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PhaserRadarLabs/FMCW_RADAR_Waterfall.py
Jon Kraft 51119162d6 Add files via upload
2024-01-31 13:55:33 -07:00

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#!/usr/bin/env python3
# Must use Python 3
# Copyright (C) 2022 Analog Devices, Inc.
#
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without modification,
# are permitted provided that the following conditions are met:
# - Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# - Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# - Neither the name of Analog Devices, Inc. nor the names of its
# contributors may be used to endorse or promote products derived
# from this software without specific prior written permission.
# - The use of this software may or may not infringe the patent rights
# of one or more patent holders. This license does not release you
# from the requirement that you obtain separate licenses from these
# patent holders to use this software.
# - Use of the software either in source or binary form, must be run
# on or directly connected to an Analog Devices Inc. component.
#
# THIS SOFTWARE IS PROVIDED BY ANALOG DEVICES "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
# INCLUDING, BUT NOT LIMITED TO, NON-INFRINGEMENT, MERCHANTABILITY AND FITNESS FOR A
# PARTICULAR PURPOSE ARE DISCLAIMED.
#
# IN NO EVENT SHALL ANALOG DEVICES BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
# EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, INTELLECTUAL PROPERTY
# RIGHTS, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR
# BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
# STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF
# THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
'''FMCW Radar Demo with Phaser (CN0566)
Jon Kraft, Jan 20 2024'''
# Imports
import adi
import sys
import time
import matplotlib.pyplot as plt
import numpy as np
import pyqtgraph as pg
from PyQt5.QtCore import Qt
from PyQt5.QtWidgets import *
from pyqtgraph.Qt import QtCore, QtGui
# Instantiate all the Devices
rpi_ip = "ip:phaser.local" # IP address of the Raspberry Pi
sdr_ip = "ip:192.168.2.1" # "192.168.2.1, or pluto.local" # IP address of the Transceiver Block
my_sdr = adi.ad9361(uri=sdr_ip)
my_phaser = adi.CN0566(uri=rpi_ip, sdr=my_sdr)
# Initialize both ADAR1000s, set gains to max, and all phases to 0
my_phaser.configure(device_mode="rx")
my_phaser.load_gain_cal()
my_phaser.load_phase_cal()
for i in range(0, 8):
my_phaser.set_chan_phase(i, 0)
gain_list = [8, 34, 84, 127, 127, 84, 34, 8] # Blackman taper
for i in range(0, len(gain_list)):
my_phaser.set_chan_gain(i, gain_list[i], apply_cal=True)
# Setup Raspberry Pi GPIO states
try:
my_phaser._gpios.gpio_tx_sw = 0 # 0 = TX_OUT_2, 1 = TX_OUT_1
my_phaser._gpios.gpio_vctrl_1 = 1 # 1=Use onboard PLL/LO source (0=disable PLL and VCO, and set switch to use external LO input)
my_phaser._gpios.gpio_vctrl_2 = 1 # 1=Send LO to transmit circuitry (0=disable Tx path, and send LO to LO_OUT)
except:
my_phaser.gpios.gpio_tx_sw = 0 # 0 = TX_OUT_2, 1 = TX_OUT_1
my_phaser.gpios.gpio_vctrl_1 = 1 # 1=Use onboard PLL/LO source (0=disable PLL and VCO, and set switch to use external LO input)
my_phaser.gpios.gpio_vctrl_2 = 1 # 1=Send LO to transmit circuitry (0=disable Tx path, and send LO to LO_OUT)
