Merged -r6379:6451 from jcorgan/radar into trunk. Adds working receiver implementation to gr-radar-mono.

git-svn-id: http://gnuradio.org/svn/gnuradio/trunk@6452 221aa14e-8319-0410-a670-987f0aec2ac5
author: jcorgan <jcorgan@221aa14e-8319-0410-a670-987f0aec2ac5> 2007-09-17 22:08:05 +0000
committer: jcorgan <jcorgan@221aa14e-8319-0410-a670-987f0aec2ac5> 2007-09-17 22:08:05 +0000
commit: a44b72ba2a9e572145cf96a7b9f7758bc58238be (patch)
tree: 729978ae6d34807370d5ec409c2765c563b742a6 /gr-radar-mono/src
parent: 4e7d048aeb80f95b19cebed9d76b79e6cbe64a9a (diff)
13 files changed, 313 insertions, 172 deletions
diff --git a/gr-radar-mono/src/fpga/Makefile.am b/gr-radar-mono/src/fpga/Makefile.am
index 3e2ebbfbb1..fb2a09c9c1 100644
--- a/gr-radar-mono/src/fpga/Makefile.am
+++ b/gr-radar-mono/src/fpga/Makefile.am
@@ -21,4 +21,4 @@
 
 include $(top_srcdir)/Makefile.common
 
-SUBDIRS = lib top tb
+SUBDIRS = lib top tb models
diff --git a/gr-radar-mono/src/fpga/lib/Makefile.am b/gr-radar-mono/src/fpga/lib/Makefile.am
index 8aefd754d4..2a7d6d883d 100644
--- a/gr-radar-mono/src/fpga/lib/Makefile.am
+++ b/gr-radar-mono/src/fpga/lib/Makefile.am
@@ -31,4 +31,4 @@ EXTRA_DIST = 			\
 		fifo32_4k.v	\
 		cordic_nco.v
 
-MOSTLYCLEANFILES = *~
+MOSTLYCLEANFILES = *~ *.bak
diff --git a/gr-radar-mono/src/fpga/lib/radar.v b/gr-radar-mono/src/fpga/lib/radar.v
index 127e9cee3a..d71d9397c6 100644
--- a/gr-radar-mono/src/fpga/lib/radar.v
+++ b/gr-radar-mono/src/fpga/lib/radar.v
@@ -24,8 +24,8 @@
 module radar(clk_i,saddr_i,sdata_i,s_strobe_i,
 	     tx_side_o,tx_strobe_o,tx_dac_i_o,tx_dac_q_o,
 	     rx_adc_i_i,rx_adc_q_i,
-	     rx_strobe_o,rx_ech_i_o,rx_ech_q_o);
-
+	     rx_strobe_o,rx_ech_i_o,rx_ech_q_o,auto_tr_o);
+   
    // System interface
    input         clk_i;		// Master clock @ 64 MHz
    input  [6:0]  saddr_i;	// Configuration bus address
@@ -37,7 +37,8 @@ module radar(clk_i,saddr_i,sdata_i,s_strobe_i,
    output        tx_strobe_o;	// Generate an transmitter output sample
    output [13:0] tx_dac_i_o;	// I channel transmitter output to DAC
    output [13:0] tx_dac_q_o;    // Q channel transmitter output to DAC
-   
+   output        auto_tr_o;     // Transmit/Receive switching
+      
    // Receive subsystem
    input  [15:0] rx_adc_i_i;	// I channel input from ADC
    input  [15:0] rx_adc_q_i;	// Q channel input from ADC
@@ -53,6 +54,7 @@ module radar(clk_i,saddr_i,sdata_i,s_strobe_i,
    wire 	 rx_enable;     // Receiver enable
    wire          tx_ctrl;       // Transmitter on control
    wire          rx_ctrl;       // Receiver on control
+   wire [15:0] 	 pulse_num;     // Count of pulses since tx_enabled
  	 
