diff options
Diffstat (limited to 'gr-radar-mono/src/python/radar_mono.py')
| -rw-r--r-- | gr-radar-mono/src/python/radar_mono.py | 261 |
1 files changed, 261 insertions, 0 deletions
diff --git a/gr-radar-mono/src/python/radar_mono.py b/gr-radar-mono/src/python/radar_mono.py new file mode 100644 index 000000000..5077b3d92 --- /dev/null +++ b/gr-radar-mono/src/python/radar_mono.py @@ -0,0 +1,261 @@ +#!/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 2, 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 + +n2s = eng_notation.num_to_str + +#----------------------------------------------------------------------- +# 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_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 + +#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 + +# 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 + +#----------------------------------------------------------------------- +# Transmitter object. Uses usrp_sink, but only for a handle to the +# FPGA registers. +#----------------------------------------------------------------------- +class radar_tx: + def __init__(self, verbose=False, debug=False): + self._verbose = verbose + self._debug = debug + + 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) + 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_amplitude(self, ampl): + self._amplitude = int(ampl*9946/100.0) # CORDIC gain correction + if self._debug: + print "Writing amplitude register with:", hex(self._amplitude) + self._u._write_fpga_reg(FR_RADAR_AMPL, self._amplitude) + + def start(self): + self._u.start() + + def stop(self): + self._u.stop() + +#----------------------------------------------------------------------- +# Receiver object. Uses usrp_source_c to receive echo records. +# NOT IMPLEMENTED YET +#----------------------------------------------------------------------- +""" +class radar_rx: + def __init__(self,gain=None,msgq=None,loopback=False,verbose=False,debug=False): + self._gain = gain + self._msgq = msgq + self._loopback = loopback + self._verbose = verbose + self._debug = debug + + self._fg = gr.flow_graph() + self._u = usrp.source_c(fpga_filename='usrp_radar.rbf') + if not self._loopback: + self._subdev_spec = (0,0) # FPGA only implements side A + 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.name(), "for radar receiver." + + self.set_gain(self._gain) + + # need to compute length here + + self._vblen = gr.sizeof_gr_complex*self._length + if self._debug: + print "Generating echo vectors of length", self._length, "byte length", self._vblen + + self._s2v = gr.stream_to_vector(gr.sizeof_gr_complex, self._length) + self._sink = gr.message_sink(self._vblen, self._msgq, True) + self._fg.connect(self._u, self._s2v, self._sink) + + def tune(self, frequency): + if self._verbose: + print "Setting receiver frequency to", n2s(frequency) + 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._loopback: + return + + if self._gain is 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 + if self._verbose: + print "Setting receiver gain to", gain + self._subdev.set_gain(self._gain) + + def start(self): + if self._debug: + print "Starting receiver flow graph." + self._fg.start() + + def wait(self): + if self._debug: + print "Waiting for threads..." + self._fg.wait() + + def stop(self): + if self._debug: + print "Stopping receiver flow graph." + self._fg.stop() + self.wait() + if self._debug: + print "Receiver flow graph stopped." +""" + +class radar: + def __init__(self,msgq=None,verbose=False,debug=False): + self._msgq = msgq + self._verbose = verbose + 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): + if value: + if self._verbose: + print "Enabling transmitter." + self._mode |= bmFR_RADAR_MODE_TX + self._transmitting = True + else: + if self._verbose: + print "Disabling transmitter." + self._mode &= ~bmFR_RADAR_MODE_TX + self._transmitting = False + 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: + if self._verbose: + print "Enabling digital loopback." + self._mode |= bmFR_RADAR_MODE_LP + else: + if self._verbose: + print "Disabling digital loopback." + self._mode &= ~bmFR_RADAR_MODE_LP + 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 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() |