_ASSERT_DOUBLES_EQUAL(taps[i], 0.05, DELTA);
+	}
+}
+
+
+// Check LRC phase response
+void
+qa_gr_cpm::t2 ()
+{
+	std::vector<float> taps(gr_cpm::phase_response(gr_cpm::LRC, samples_per_sym, L));
+	float sum = 0;
+
+	for (int i = 0; i < L * samples_per_sym; i++) {
+		CPPUNIT_ASSERT_DOUBLES_EQUAL(taps[i], taps_lrc[i], DELTA);
+		sum += taps[i];
+	}
+
+	CPPUNIT_ASSERT_DOUBLES_EQUAL(sum, 1.0, DELTA);
+}
+
+
+// Check LSRC phase response
+void
+qa_gr_cpm::t3 ()
+{
+	std::vector<float> taps(gr_cpm::phase_response(gr_cpm::LSRC, samples_per_sym, L, 0.2));
+	float sum = 0;
+
+	for (int i = 0; i < L * samples_per_sym; i++) {
+		CPPUNIT_ASSERT_DOUBLES_EQUAL(taps[i], taps_lsrc[i], DELTA);
+		sum += taps[i];
+	}
+
+	CPPUNIT_ASSERT_DOUBLES_EQUAL(sum, 1.0, DELTA);
+}
+
+
+// Check the TFM phase response
+void
+qa_gr_cpm::t4 ()
+{
+	std::vector<float> taps(gr_cpm::phase_response(gr_cpm::TFM, samples_per_sym, L));
+	float sum = 0;
+
+	for (int i = 0; i < L * samples_per_sym; i++) {
+		CPPUNIT_ASSERT_DOUBLES_EQUAL(taps[i], taps_tfm[i], DELTA);
+		sum += taps[i];
+	}
+
+	CPPUNIT_ASSERT_DOUBLES_EQUAL(sum, 1.0, DELTA);
+}
+
+
+// Check the Gaussian phase response
+void
+qa_gr_cpm::t5 ()
+{
+	std::vector<float> taps(gr_cpm::phase_response(gr_cpm::GAUSSIAN, samples_per_sym, L, 0.3));
+	float sum = 0;
+
+	for (int i = 0; i < L * samples_per_sym; i++) {
+		CPPUNIT_ASSERT_DOUBLES_EQUAL(taps[i], taps_gaussian[i], DELTA);
+		sum += taps[i];
+	}
+
+	CPPUNIT_ASSERT_DOUBLES_EQUAL(sum, 1.0, DELTA);
+}
+
diff --git a/gnuradio-core/src/lib/general/qa_gr_cpm.h b/gnuradio-core/src/lib/general/qa_gr_cpm.h
new file mode 100644
index 000000000..741cb2860
--- /dev/null
+++ b/gnuradio-core/src/lib/general/qa_gr_cpm.h
@@ -0,0 +1,49 @@
+/* -*- c++ -*- */
+/*
+ * Copyright 2010 Free Software Foundation, Inc.
+ * 
+ * This file is part of GNU Radio
+ * 
+ * GNU Radio is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3, or (at your option)
+ * any later version.
+ * 
+ * GNU Radio is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ * 
+ * You should have received a copy of the GNU General Public License
+ * along with GNU Radio; see the file COPYING.  If not, write to
+ * the Free Software Foundation, Inc., 51 Franklin Street,
+ * Boston, MA 02110-1301, USA.
+ */
+#ifndef _QA_GR_CPM_H
+#define _QA_GR_CPM_H
+
+#include <cppunit/extensions/HelperMacros.h>
+#include <cppunit/TestCase.h>
+
+class qa_gr_cpm : public CppUnit::TestCase {
+
+  CPPUNIT_TEST_SUITE (qa_gr_cpm);
+  CPPUNIT_TEST (t1);
+  CPPUNIT_TEST (t2);
+  CPPUNIT_TEST (t3);
+  CPPUNIT_TEST (t4);
+  CPPUNIT_TEST (t5);
+  CPPUNIT_TEST_SUITE_END ();
+
+ private:
+  void t1 ();
+  void t2 ();
+  void t3 ();
+  void t4 ();
+  void t5 ();
+
+};
+
+
+#endif /* _QA_GR_CPM_H */
+