    // Configuration
    wire [15:0] 	 ampl;		// Pulse amplitude
@@ -63,7 +65,8 @@ module radar(clk_i,saddr_i,sdata_i,s_strobe_i,
      (.clk_i(clk_i),.saddr_i(saddr_i),.sdata_i(sdata_i),.s_strobe_i(s_strobe_i),
       .reset_o(reset),.tx_side_o(tx_side_o),.dbg_o(debug_enabled),
       .tx_strobe_o(tx_strobe_o),.tx_ctrl_o(tx_ctrl),.rx_ctrl_o(rx_ctrl),
-      .ampl_o(ampl),.fstart_o(fstart),.fincr_o(fincr));
+      .ampl_o(ampl),.fstart_o(fstart),.fincr_o(fincr),.pulse_num_o(pulse_num));
+    assign auto_tr_o = tx_ctrl;
 
    radar_tx transmitter
      ( .clk_i(clk_i),.rst_i(reset),.ena_i(tx_ctrl),.strobe_i(tx_strobe_o),
@@ -72,7 +75,7 @@ module radar(clk_i,saddr_i,sdata_i,s_strobe_i,
    
    radar_rx receiver
      ( .clk_i(clk_i),.rst_i(reset),.ena_i(rx_ctrl),.dbg_i(debug_enabled),
-       .rx_in_i_i(rx_adc_i_i),.rx_in_q_i(rx_adc_q_i),
+       .pulse_num_i(pulse_num),.rx_in_i_i(rx_adc_i_i),.rx_in_q_i(rx_adc_q_i),
        .rx_strobe_o(rx_strobe_o),.rx_i_o(rx_ech_i_o),.rx_q_o(rx_ech_q_o) );
    
 endmodule // radar
diff --git a/gr-radar-mono/src/fpga/lib/radar_control.v b/gr-radar-mono/src/fpga/lib/radar_control.v
index e22da962d6..864941109e 100644
--- a/gr-radar-mono/src/fpga/lib/radar_control.v
+++ b/gr-radar-mono/src/fpga/lib/radar_control.v
@@ -21,10 +21,9 @@
 
 `include "../lib/radar_config.vh"
 
-module radar_control(clk_i,saddr_i,sdata_i,s_strobe_i,
-		     reset_o,tx_side_o,dbg_o,
-		     tx_strobe_o,tx_ctrl_o,rx_ctrl_o,
-		     ampl_o,fstart_o,fincr_o);
+module radar_control(clk_i,saddr_i,sdata_i,s_strobe_i,reset_o,
+		     tx_side_o,dbg_o,tx_strobe_o,tx_ctrl_o,rx_ctrl_o,
+		     ampl_o,fstart_o,fincr_o,pulse_num_o);
 
    // System interface
    input         clk_i;		// Master clock @ 64 MHz
@@ -42,7 +41,8 @@ module radar_control(clk_i,saddr_i,sdata_i,s_strobe_i,
    output [15:0] ampl_o;
    output [31:0] fstart_o;
    output [31:0] fincr_o;
-   
+   output [15:0] pulse_num_o;
+
    // Internal configuration
    wire 	 lp_ena;
    wire 	 md_ena;
@@ -94,12 +94,14 @@ module radar_control(clk_i,saddr_i,sdata_i,s_strobe_i,
 
    reg [3:0]  state;
    reg [31:0] count;
-
+   reg [15:0] pulse_num_o;
+   
    always @(posedge clk_i)
      if (reset_o)
        begin
 	  state <= `ST_ON;
 	  count <= 32'b0;
+	  pulse_num_o <= 16'b0;
        end
      else
        case (state)
@@ -108,6 +110,7 @@ module radar_control(clk_i,saddr_i,sdata_i,s_strobe_i,
 	     begin
 	        state <= `ST_SW;
 	        count <= 32'b0;
+		pulse_num_o <= pulse_num_o + 16'b1;
 	     end
 	   else
 	     count <= count + 32'b1;
diff --git a/gr-radar-mono/src/fpga/lib/radar_rx.v b/gr-radar-mono/src/fpga/lib/radar_rx.v
index 1ca5461340..29bbadd4dc 100644
--- a/gr-radar-mono/src/fpga/lib/radar_rx.v
+++ b/gr-radar-mono/src/fpga/lib/radar_rx.v
@@ -22,9 +22,8 @@
 `include "../../../../usrp/firmware/include/fpga_regs_common.v"
 `include "../../../../usrp/firmware/include/fpga_regs_standard.v"
 
