Tracking loop dev

grc/CMakeLists.txt

@@ -27,5 +27,6 @@ install(FILES
     cdma_freq_timing_estimator.xml
     cdma_amp_var_est.xml
     cdma_switched_peak_detector_fb.xml
-    cdma_pac_err_cal.xml DESTINATION share/gnuradio/grc/blocks
+    cdma_pac_err_cal.xml
+    cdma_pi_controller.xml DESTINATION share/gnuradio/grc/blocks
 )

grc/cdma_pi_controller.xml

@@ -0,0 +1,51 @@
+<?xml version="1.0"?>
+<block>
+  <name>pi_controller</name>
+  <key>cdma_pi_controller</key>
+  <category>cdma</category>
+  <import>import cdma</import>
+  <make>cdma.pi_controller($Kp, $Ki, $reset)</make>
+  <callback>set_Kp($Kp)</callback>
+  <callback>set_Ki($Ki)</callback>
+  <callback>set_reset($reset)</callback>
+  <!-- Make one 'param' node for every Parameter you want settable from the GUI.
+       Sub-nodes:
+       * name
+       * key (makes the value accessible as $keyname, e.g. in the make node)
+       * type -->
+  <param>
+    <name>Kp</name>
+    <key>Kp</key>
+    <type>float</type>
+  </param>
+  <param>
+    <name>Ki</name>
+    <key>Ki</key>
+    <type>float</type>
+  </param>
+  <param>
+    <name>Reset</name>
+    <key>reset</key>
+    <type>int</type>
+  </param>
+
+  <!-- Make one 'sink' node per input. Sub-nodes:
+       * name (an identifier for the GUI)
+       * type
+       * vlen
+       * optional (set to 1 for optional inputs) -->
+  <sink>
+    <name>in</name>
+    <type>float</type>
+  </sink>
+
+  <!-- Make one 'source' node per output. Sub-nodes:
+       * name (an identifier for the GUI)
+       * type
+       * vlen
+       * optional (set to 1 for optional inputs) -->
+  <source>
+    <name>out</name>
+    <type>float</type>
+  </source>
+</block>

python/CMakeLists.txt

@@ -34,7 +34,7 @@ GR_PYTHON_INSTALL(
     cdma_parameters.py
     freq_timing_estimator.py
     kronecker_filter.py
-    DESTINATION ${GR_PYTHON_DIR}/cdma
+    pi_controller.py DESTINATION ${GR_PYTHON_DIR}/cdma
 )
 
 ########################################################################

python/__init__.py

@@ -36,5 +36,6 @@
 
 from kronecker_filter import kronecker_filter
 from freq_timing_estimator import freq_timing_estimator
+from pi_controller import pi_controller
 
 

python/pi_controller.py

@@ -0,0 +1,79 @@
+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+#
+# Copyright 2018 <+YOU OR YOUR COMPANY+>.
+#
+# This 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.
+#
+# This software 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 this software; see the file COPYING.  If not, write to
+# the Free Software Foundation, Inc., 51 Franklin Street,
+# Boston, MA 02110-1301, USA.
+#
+
+import numpy
+from gnuradio import gr
+
+class pi_controller(gr.sync_block):
+    """
+    docstring for block pi_controller
+    """
+    def __init__(self, Kp, Ki, reset):
+        gr.sync_block.__init__(self,
+            name="pi_controller",
+            in_sig=[numpy.float32],
+            out_sig=[numpy.float32])
+        self.Kp = Kp
+        self.Ki = Ki
+        self.reset = reset
+        self.ff_taps = numpy.array([Kp + Ki, -Kp], float)
+        self.x = numpy.zeros(2, float)
+        self.y = numpy.zeros(2, float)
+
+
+    def work(self, input_items, output_items):
+        in0 = input_items[0]
+        out0 = output_items[0]
+
+        if (self.reset != 0):
+            self.x[:] = 0
+            self.y[:] = 0
+            out0[:] = 0
+        else:
+            for i in range(len(in0)):
+                self.x[1] = self.x[0]
+                self.x[0] = in0[i]
+                self.y[1] = self.y[0]
+                self.y[0] = self.y[1] + numpy.sum(self.x * self.ff_taps)
+                out0[i] = self.y[0]
+
+        return len(output_items[0])
+
+    def get_Kp(self):
+        return self.Kp
+
+    def set_Kp(self, Kp):
+        self.Kp = Kp
+        self.ff_taps = numpy.array([self.Kp + self.Ki, -self.Kp], float)
+
+    def get_Ki(self):
+        return self.Kp
+
+    def set_Ki(self, Ki):
+        self.Ki = Ki
+        self.ff_taps = numpy.array([self.Kp + self.Ki, -self.Kp], float)
+
+    def get_reset(self):
+        return self.reset
+
+    def set_reset(self, reset):
+        self.reset = reset
+