Merged r5945:6012 from jcorgan/radar into trunk. Updates gr-radar-mono component. Trunk passes distcheck.

git-svn-id: http://gnuradio.org/svn/gnuradio/trunk@6013 221aa14e-8319-0410-a670-987f0aec2ac5

1 files changed, 93 insertions, 81 deletions

diff --git a/gr-radar-mono/src/python/radar_mono.py b/gr-radar-mono/src/python/radar_mono.py
index 5077b3d92..5a5be9c8d 100644
--- a/gr-radar-mono/src/python/radar_mono.py
+++ b/gr-radar-mono/src/python/radar_mono.py
@@ -30,37 +30,32 @@ n2s = eng_notation.num_to_str
 #-----------------------------------------------------------------------
 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
@@ -74,20 +69,38 @@ class radar_tx:
         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
@@ -95,6 +108,22 @@ class radar_tx:
             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()
 
@@ -181,47 +210,25 @@ class radar:
         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:
@@ -235,27 +242,32 @@ class radar:
 	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()