-module radar_rx(clk_i,rst_i,ena_i,dbg_i,
-		rx_in_i_i,rx_in_q_i,
-		rx_i_o,rx_q_o,rx_strobe_o);
+module radar_rx(clk_i,rst_i,ena_i,dbg_i,pulse_num_i,rx_in_i_i,
+		rx_in_q_i,rx_i_o,rx_q_o,rx_strobe_o);
    
    input clk_i;
    input rst_i;
@@ -33,11 +32,12 @@ module radar_rx(clk_i,rst_i,ena_i,dbg_i,
    
    input [15:0] rx_in_i_i;
    input [15:0] rx_in_q_i;
+   input [15:0] pulse_num_i;
    
    output [15:0] rx_i_o;
    output [15:0] rx_q_o;
    output reg    rx_strobe_o;
-
+   
    reg [15:0] count;
 
    always @(posedge clk_i)
@@ -46,71 +46,63 @@ module radar_rx(clk_i,rst_i,ena_i,dbg_i,
      else
        count <= count + 16'b1;
 
-   wire [31:0] fifo_data = dbg_i ? {count[15:0],16'hAA55} : {rx_in_i_i,rx_in_q_i};
+   wire [31:0] fifo_inp = dbg_i ? {count[15:0],pulse_num_i[15:0]} : {rx_in_i_i,rx_in_q_i};
 
-   // Need to buffer received samples as they come in at 32 bits per cycle
-   // but the rx_buffer.v fifo is only 16 bits wide.
-   //
-   reg         fifo_read;
+   // Buffer incoming samples every clock
    wire [31:0] fifo_out;
+   reg         fifo_ack;
    wire        fifo_empty;
+
+// Use model if simulating, otherwise Altera Megacell
+`ifdef SIMULATION
+   fifo_1clk #(32, 4096) buffer(.clock(clk_i),.sclr(rst_i),
+				.data(fifo_inp),.wrreq(ena_i),
+				.rdreq(fifo_ack),.q(fifo_out),
+				.empty(fifo_empty));
+`else
+   fifo32_4k buffer(.clock(clk_i),.sclr(rst_i),
+		    .data(fifo_inp),.wrreq(ena_i),
+		    .rdreq(fifo_ack),.q(fifo_out),
+		    .empty(fifo_empty));
+`endif
    
-   fifo32_4k fifo(.clock(clk_i),.sclr(rst_i),
-		  .data(fifo_data),.wrreq(ena_i),
-		  .q(fifo_out),.rdreq(fifo_read),
-		  .empty(fifo_empty) );
+   // Write samples to rx_fifo every third clock
+   `define ST_FIFO_IDLE   3'b001
+   `define ST_FIFO_STROBE 3'b010
+   `define ST_FIFO_ACK    3'b100
 
-   `define ST_RD_IDLE     4'b0001
-   `define ST_RD_REQ      4'b0010
-   `define ST_WR_FIFO     4'b0100
-   `define ST_RD_DELAY    4'b1000
+   reg [2:0]   state;
 
-   reg [3:0] state;
-   reg [3:0] delay;
-   
    always @(posedge clk_i)
-     if (rst_i | ~ena_i)
+     if (rst_i)
        begin
-	  state <= `ST_RD_IDLE;
-	  delay <= 4'd0;
+	  state <= `ST_FIFO_IDLE;
 	  rx_strobe_o <= 1'b0;
-	  fifo_read <= 1'b0;
+	  fifo_ack <= 1'b0;
        end
      else
        case (state)
-	 `ST_RD_IDLE:
-	   begin
-	      if (!fifo_empty)
-		begin
-		   fifo_read <= 1'b1;
-		   state <= `ST_RD_REQ;
-		end
-	   end
-
-	 `ST_RD_REQ:
+	 `ST_FIFO_IDLE:
+	   if (!fifo_empty)
+	     begin
+		// Tell rx_fifo sample is ready
+		rx_strobe_o <= 1'b1;
+		state <= `ST_FIFO_STROBE;
+	     end
+	 `ST_FIFO_STROBE:
 	   begin
-	      fifo_read <= 1'b0;
-	      rx_strobe_o <= 1'b1;
-	      state <= `ST_WR_FIFO;
+	      rx_strobe_o <= 1'b0;
+	      // Ack our FIFO
+	      fifo_ack <= 1'b1;
+	      state <= `ST_FIFO_ACK;
 	   end
-
-	 `ST_WR_FIFO:
+	 `ST_FIFO_ACK:
 	   begin
-	      rx_strobe_o <= 1'b0;
-	      state <= `ST_RD_DELAY;
+	      fifo_ack <= 1'b0;
+	      state <= `ST_FIFO_IDLE;
 	   end
-
-	 `ST_RD_DELAY:
-	   if (delay == 7)
-	     begin
-		delay <= 0;
-		state <= `ST_RD_IDLE;
-	     end
-	   else
-	     delay <= delay + 1'b1;
-
        endcase // case(state)
-   
+
    assign rx_i_o = fifo_out[31:16];
    assign rx_q_o = fifo_out[15:0];
    
