diff options
| author | Tom Rondeau <trondeau@vt.edu> | 2013-03-09 16:12:49 -0500 |
|---|---|---|
| committer | Tom Rondeau <trondeau@vt.edu> | 2013-03-09 16:12:49 -0500 |
| commit | c6cd7e06279546629a7fd221324d50844f6fdc69 (patch) | |
| tree | 26e9024cd8f966e6dc6332db25432309de87faa5 /gr-blocks/include | |
| parent | be10d272537fd7d442ed1445ecd4805145e219cd (diff) | |
| parent | bd2e8bc700d0a78c682a9caa4a506e8ae9f631ef (diff) | |
Merge branch 'master' into next
Diffstat (limited to 'gr-blocks/include')
| -rw-r--r-- | gr-blocks/include/blocks/CMakeLists.txt | 1 | ||||
| -rw-r--r-- | gr-blocks/include/blocks/control_loop.h | 233 |
2 files changed, 234 insertions, 0 deletions
diff --git a/gr-blocks/include/blocks/CMakeLists.txt b/gr-blocks/include/blocks/CMakeLists.txt index f101dedaab..3315430a5f 100644 --- a/gr-blocks/include/blocks/CMakeLists.txt +++ b/gr-blocks/include/blocks/CMakeLists.txt @@ -99,6 +99,7 @@ add_custom_target(blocks_generated_includes DEPENDS install(FILES ${generated_includes} api.h + control_loop.h count_bits.h fxpt.h fxpt_nco.h diff --git a/gr-blocks/include/blocks/control_loop.h b/gr-blocks/include/blocks/control_loop.h new file mode 100644 index 0000000000..e59429a1f7 --- /dev/null +++ b/gr-blocks/include/blocks/control_loop.h @@ -0,0 +1,233 @@ +/* -*- c++ -*- */ +/* + * Copyright 2011,2013 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 GR_BLOCKS_CONTROL_LOOP +#define GR_BLOCKS_CONTROL_LOOP + +#include <blocks/api.h> + +namespace gr { + namespace blocks { + + class BLOCKS_API control_loop + { + protected: + float d_phase, d_freq; + float d_max_freq, d_min_freq; + float d_damping, d_loop_bw; + float d_alpha, d_beta; + + public: + control_loop(float loop_bw, float max_freq, float min_freq); + virtual ~control_loop(); + + /*! \brief update the system gains from the loop bandwidth and damping factor + * + * This function updates the system gains based on the loop + * bandwidth and damping factor of the system. These two + * factors can be set separately through their own set + * functions. + */ + void update_gains(); + + /*! \brief Advance the control loop based on the current gain + * settings and the inputted error signal. + */ + void advance_loop(float error); + + /*! \brief Keep the phase between -2pi and 2pi + * + * This function keeps the phase between -2pi and 2pi. If the + * phase is greater than 2pi by d, it wraps around to be -2pi+d; + * similarly if it is less than -2pi by d, it wraps around to + * 2pi-d. + * + * This function should be called after advance_loop to keep the + * phase in a good operating region. It is set as a separate + * method in case another way is desired as this is fairly + * heavy-handed. + */ + void phase_wrap(); + + /*! \brief Keep the frequency between d_min_freq and d_max_freq + * + * This function keeps the frequency between d_min_freq and + * d_max_freq. If the frequency is greater than d_max_freq, it + * is set to d_max_freq. If the frequency is less than + * d_min_freq, it is set to d_min_freq. + * + * This function should be called after advance_loop to keep the + * frequency in the specified region. It is set as a separate + * method in case another way is desired as this is fairly + * heavy-handed. + */ + void frequency_limit(); + + /******************************************************************* + * SET FUNCTIONS + *******************************************************************/ + + /*! + * \brief Set the loop bandwidth + * + * Set the loop filter's bandwidth to \p bw. This should be + * between 2*pi/200 and 2*pi/100 (in rads/samp). It must also be + * a positive number. + * + * When a new damping factor is set, the gains, alpha and beta, + * of the loop are recalculated by a call to update_gains(). + * + * \param bw (float) new bandwidth + */ + void set_loop_bandwidth(float bw); + + /*! + * \brief Set the loop damping factor + * + * Set the loop filter's damping factor to \p df. The damping + * factor should be sqrt(2)/2.0 for critically damped systems. + * Set it to anything else only if you know what you are + * doing. It must be a number between 0 and 1. + * + * When a new damping factor is set, the gains, alpha and beta, + * of the loop are recalculated by a call to update_gains(). + * + * \param df (float) new damping factor + */ + void set_damping_factor(float df); + + /*! + * \brief Set the loop gain alpha + * + * Set's the loop filter's alpha gain parameter. + * + * This value should really only be set by adjusting the loop + * bandwidth and damping factor. + * + * \param alpha (float) new alpha gain + * + */ + void set_alpha(float alpha); + + /*! + * \brief Set the loop gain beta + * + * Set's the loop filter's beta gain parameter. + * + * This value should really only be set by adjusting the loop + * bandwidth and damping factor. + * + * \param beta (float) new beta gain + */ + void set_beta(float beta); + + /*! + * \brief Set the control loop's frequency. + * + * Set's the control loop's frequency. While this is normally + * updated by the inner loop of the algorithm, it could be + * useful to manually initialize, set, or reset this under + * certain circumstances. + * + * \param freq (float) new frequency + */ + void set_frequency(float freq); + + /*! + * \brief Set the control loop's phase. + * + * Set's the control loop's phase. While this is normally + * updated by the inner loop of the algorithm, it could be + * useful to manually initialize, set, or reset this under + * certain circumstances. + * + * \param phase (float) new phase + */ + void set_phase(float phase); + + /*! + * \brief Set the control loop's maximum frequency. + * + * Set the maximum frequency the control loop can track. + * + * \param freq (float) new max frequency + */ + void set_max_freq(float freq); + + /*! + * \brief Set the control loop's minimum frequency. + * + * Set the minimum frequency the control loop can track. + * + * \param freq (float) new min frequency + */ + void set_min_freq(float freq); + + /******************************************************************* + * GET FUNCTIONS + *******************************************************************/ + + /*! + * \brief Returns the loop bandwidth + */ + float get_loop_bandwidth() const; + + /*! + * \brief Returns the loop damping factor + */ + float get_damping_factor() const; + + /*! + * \brief Returns the loop gain alpha + */ + float get_alpha() const; + + /*! + * \brief Returns the loop gain beta + */ + float get_beta() const; + + /*! + * \brief Get the control loop's frequency estimate + */ + float get_frequency() const; + + /*! + * \brief Get the control loop's phase estimate + */ + float get_phase() const; + + /*! + * \brief Get the control loop's maximum frequency. + */ + float get_max_freq() const; + + /*! + * \brief Get the control loop's minimum frequency. + */ + float get_min_freq() const; + }; + + } /* namespace blocks */ +} /* namespace gr */ + +#endif /* GR_BLOCKS_CONTROL_LOOP */ |