sample_rate = 0.6e6
center_freq = 2.1e9
signal_freq = 100e3
num_slices = 600 # this sets how much time will be displayed on the waterfall plot
fft_size = 1024 * 4
plot_freq = 100e3 # x-axis freq range to plot
img_array = np.ones((num_slices, fft_size))*(-100)
# Configure SDR Rx
my_sdr.sample_rate = int(sample_rate)
my_sdr.rx_lo = int(center_freq) # set this to output_freq - (the freq of the HB100)
my_sdr.rx_enabled_channels = [0, 1] # enable Rx1 (voltage0) and Rx2 (voltage1)
my_sdr.rx_buffer_size = int(fft_size)
my_sdr.gain_control_mode_chan0 = "manual" # manual or slow_attack
my_sdr.gain_control_mode_chan1 = "manual" # manual or slow_attack
my_sdr.rx_hardwaregain_chan0 = int(30) # must be between -3 and 70
my_sdr.rx_hardwaregain_chan1 = int(30) # must be between -3 and 70
# Configure SDR Tx
my_sdr.tx_lo = int(center_freq)
my_sdr.tx_enabled_channels = [0, 1]
my_sdr.tx_cyclic_buffer = True # must set cyclic buffer to true for the tdd burst mode. Otherwise Tx will turn on and off randomly
my_sdr.tx_hardwaregain_chan0 = -88 # must be between 0 and -88
my_sdr.tx_hardwaregain_chan1 = -0 # must be between 0 and -88
# Configure the ADF4159 Rampling PLL
output_freq = 12.145e9
BW = 500e6
num_steps = 500
ramp_time = 0.5e3 # us
my_phaser.frequency = int(output_freq / 4) # Output frequency divided by 4
my_phaser.freq_dev_range = int(
BW / 4
) # frequency deviation range in Hz. This is the total freq deviation of the complete freq ramp
my_phaser.freq_dev_step = int(
(BW/4) / num_steps
) # frequency deviation step in Hz. This is fDEV, in Hz. Can be positive or negative
my_phaser.freq_dev_time = int(
ramp_time
) # total time (in us) of the complete frequency ramp
print("requested freq dev time = ", ramp_time)
ramp_time = my_phaser.freq_dev_time
ramp_time_s = ramp_time / 1e6
print("actual freq dev time = ", ramp_time)
my_phaser.delay_word = 4095 # 12 bit delay word. 4095*PFD = 40.95 us. For sawtooth ramps, this is also the length of the Ramp_complete signal
my_phaser.delay_clk = "PFD" # can be 'PFD' or 'PFD*CLK1'
my_phaser.delay_start_en = 0 # delay start
my_phaser.ramp_delay_en = 0 # delay between ramps.
my_phaser.trig_delay_en = 0 # triangle delay
my_phaser.ramp_mode = "continuous_triangular" # ramp_mode can be: "disabled", "continuous_sawtooth", "continuous_triangular", "single_sawtooth_burst", "single_ramp_burst"
my_phaser.sing_ful_tri = (
0 # full triangle enable/disable -- this is used with the single_ramp_burst mode
)
my_phaser.tx_trig_en = 0 # start a ramp with TXdata
my_phaser.enable = 0 # 0 = PLL enable. Write this last to update all the registers
# Print config
print(
"""
CONFIG:
Sample rate: {sample_rate}MHz
Num samples: 2^{Nlog2}
Bandwidth: {BW}MHz
Ramp time: {ramp_time}ms
Output frequency: {output_freq}MHz
IF: {signal_freq}kHz
""".format(
sample_rate=sample_rate / 1e6,
Nlog2=int(np.log2(fft_size)),
BW=BW / 1e6,
ramp_time=ramp_time / 1e3,
output_freq=output_freq / 1e6,
signal_freq=signal_freq / 1e3,
)
)
# Create a sinewave waveform
fs = int(my_sdr.sample_rate)
N = int(my_sdr.rx_buffer_size)
fc = int(signal_freq / (fs / N)) * (fs / N)
ts = 1 / float(fs)
t = np.arange(0, N * ts, ts)
i = np.cos(2 * np.pi * t * fc) * 2 ** 14
q = np.sin(2 * np.pi * t * fc) * 2 ** 14
iq = 1 * (i + 1j * q)
# Send data
my_sdr._ctx.set_timeout(0)