diff --git a/gr-radar-mono/src/fpga/models/Makefile.am b/gr-radar-mono/src/fpga/models/Makefile.am
new file mode 100644
index 0000000000..1d51f485fa
--- /dev/null
+++ b/gr-radar-mono/src/fpga/models/Makefile.am
@@ -0,0 +1,27 @@
+#
+# 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.
+# 
+
+include $(top_srcdir)/Makefile.common
+
+EXTRA_DIST = \
+	fifo_1clk.v
+
+MOSTLYCLEANFILES = *~
diff --git a/gr-radar-mono/src/fpga/models/fifo_1clk.v b/gr-radar-mono/src/fpga/models/fifo_1clk.v
new file mode 100644
index 0000000000..93ada6c8d2
--- /dev/null
+++ b/gr-radar-mono/src/fpga/models/fifo_1clk.v
@@ -0,0 +1,88 @@
+/* -*- verilog -*- */
+/*
+ * Copyright (C) 2003 Matt Ettus
+ * Copyright (C) 2007 Corgan Enterprises LLC
+ * 
+ * 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.
+ */
+
+// Model of Altera FIFO with common clock domain
+
+module fifo_1clk(data, wrreq, rdreq, clock, sclr, q,
+		 full, empty, usedw);
+
+   parameter width = 32;
+   parameter depth = 4096;
+   //`define rd_req 0;  // Set this to 0 for rd_ack, 1 for rd_req
+      
+   input [31:0]  data;
+   input 	 wrreq;
+   input 	 rdreq;
+   input 	 clock;
+   input 	 sclr;
+   output [31:0] q;
+   output 	 full;
+   output 	 empty;
+   output [11:0] usedw;
+   
+   reg [width-1:0] mem [0:depth-1];
+   reg [7:0] 	   rdptr;
+   reg [7:0] 	   wrptr;
+   
+`ifdef rd_req
+   reg [width-1:0] q;
+`else
+   wire [width-1:0] q;
+`endif
+   
+   reg [11:0] 	  usedw;
+   
+   integer 	    i;
+   
+   always @( sclr)
+     begin
+	wrptr <= #1 0;
+	rdptr <= #1 0;
+	for(i=0;i<depth;i=i+1)
+	  mem[i] <= #1 0;
+     end
+   
+   always @(posedge clock)
+     if(wrreq)
+       begin
+	  wrptr <= #1 wrptr+1;
+	  mem[wrptr] <= #1 data;
+       end
+   
+   always @(posedge clock)
+     if(rdreq)
+       begin
+   	  rdptr <= #1 rdptr+1;
+`ifdef rd_req
+	  q <= #1 mem[rdptr];
+`endif
+       end
+   
+`ifdef rd_req
+`else
+   assign q = mem[rdptr];
+`endif
+   
+   always @(posedge clock)
+     usedw <= #1 wrptr - rdptr;
+   
+   assign empty = (wrptr == rdptr);
+endmodule
diff --git a/gr-radar-mono/src/fpga/tb/radar_tb.sav b/gr-radar-mono/src/fpga/tb/radar_tb.sav
index aaf2ffd03a..69e48d2186 100644
--- a/gr-radar-mono/src/fpga/tb/radar_tb.sav
+++ b/gr-radar-mono/src/fpga/tb/radar_tb.sav
@@ -1,4 +1,4 @@
-*-24.808464 9235000 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1
+*-24.712317 7100000 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1
 @28
 radar_tb.clk
 radar_tb.ena
@@ -24,11 +24,26 @@ radar_tb.uut.tx_dac_q_o[13:0]
 @28
 radar_tb.uut.controller.tx_ctrl_o
 radar_tb.uut.controller.rx_ctrl_o
+radar_tb.uut.auto_tr_o
 @200
 -
 @28
 radar_tb.fifo_strobe
-@8025
+@8024
 radar_tb.fifo_i[15:0]
 @22
 radar_tb.fifo_q[15:0]
+@200
+-
+@22
+radar_tb.uut.pulse_num[15:0]
+radar_tb.uut.receiver.count[15:0]
+@28
+radar_tb.uut.receiver.fifo_empty
+@22
+radar_tb.uut.receiver.fifo_inp[31:0]
+radar_tb.uut.receiver.fifo_out[31:0]
+@28
+radar_tb.uut.receiver.state[2:0]
+@200
+-
diff --git a/gr-radar-mono/src/fpga/tb/radar_tb.sh b/gr-radar-mono/src/fpga/tb/radar_tb.sh
index a255ec8543..dabbe6754b 100755
--- a/gr-radar-mono/src/fpga/tb/radar_tb.sh
+++ b/gr-radar-mono/src/fpga/tb/radar_tb.sh
@@ -1,3 +1,7 @@
 #!/bin/sh
-iverilog -y ../lib/ -y ../../../../usrp/fpga/sdr_lib 	        \
+iverilog \
+    -D SIMULATION \
+    -y ../lib/ \
+    -y ../../../../usrp/fpga/sdr_lib \
+    -y ../models/ \
     radar_tb.v -o radar_tb && ./radar_tb > radar_tb.out
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 f36c3ac763..13c36c78a9 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 f6f862938f..0382734b87 100644
--- a/gr-radar-mono/src/fpga/top/usrp_radar_mono.v
+++ b/gr-radar-mono/src/fpga/top/usrp_radar_mono.v
@@ -86,7 +86,7 @@ module usrp_radar_mono
 
