Merged r6552:6562 from jcorgan/radar into trunk. Updates gr-radar-mono with changes from live field testing.

git-svn-id: http://gnuradio.org/svn/gnuradio/trunk@6563 221aa14e-8319-0410-a670-987f0aec2ac5

12 files changed, 490 insertions, 8 deletions

diff --git a/gr-radar-mono/src/fpga/top/usrp_radar_mono.rbf b/gr-radar-mono/src/fpga/top/usrp_radar_mono.rbf
index 229da4962..ee8859b1b 100644
--- a/gr-radar-mono/src/fpga/top/usrp_radar_mono.rbf
+++ b/gr-radar-mono/src/fpga/top/usrp_radar_mono.rbf
diff --git a/gr-radar-mono/src/fpga/top/usrp_radar_mono.v b/gr-radar-mono/src/fpga/top/usrp_radar_mono.v
index f1723fa6f..2620a3288 100644
--- a/gr-radar-mono/src/fpga/top/usrp_radar_mono.v
+++ b/gr-radar-mono/src/fpga/top/usrp_radar_mono.v
@@ -153,8 +153,11 @@ module usrp_radar_mono
    assign io_tx_b[5] = tx_side ? io_tx_ena : 1'bz;
 
    // Route opposite of TX enable out to RFX receive mixer
-   assign io_rx_a[5] = tx_side ? 1'bz : ~io_tx_ena;
-   assign io_rx_b[5] = tx_side ? ~io_tx_ena : 1'bz;
+   //assign io_rx_a[5] = tx_side ? 1'bz : ~io_tx_ena;
+   //assign io_rx_b[5] = tx_side ? ~io_tx_ena : 1'bz;
+   assign io_rx_a[5] = 1'b1;
+   assign io_rx_b[5] = 1'b1;
+   
    
    // Route TX enable out to RX/TX switch
    assign io_tx_a[6] = tx_side ? 1'bz : ~io_tx_ena;
diff --git a/gr-radar-mono/src/python/radar_mono.py b/gr-radar-mono/src/python/radar_mono.py
index 6e2c993e1..1a7b9260a 100644
--- a/gr-radar-mono/src/python/radar_mono.py
+++ b/gr-radar-mono/src/python/radar_mono.py
@@ -26,6 +26,9 @@ from gr import gr_threading as _threading
 
 n2s = eng_notation.num_to_str
 
+txp_delay = 60 # Pipeline delay to turn on transmit mixer
+rxp_delay = 76 # Pipeline delay to turn off transmit mixer
+
 #-----------------------------------------------------------------------
 # FPGA Register Definitions
 #-----------------------------------------------------------------------
@@ -92,7 +95,7 @@ class radar_tx(object):
 	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
+	self._tsw_ticks = 2*(int(tsw*64e6)/2)-1+rxp_delay  # 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)
@@ -246,7 +249,8 @@ class radar(object):
 	self.set_reset(True)
 	self.set_tx_board(self._trans.subdev_spec())
         self.set_debug(self._debug)
-        
+	self.set_atrdel()
+	        
     def _write_mode(self):
         self._trans._u._write_fpga_reg(FR_RADAR_MODE, self._mode)
 
@@ -291,7 +295,7 @@ class radar(object):
         self._trans.set_freq(center_freq, chirp_width)
 	self._rcvr.tune(center_freq)
 	        
-    def set_atrdel(self, tx_delay, rx_delay):
+    def set_atrdel(self, tx_delay=txp_delay, rx_delay=rxp_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)
diff --git a/gr-radar-mono/src/python/usrp_radar_mono.py b/gr-radar-mono/src/python/usrp_radar_mono.py
index a8ed9b8bf..3f2ad28e2 100755
--- a/gr-radar-mono/src/python/usrp_radar_mono.py
+++ b/gr-radar-mono/src/python/usrp_radar_mono.py
@@ -52,11 +52,11 @@ def main():
                       help="set waveform amplitude in % full scale, default is %default,")
     parser.add_option("",   "--ton", type="eng_float", default=5e-6,
 		      help="set pulse on period in seconds, default is %default,")
-    parser.add_option("",   "--tsw", type="eng_float", default=406.25e-9,
+    parser.add_option("",   "--tsw", type="eng_float", default=0.0,
 		      help="set transmitter switching period in seconds, default is %default,")
     parser.add_option("",   "--tlook", type="eng_float", default=5e-6,
 		      help="set receiver look time in seconds, default is %default,")
-    parser.add_option("",   "--prf", type="eng_float", default=10e3,
+    parser.add_option("",   "--prf", type="eng_float", default=100,
 		      help="set pulse repetition frequency in Hz, default is %default,")
     parser.add_option("-v", "--verbose", action="store_true", default=False,
                       help="enable verbose output, default is disabled")
@@ -84,7 +84,6 @@ def main():
     r.set_prf(options.prf)
     r.set_amplitude(options.amplitude)
     r.set_freq(options.frequency, options.chirp_width)
-    r.set_atrdel(64, 70) # TODO: parameterize
     
