diff options
Diffstat (limited to 'gr-radar-mono/src/python/radar_mono.py')
| -rw-r--r-- | gr-radar-mono/src/python/radar_mono.py | 330 |
1 files changed, 0 insertions, 330 deletions
diff --git a/gr-radar-mono/src/python/radar_mono.py b/gr-radar-mono/src/python/radar_mono.py deleted file mode 100644 index 1a7b9260a..000000000 --- a/gr-radar-mono/src/python/radar_mono.py +++ /dev/null @@ -1,330 +0,0 @@ -#!/usr/bin/env python -# -# Copyright 2007 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. -# - -from gnuradio import gr, usrp -from gnuradio import eng_notation -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 -#----------------------------------------------------------------------- -FR_RADAR_MODE = usrp.FR_USER_0 # Operational mode -bmFR_RADAR_MODE_RESET = 1 << 0 # bit 0: active high reset -bmFR_RADAR_TXSIDE = 1 << 1 # bit 1: use TX side A or B -#bmFR_RADAR_MODE_LP = 1 << 2 # bit 2: enable digital loopback -#bmFR_RADAR_MODE_DR = 1 << 3 # bit 3: enable on-board deramping -#bmFR_RADAR_MODE_MD = 1 << 4 # bit 4: enable echo metadata -#bmFR_RADAR_MODE_CHIRPS = 3 << 5 # bit 5,6: number of chirp center frequencies -bmFR_RADAR_DEBUG = 1 << 7 # bit 7: enable debugging mode - -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_ATRDEL = usrp.FR_USER_8 # 16-bit TX delay in clocks, 16-bit RX delay in clocks - -# 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 -#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 C 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 C 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 C register for chirp #4 - -#----------------------------------------------------------------------- -# Transmitter object. Uses usrp_sink, but only for a handle to the -# FPGA registers. -#----------------------------------------------------------------------- -class radar_tx(object): - def __init__(self, options): - self._subdev_spec = options.tx_subdev_spec - self._verbose = options.verbose - self._debug = options.debug - self._u = usrp.sink_s(fpga_filename='usrp_radar_mono.rbf') - - if self._subdev_spec == None: - self._subdev_spec = usrp.pick_tx_subdevice(self._u) - - self._subdev = usrp.selected_subdev(self._u, self._subdev_spec) - self._subdev.set_lo_offset(0.0) - 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 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+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) - - 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 - 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._subdev.set_enable(True) - - def stop(self): - self._subdev.set_enable(False) - self._u.stop() - - def subdev_spec(self): - return self._subdev_spec - - def echo_length(self): - return self._tlook_ticks+1 - - def __del__(self): - del self._subdev # Avoid weak reference error - -#----------------------------------------------------------------------- -# Receiver object. Uses usrp_source_c to receive echo records. -#----------------------------------------------------------------------- -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 - self._debug = options.debug - 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) - - def set_echo_length(self, length): - # Only call once - if self._length_set is True: - raise RuntimeError("Can only set echo length once.") - self._length = length - self._length_set = True - - def tune(self, frequency): - if self._verbose: - print "Setting receiver frequency to", n2s(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 - if self._gain == None: - # if no gain was specified, use the mid-point in dB - g = self._subdev.gain_range() - self._gain = float(g[0]+g[1])/2 - self._subdev.set_gain(self._gain) - - def begin(self): - if not self._connected: - self._setup_connections() - - if self._verbose: - print "Starting receiver..." - self.start() - - def end(self): - if self._verbose: - print "Stopping receiver..." - self.stop() - self.wait() - if self._verbose: - print "Receiver stopped." - - def _setup_usrp(self): - self._u = usrp.source_c(fpga_filename='usrp_radar_mono.rbf') - if self._subdev_spec == None: - self._subdev_spec = usrp.pick_rx_subdevice(self._u) - self._u.set_mux(usrp.determine_rx_mux_value(self._u, self._subdev_spec)) - self._subdev = usrp.selected_subdev(self._u, self._subdev_spec) - - if self._verbose: - print "Using", self._subdev.side_and_name(), "for radar receiver." - print "Setting receiver gain to", self._gain - self.set_gain(self._gain) - self.tune(self._frequency) - - def _setup_connections(self): - if not self._length_set: - raise RuntimeError("Echo length not set.") - self._setup_usrp() - self._vblen = gr.sizeof_gr_complex*self._length - self._s2v = gr.stream_to_vector(gr.sizeof_gr_complex, self._length) - self._sink = gr.message_sink(self._vblen, self._msgq, False) - self.connect(self._u, self._s2v, self._sink) - - if self._verbose: - print "Generating echo vectors of length", self._length, \ - "(samples)", self._vblen, "(bytes)" - - self._connected = True - -class radar(object): - def __init__(self, options, callback): - - self._verbose = options.verbose - self._debug = options.debug - - self._mode = 0 - self._trans = radar_tx(options) - self._rcvr = radar_rx(options, callback) - 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) - - def set_reset(self, value): - if value: - self._mode |= bmFR_RADAR_MODE_RESET - else: - self._mode &= ~bmFR_RADAR_MODE_RESET - self._write_mode() - - def set_tx_board(self, tx_subdev_spec): - if tx_subdev_spec[0] == 1: - self._mode |= bmFR_RADAR_TXSIDE - else: - self._mode &= ~bmFR_RADAR_TXSIDE - self._write_mode() - - def set_debug(self, value): - if value: - self._mode |= bmFR_RADAR_DEBUG - else: - self._mode &= ~bmFR_RADAR_DEBUG - 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) - self._rcvr.set_echo_length(self._trans.echo_length()) - - 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) - self._rcvr.tune(center_freq) - - 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) - - def start(self): - self.set_reset(False) - self._trans.start() - self._rcvr.begin() - - def stop(self): - self._rcvr.end() - self._trans.stop() - self.set_reset(True) - -#----------------------------------------------------------------------- -# Queue watcher. Dispatches received echos to callback. -#----------------------------------------------------------------------- -class _queue_watcher_thread(_threading.Thread): - def __init__(self, msgq, callback): - _threading.Thread.__init__(self) - self.setDaemon(1) - self._msgq = msgq - self._callback = callback - self._keep_running = True - self.start() - - def run(self): - while self._keep_running == True: - msg = self._msgq.delete_head() - if self._callback: - self._callback(msg.to_string()) - |