    // TX
    wire        tx_sample_strobe;
-   wire        tx_empty;
+   wire        auto_tr;
    
    wire        serial_strobe;
    wire [6:0]  serial_addr;
@@ -145,7 +145,7 @@ module usrp_radar_mono
    radar radar_mono ( .clk_i(clk64),.saddr_i(serial_addr),.sdata_i(serial_data),.s_strobe_i(serial_strobe),
 	     .tx_side_o(tx_side),.tx_strobe_o(tx_sample_strobe),.tx_dac_i_o(tx_i),.tx_dac_q_o(tx_q),
 	     .rx_adc_i_i(rx_adc0_i),.rx_adc_q_i(rx_adc0_q),
-	     .rx_strobe_o(rx_strobe),.rx_ech_i_o(rx_buf_i),.rx_ech_q_o(rx_buf_q)
+	     .rx_strobe_o(rx_strobe),.rx_ech_i_o(rx_buf_i),.rx_ech_q_o(rx_buf_q),.auto_tr_o(auto_tr)
 	   );
    
    ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
@@ -155,7 +155,7 @@ module usrp_radar_mono
    assign capabilities[7]   = 0;  // `TX_CAP_HB;
    assign capabilities[6:4] = 1;  // `TX_CAP_NCHAN;
    assign capabilities[3]   = 0;  // `RX_CAP_HB;
-   assign capabilities[2:0] = 1;  // `RX_CAP_NCHAN;
+   assign capabilities[2:0] = 2;  // `RX_CAP_NCHAN;
 
    serial_io serial_io
      ( .master_clk(clk64),.serial_clock(SCLK),.serial_data_in(SDI),
@@ -175,7 +175,7 @@ module usrp_radar_mono
        .interp_rate(),.decim_rate(),
        .tx_sample_strobe(),.strobe_interp(),
        .rx_sample_strobe(),.strobe_decim(),
-       .tx_empty(tx_empty),
+       .tx_empty(auto_tr),
        .debug_0(),.debug_1(),
        .debug_2(),.debug_3(),
        .reg_0(reg_0),.reg_1(reg_1),.reg_2(reg_2),.reg_3(reg_3) );
diff --git a/gr-radar-mono/src/python/radar_mono.py b/gr-radar-mono/src/python/radar_mono.py
index 7aeec1a778..701157cc52 100644
--- a/gr-radar-mono/src/python/radar_mono.py
+++ b/gr-radar-mono/src/python/radar_mono.py
@@ -22,6 +22,7 @@
 