     r.start()
     raw_input("Press ENTER to stop.")
diff --git a/gr-radar-mono/src/utils/calc_avg.m b/gr-radar-mono/src/utils/calc_avg.m
new file mode 100644
index 000000000..b240d245e
--- /dev/null
+++ b/gr-radar-mono/src/utils/calc_avg.m
@@ -0,0 +1,8 @@
+function avg = calc_avg(rlen, mintime)
+    avg = read_avg('echos.dat', rlen);
+    x = 1:rlen;
+    x = (x/64e6+mintime)*3e8/2;
+    plot(x, abs(avg), "^;Amplitude;");
+    xlabel("Range (meters)");
+    axis([max(x) 0])
+endfunction
diff --git a/gr-radar-mono/src/utils/czpad.m b/gr-radar-mono/src/utils/czpad.m
new file mode 100644
index 000000000..e2131030d
--- /dev/null
+++ b/gr-radar-mono/src/utils/czpad.m
@@ -0,0 +1,8 @@
+# Center and zero pad v to length n
+function pad = czpad(v, n)
+    c = n/2;
+    l = length(v);
+    pad(c-l/2+1:c+l/2) = v;
+    pad(c+l/2+1:n) = 0;
+endfunction
+ 
\ No newline at end of file
diff --git a/gr-radar-mono/src/utils/echo_image.m b/gr-radar-mono/src/utils/echo_image.m
new file mode 100644
index 000000000..2e066aef5
--- /dev/null
+++ b/gr-radar-mono/src/utils/echo_image.m
@@ -0,0 +1,6 @@
+function echo_image(filename, data)
+    d = abs(data);
+    d = d-min(min(d));
+    d = d/(max(max(d)))*255;
+    pngwrite(filename, d, d, d, ones(size(d)));
+endfunction
\ No newline at end of file
diff --git a/gr-radar-mono/src/utils/fftcorr.m b/gr-radar-mono/src/utils/fftcorr.m
new file mode 100644
index 000000000..548988973
--- /dev/null
+++ b/gr-radar-mono/src/utils/fftcorr.m
@@ -0,0 +1,4 @@
+# Perform circular correlation via FFT
+function corr = fftcorr(v,ref)
+    corr = ifft(conj(fft(ref)).*fft(v));
+endfunction
diff --git a/gr-radar-mono/src/utils/pulse b/gr-radar-mono/src/utils/pulse
new file mode 100644
index 000000000..887558d1e
--- /dev/null
+++ b/gr-radar-mono/src/utils/pulse
@@ -0,0 +1,396 @@
+# Created by Octave 2.1.73, Tue Sep 25 14:17:22 2007 EDT <jcorgan@mobile>
+# name: __nargin__
+# type: scalar
+0
+# name: pulse321
+# type: complex matrix
+# rows: 64
+# columns: 1
+ (-0.0003662109375,0.9998779296875)
+ (-0.0003662109375,0.9998779296875)
+ (0,-0.9996337890625)
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+# name: pulse325
+# type: complex matrix
+# rows: 320
+# columns: 1
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+ (-0.07666015625,-0.6170654296875)
+ (-0.07666015625,-0.6170654296875)
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+ (0.5118408203125,-0.127685546875)
+ (0.012451171875,-0.843994140625)
+ (0.012451171875,-0.843994140625)
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+ (-0.804443359375,0.0194091796875)
+ (-0.06201171875,0.6541748046875)
+ (-0.06201171875,0.6541748046875)
+ (-0.2401123046875,-0.3507080078125)
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+ (0.7664794921875,-0.02783203125)
+ (0.7664794921875,-0.02783203125)
+ (0.019287109375,-0.805419921875)
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+ (0.4444580078125,0.1689453125)
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+ (-0.049072265625,-0.6915283203125)
+ (-0.049072265625,-0.6915283203125)
+ (0.961181640625,-0.0009765625)
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+ (0.019287109375,-0.805419921875)
+ (0.019287109375,-0.805419921875)