my_sdr.tx([iq * 0.5, iq]) # only send data to the 2nd channel (that's all we need)
c = 3e8
default_chirp_bw = 500e6
N_frame = fft_size
freq = np.linspace(-fs / 2, fs / 2, int(N_frame))
slope = BW / ramp_time_s
dist = (freq - signal_freq) * c / (2 * slope)
plot_dist = False
class Window(QMainWindow):
def __init__(self):
super().__init__()
self.setWindowTitle("Interactive FFT")
self.setGeometry(0, 0, 400, 400) # (x,y, width, height)
#self.setFixedWidth(600)
self.setWindowState(QtCore.Qt.WindowMaximized)
self.num_rows = 12
self.setWindowFlag(QtCore.Qt.WindowCloseButtonHint, False) #remove the window's close button
self.UiComponents()
self.show()
# method for components
def UiComponents(self):
widget = QWidget()
global layout, signal_freq
layout = QGridLayout()
# Control Panel
control_label = QLabel("PHASER Simple FMCW Radar")
font = control_label.font()
font.setPointSize(24)
control_label.setFont(font)
font.setPointSize(12)
control_label.setAlignment(Qt.AlignHCenter) # | Qt.AlignVCenter)
layout.addWidget(control_label, 0, 0, 1, 2)
# Check boxes
self.x_axis_check = QCheckBox("Convert to Distance")
font = self.x_axis_check.font()
font.setPointSize(10)
self.x_axis_check.setFont(font)
self.x_axis_check.stateChanged.connect(self.change_x_axis)
layout.addWidget(self.x_axis_check, 2, 0)
# Range resolution
# Changes with the Chirp BW slider
self.range_res_label = QLabel(
"B: %0.2f MHz - R<sub>res</sub>: %0.2f m"
% (default_chirp_bw / 1e6, c / (2 * default_chirp_bw))
)
font = self.range_res_label.font()
font.setPointSize(10)
self.range_res_label.setFont(font)
self.range_res_label.setAlignment(Qt.AlignLeft)
self.range_res_label.setMaximumWidth(200)
self.range_res_label.setMinimumWidth(100)
layout.addWidget(self.range_res_label, 4, 1)
# Chirp bandwidth slider
self.bw_slider = QSlider(Qt.Horizontal)
self.bw_slider.setMinimum(100)
self.bw_slider.setMaximum(500)
self.bw_slider.setValue(int(default_chirp_bw / 1e6))
self.bw_slider.setTickInterval(50)
self.bw_slider.setMaximumWidth(200)
self.bw_slider.setTickPosition(QSlider.TicksBelow)
self.bw_slider.valueChanged.connect(self.get_range_res)
layout.addWidget(self.bw_slider, 4, 0)
self.set_bw = QPushButton("Set Chirp Bandwidth")
self.set_bw.setMaximumWidth(200)
self.set_bw.pressed.connect(self.set_range_res)
layout.addWidget(self.set_bw, 5, 0, 1, 1)
self.quit_button = QPushButton("Quit")
self.quit_button.pressed.connect(self.end_program)
layout.addWidget(self.quit_button, 30, 0, 4, 4)
# waterfall level slider
self.low_slider = QSlider(Qt.Horizontal)
self.low_slider.setMinimum(-100)
self.low_slider.setMaximum(0)
self.low_slider.setValue(-45)
self.low_slider.setTickInterval(20)
self.low_slider.setMaximumWidth(200)
self.low_slider.setTickPosition(QSlider.TicksBelow)
self.low_slider.valueChanged.connect(self.get_water_levels)
layout.addWidget(self.low_slider, 8, 0)
self.high_slider = QSlider(Qt.Horizontal)
self.high_slider.setMinimum(-100)
self.high_slider.setMaximum(0)
self.high_slider.setValue(-25)
self.high_slider.setTickInterval(20)
self.high_slider.setMaximumWidth(200)
self.high_slider.setTickPosition(QSlider.TicksBelow)
self.high_slider.valueChanged.connect(self.get_water_levels)
layout.addWidget(self.high_slider, 10, 0)
self.water_label = QLabel("Waterfall Intensity Levels")
self.water_label.setFont(font)
self.water_label.setAlignment(Qt.AlignCenter)