 from gnuradio import gr, usrp
 from gnuradio import eng_notation
+from gr import gr_threading as _threading
 
 n2s = eng_notation.num_to_str
 
@@ -63,11 +64,11 @@ FR_RADAR_FINCR  = usrp.FR_USER_7  	# 32-bit FTW increment per transmit clock
 # Transmitter object.  Uses usrp_sink, but only for a handle to the
 # FPGA registers.
 #-----------------------------------------------------------------------
-class radar_tx:
-    def __init__(self, subdev_spec=None, verbose=False, debug=False):
-        self._subdev_spec = subdev_spec
-	self._verbose = verbose
-	self._debug = debug
+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:
@@ -148,47 +149,26 @@ class radar_tx:
 #-----------------------------------------------------------------------
 # Receiver object.  Uses usrp_source_c to receive echo records.
 #-----------------------------------------------------------------------
-class radar_rx:
-    def __init__(self, gain=None, subdev_spec=None, msgq=None, length=None,
-                 verbose=False, debug=False):
-        self._gain = gain
-        self._subdev_spec = subdev_spec
-        self._msgq = msgq
-        self._length = length
-	self._verbose = verbose
-        self._debug = debug
-	self._length_set = False
-			
-        self._fg = gr.flow_graph()
-        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))
-
-	if self._debug:
-	    self._usrp_sink = gr.file_sink(gr.sizeof_gr_complex, "usrp.dat")
-    	    self._fg.connect(self._u, self._usrp_sink)
-	
-        self._subdev = usrp.selected_subdev(self._u, self._subdev_spec)
-        self.set_gain(gain)
+class radar_rx(gr.top_block):
+    def __init__(self, options, callback):
+	gr.top_block.__init__(self, "radar_rx")
 
-        if self._verbose:
-            print "Using", self._subdev.name(), "for radar receiver."
-            print "Setting receiver gain to", self._gain
-        
+        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._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._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, True)
-        self._fg.connect(self._u, self._s2v, self._sink)
 	self._length_set = True
-        if self._verbose:
-            print "Receiving echo vectors of length", self._length, \
-                  "(samples)", self._vblen, "(bytes)"
 
     def tune(self, frequency):
         if self._verbose:
@@ -205,35 +185,61 @@ class radar_rx:
             self._gain = float(g[0]+g[1])/2
         self._subdev.set_gain(self._gain)
 
-    def start(self):
+    def begin(self):
+	if not self._connected:
+	    self._setup_connections()
+	    
         if self._verbose:
-            print "Starting receiver flow graph."
-        self._fg.start()
+            print "Starting receiver..."
+        self.start()
 
-    def wait(self):
+    def end(self):
         if self._verbose:
-            print "Waiting for threads..."
-        self._fg.wait()
+            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)
 
-    def stop(self):
         if self._verbose:
-            print "Stopping receiver flow graph."
-        self._fg.stop()
-        self.wait()
+            print "Using", self._subdev.side_and_name(), "for radar receiver."
+            print "Setting receiver gain to", self._gain
+        self.set_gain(self._gain)
+	self._subdev.set_auto_tr(True)
+	self._subdev.set_atr_tx_delay(26) # TX CORDIC pipeline delay
+	self._subdev.set_atr_rx_delay(26)
+		
+    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 "Receiver flow graph stopped."
+            print "Generating echo vectors of length", self._length, \
+                  "(samples)", self._vblen, "(bytes)"
 