+ (0.617919921875,0.0760498046875)
+ (0.617919921875,0.0760498046875)
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+ (0.293212890625,0.29296875)
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+ (0.09228515625,0.5811767578125)
+ (0.09228515625,0.5811767578125)
+ (-0.0379638671875,0.728759765625)
+ (-0.0379638671875,0.728759765625)
+ (0.4127197265625,-0.19140625)
+ (0.4127197265625,-0.19140625)
+ (0.9996337890625,0.000244140625)
+ (0.9996337890625,0.000244140625)
+ (-0.4447021484375,-0.1688232421875)
+ (-0.4447021484375,-0.1688232421875)
+ (0.09228515625,0.5811767578125)
+ (0.09228515625,0.5811767578125)
+ (-0.0032958984375,0.921142578125)
+ (-0.0032958984375,0.921142578125)
+ (0.147705078125,-0.477294921875)
+ (0.147705078125,-0.477294921875)
+ (-0.444580078125,0.1688232421875)
+ (-0.444580078125,0.1688232421875)
+ (0.8046875,-0.019775390625)
+ (0.8046875,-0.019775390625)
+ (0.843994140625,0.012451171875)
+ (0.843994140625,0.012451171875)
+ (-0.54638671875,-0.1092529296875)
+ (-0.54638671875,-0.1092529296875)
+ (0.3212890625,0.26611328125)
+ (0.3212890625,0.26611328125)
+ (-0.1688232421875,-0.4447021484375)
+ (-0.1688232421875,-0.4447021484375)
+ (0.0765380859375,0.616943359375)
+ (0.0765380859375,0.616943359375)
+ (-0.0279541015625,-0.7666015625)
+ (-0.0279541015625,-0.7666015625)
+ (0.0072021484375,0.882568359375)
+ (0.0072021484375,0.882568359375)
+ (-0.0010986328125,-0.961181640625)
+ (-0.0010986328125,-0.961181640625)
diff --git a/gr-radar-mono/src/utils/read_avg.m b/gr-radar-mono/src/utils/read_avg.m
new file mode 100644
index 000000000..7df3d4cdd
--- /dev/null
+++ b/gr-radar-mono/src/utils/read_avg.m
@@ -0,0 +1,22 @@
+function avg = read_avg(name, vlen)
+
+    f = fopen(name, "rb");
+    s = zeros(1, vlen);
+    n = 0;
+        
+    while (!feof(f))
+       t = fread(f, [2, vlen], "float");
+       if (size(t) == [2, vlen])
+          n = n+1;
+          c = t(1,:)+t(2,:)*j;
+	  if (n > 10)
+             s = s+c;
+	  endif
+       endif
+    endwhile
+
+    avg = s/(n-1);
+    
+    fclose(f);
+    
+endfunction
diff --git a/gr-radar-mono/src/utils/read_avg_sec.m b/gr-radar-mono/src/utils/read_avg_sec.m
new file mode 100644
index 000000000..7aa77675d
--- /dev/null
+++ b/gr-radar-mono/src/utils/read_avg_sec.m
@@ -0,0 +1,25 @@
+function avg = read_avg_sec(name, vlen)
+
+    f = fopen(name, "rb");
+    s = zeros(1, vlen);
+    n = 0;
+    m = 0;
+        
+    while (!feof(f))
+       t = fread(f, [2, vlen], "float");
+       if (size(t) == [2, vlen])
+          n = n+1;
+          c = t(1,:)+t(2,:)*j;
+          s = s+c;
+	  m = m+1;	  
+	  if (m == 1000)
+	     avg(n/1000,:) = s/1000;
+	     s = zeros(1, vlen);
+	     m = 0;
+	  endif
+       endif
+    endwhile
+    
+    fclose(f);
+
+endfunction
diff --git a/gr-radar-mono/src/utils/read_echos.m b/gr-radar-mono/src/utils/read_echos.m
new file mode 100644
index 000000000..3fae47b4e
--- /dev/null
+++ b/gr-radar-mono/src/utils/read_echos.m
@@ -0,0 +1,7 @@
+# Read echos from file into array
+function echos = read_echos(filename, len, drop)
+    e = read_complex_binary(filename);
+    n = length(e)/len-drop;
+    start = drop*len+1;
+    echos = reshape(e(start:end), len, n).';
+endfunction