self.water_label.setMinimumWidth(100)
self.water_label.setMaximumWidth(200)
layout.addWidget(self.water_label, 7, 0,1,1)
self.low_label = QLabel("LOW LEVEL: %0.0f" % (self.low_slider.value()))
self.low_label.setFont(font)
self.low_label.setAlignment(Qt.AlignLeft)
self.low_label.setMinimumWidth(100)
self.low_label.setMaximumWidth(200)
layout.addWidget(self.low_label, 8, 1)
self.high_label = QLabel("HIGH LEVEL: %0.0f" % (self.high_slider.value()))
self.high_label.setFont(font)
self.high_label.setAlignment(Qt.AlignLeft)
self.high_label.setMinimumWidth(100)
self.high_label.setMaximumWidth(200)
layout.addWidget(self.high_label, 10, 1)
self.steer_slider = QSlider(Qt.Horizontal)
self.steer_slider.setMinimum(-80)
self.steer_slider.setMaximum(80)
self.steer_slider.setValue(0)
self.steer_slider.setTickInterval(20)
self.steer_slider.setMaximumWidth(200)
self.steer_slider.setTickPosition(QSlider.TicksBelow)
self.steer_slider.valueChanged.connect(self.get_steer_angle)
layout.addWidget(self.steer_slider, 14, 0)
self.steer_title = QLabel("Receive Steering Angle")
self.steer_title.setFont(font)
self.steer_title.setAlignment(Qt.AlignCenter)
self.steer_title.setMinimumWidth(100)
self.steer_title.setMaximumWidth(200)
layout.addWidget(self.steer_title, 13, 0)
self.steer_label = QLabel("%0.0f DEG" % (self.steer_slider.value()))
self.steer_label.setFont(font)
self.steer_label.setAlignment(Qt.AlignLeft)
self.steer_label.setMinimumWidth(100)
self.steer_label.setMaximumWidth(200)
layout.addWidget(self.steer_label, 14, 1,1,2)
# FFT plot
self.fft_plot = pg.plot()
self.fft_plot.setMinimumWidth(600)
self.fft_curve = self.fft_plot.plot(freq, pen={'color':'y', 'width':2})
title_style = {"size": "20pt"}
label_style = {"color": "#FFF", "font-size": "14pt"}
self.fft_plot.setLabel("bottom", text="Frequency", units="Hz", **label_style)
self.fft_plot.setLabel("left", text="Magnitude", units="dB", **label_style)
self.fft_plot.setTitle("Received Signal - Frequency Spectrum", **title_style)
layout.addWidget(self.fft_plot, 0, 2, self.num_rows, 1)
self.fft_plot.setYRange(-60, 0)
self.fft_plot.setXRange(signal_freq, signal_freq+plot_freq)
# Waterfall plot
self.waterfall = pg.PlotWidget()
self.imageitem = pg.ImageItem()
self.waterfall.addItem(self.imageitem)
# Use a viridis colormap
pos = np.array([0.0, 0.25, 0.5, 0.75, 1.0])
color = np.array([[68, 1, 84,255], [59, 82, 139,255], [33, 145, 140,255], [94, 201, 98,255], [253, 231, 37,255]], dtype=np.ubyte)
lut = pg.ColorMap(pos, color).getLookupTable(0.0, 1.0, 256)
self.imageitem.setLookupTable(lut)
self.imageitem.setLevels([0,1])
# self.imageitem.scale(0.35, sample_rate / (N)) # this is deprecated -- we have to use setTransform instead
tr = QtGui.QTransform()
tr.translate(0,-sample_rate/2)
tr.scale(0.35, sample_rate / (N))
self.imageitem.setTransform(tr)
zoom_freq = 35e3
self.waterfall.setRange(yRange=(signal_freq, signal_freq + zoom_freq))
self.waterfall.setTitle("Waterfall Spectrum", **title_style)
self.waterfall.setLabel("left", "Frequency", units="Hz", **label_style)
self.waterfall.setLabel("bottom", "Time", units="sec", **label_style)
layout.addWidget(self.waterfall, 0 + self.num_rows + 1, 2, self.num_rows, 1)
self.img_array = np.ones((num_slices, fft_size))*(-100)
widget.setLayout(layout)
# setting this widget as central widget of the main window
self.setCentralWidget(widget)