-class radar:
-    def __init__(self, msgq=None, tx_subdev_spec=None, rx_subdev_spec=None,
-                 gain=None, verbose=False, debug=False):
-        self._msgq = msgq
-        self._verbose = verbose
-        self._debug = debug
+	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(subdev_spec=tx_subdev_spec, verbose=self._verbose, debug=self._debug)
-        self._rcvr = radar_rx(gain=gain, msgq=self._msgq, subdev_spec=rx_subdev_spec, 
-			      verbose=self._verbose, debug=self._debug)
+        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)
@@ -285,10 +291,28 @@ class radar:
     def start(self):
 	self.set_reset(False)
 	self._trans.start()
-	self._rcvr.start()
+	self._rcvr.begin()
 	
     def stop(self):
+	self._rcvr.end()
 	self._trans.stop()
-	self._rcvr.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())
+
diff --git a/gr-radar-mono/src/python/usrp_radar_mono.py b/gr-radar-mono/src/python/usrp_radar_mono.py
index e372ec9f04..077b798caa 100755
--- a/gr-radar-mono/src/python/usrp_radar_mono.py
+++ b/gr-radar-mono/src/python/usrp_radar_mono.py
@@ -25,11 +25,18 @@ from gnuradio.radar_mono import radar
 from gnuradio import eng_notation
 from gnuradio.eng_option import eng_option
 from optparse import OptionParser
-import sys
+import sys, time
 
 n2s = eng_notation.num_to_str
+logfile = None
 
+def process_echo(echo):
+    global logfile
+    #sys.stdout.write('.')
+    logfile.write(echo)
+        
 def main():
+    global logfile
     parser = OptionParser(option_class=eng_option)
     parser.add_option("-T", "--tx-subdev-spec", type="subdev", default=None,
 		      help="use transmitter board side A or B (default is first found)")
@@ -55,59 +62,37 @@ def main():
                       help="enable verbose output, default is disabled")
     parser.add_option("-D", "--debug", action="store_true", default=False,
                       help="enable debugging output, default is disabled")
+    parser.add_option("-F", "--filename", default=None,
+                      help="log received echos to file")
 
-    # NOT IMPLEMENTED
-    #parser.add_option("-l", "--loopback", action="store_true", default=False,
-    #                  help="enable digital loopback, default is disabled")
-    #parser.add_option("-F", "--filename", default=None,
-    #                  help="log received echos to file")
-		      
     (options, args) = parser.parse_args()
 
     if len(args) != 0:
         parser.print_help()
         sys.exit(1)
 
-    """
     if options.filename == None:
         print "Must supply filename for logging received data."
         sys.exit(1)
     else:
         if options.verbose:
             print "Logging echo records to file: ", options.filename
-    """
-        
-    msgq = gr.msg_queue()
-    s = radar(msgq=msgq, tx_subdev_spec=options.tx_subdev_spec,
-              rx_subdev_spec=options.rx_subdev_spec,gain=options.gain,
-	      verbose=options.verbose, debug=options.debug)
-
-    s.set_ton(options.ton)
-    s.set_tsw(options.tsw)
-    s.set_tlook(options.tlook)
-    s.set_prf(options.prf)
-    s.set_amplitude(options.amplitude)
-    s.set_freq(options.frequency, options.chirp_width)
 
-    s.start()
+    logfile = open(options.filename, 'wb')
+        
+    r = radar(options, process_echo)
 
-    #f = open(options.filename, "wb")
-    print "Enter CTRL-C to stop."
-    try:
-	while 1:
-	    if not msgq.empty_p():
-                msg = msgq.delete_head()
-                if msg.type() == 1:
-                    break
-                echo = msg.to_string()
-                if options.debug:
-                    print "Received echo vector of length", len(echo)
-		#f.write(rec)
-		
-    except KeyboardInterrupt:
-        pass
+    r.set_ton(options.ton)
+    r.set_tsw(options.tsw)
+    r.set_tlook(options.tlook)
+    r.set_prf(options.prf)
+    r.set_amplitude(options.amplitude)
+    r.set_freq(options.frequency, options.chirp_width)
 
-    s.stop()
-        
+    r.start()
+    raw_input("Press ENTER to stop.")
+    r.stop()
+    logfile.close()
+            
 if __name__ == "__main__":
     main()
author	jcorgan <jcorgan@221aa14e-8319-0410-a670-987f0aec2ac5>	2007-09-17 22:08:05 +0000
committer	jcorgan <jcorgan@221aa14e-8319-0410-a670-987f0aec2ac5>	2007-09-17 22:08:05 +0000
commit	a44b72ba2a9e572145cf96a7b9f7758bc58238be (patch)
tree	729978ae6d34807370d5ec409c2765c563b742a6 /gr-radar-mono/src
parent	4e7d048aeb80f95b19cebed9d76b79e6cbe64a9a (diff)