def get_range_res(self):
""" Updates the slider bar label with RF bandwidth and range resolution
Returns:
None
"""
bw = self.bw_slider.value() * 1e6
range_res = c / (2 * bw)
self.range_res_label.setText(
"B: %0.2f MHz - R<sub>res</sub>: %0.2f m"
% (bw / 1e6, c / (2 * bw))
)
def get_water_levels(self):
""" Updates the waterfall intensity levels
Returns:
None
"""
if self.low_slider.value() > self.high_slider.value():
self.low_slider.setValue(self.high_slider.value())
self.low_label.setText("LOW LEVEL: %0.0f" % (self.low_slider.value()))
self.high_label.setText("HIGH LEVEL: %0.0f" % (self.high_slider.value()))
def get_steer_angle(self):
""" Updates the steering angle readout
Returns:
None
"""
self.steer_label.setText("%0.0f DEG" % (self.steer_slider.value()))
phase_delta = (
2
* 3.14159
* 10.25e9
* 0.014
* np.sin(np.radians(self.steer_slider.value()))
/ (3e8)
)
my_phaser.set_beam_phase_diff(np.degrees(phase_delta))
def set_range_res(self):
""" Sets the Chirp bandwidth
Returns:
None
"""
global dist, slope, signal_freq, plot_freq
bw = self.bw_slider.value() * 1e6
slope = bw / ramp_time_s
dist = (freq - signal_freq) * c / (2 * slope)
if self.x_axis_check.isChecked() == True:
plot_dist = True
range_x = (plot_freq) * c / (2 * slope)
self.fft_plot.setXRange(0, range_x)
else:
plot_dist = False
self.fft_plot.setXRange(signal_freq, signal_freq+plot_freq)
my_phaser.freq_dev_range = int(bw / 4) # frequency deviation range in Hz
my_phaser.enable = 0
def end_program(self):
""" Gracefully shutsdown the program and Pluto
Returns:
None
"""
my_sdr.tx_destroy_buffer()
self.close()
def change_x_axis(self, state):
""" Toggles between showing frequency and range for the x-axis
Args:
state (QtCore.Qt.Checked) : State of check box
Returns:
None
"""
global plot_dist, slope, signal_freq, plot_freq
plot_state = win.fft_plot.getViewBox().state
if state == QtCore.Qt.Checked:
plot_dist = True
range_x = (plot_freq) * c / (2 * slope)
self.fft_plot.setXRange(0, range_x)
else:
plot_dist = False
self.fft_plot.setXRange(signal_freq, signal_freq+plot_freq)
# create pyqt5 app
App = QApplication(sys.argv)
# create the instance of our Window
win = Window()
index = 0
def update():
""" Updates the FFT in the window
Returns:
None
"""
global index, plot_dist, freq, dist
label_style = {"color": "#FFF", "font-size": "14pt"}
data = my_sdr.rx()
data = data[0] + data[1]
win_funct = np.blackman(len(data))
y = data * win_funct
sp = np.absolute(np.fft.fft(y))
sp = np.fft.fftshift(sp)
s_mag = np.abs(sp) / np.sum(win_funct)
s_mag = np.maximum(s_mag, 10 ** (-15))
s_dbfs = 20 * np.log10(s_mag / (2 ** 11))
if plot_dist:
win.fft_curve.setData(dist, s_dbfs)
win.fft_plot.setLabel("bottom", text="Distance", units="m", **label_style)
else:
win.fft_curve.setData(freq, s_dbfs)
win.fft_plot.setLabel("bottom", text="Frequency", units="Hz", **label_style)
win.img_array = np.roll(win.img_array, 1, axis=0)
win.img_array[0] = s_dbfs
win.imageitem.setLevels([win.low_slider.value(), win.high_slider.value()])
win.imageitem.setImage(win.img_array, autoLevels=False)
if index == 1:
win.fft_plot.enableAutoRange("xy", False)
index = index + 1
timer = QtCore.QTimer()
timer.timeout.connect(update)
timer.start(0)
# start the app
sys.exit(App.exec())
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