Added frequency estimator blocks

- correct_frequency: Correct frequency by averaging the phase drift on
                     the preamble
- freq_est_lr: Luise & Reggiannini frequency estimator
- pid_controller: a PID controller that takes error values at the input
                  and generates steering values at the output

The combination of freq_est_lr and PID controller can be used together
with an NCO (signal source) to create a closed control loop for
frequency offset compensation.

gr-hamnet70/CMakeLists.txt

@@ -140,7 +140,7 @@ find_package(Doxygen)
 # components required to the list of GR_REQUIRED_COMPONENTS (in all
 # caps such as FILTER or FFT) and change the version to the minimum
 # API compatible version required.
-set(GR_REQUIRED_COMPONENTS RUNTIME)
+set(GR_REQUIRED_COMPONENTS RUNTIME FILTER)
 find_package(Gnuradio "3.7.2" REQUIRED)
 list(INSERT CMAKE_MODULE_PATH 0 ${CMAKE_SOURCE_DIR}/cmake/Modules)
 include(GrVersion)

gr-hamnet70/grc/CMakeLists.txt

@@ -17,7 +17,9 @@
 # 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.
-
 install(FILES
-    hamnet70_correct_phase_from_tag.xml DESTINATION share/gnuradio/grc/blocks
+    hamnet70_correct_phase_from_tag.xml
+    hamnet70_correct_frequency.xml
+    hamnet70_freq_est_lr.xml
+    hamnet70_pid_controller.xml DESTINATION share/gnuradio/grc/blocks
 )

gr-hamnet70/grc/hamnet70_correct_frequency.xml

@@ -0,0 +1,25 @@
+<?xml version="1.0"?>
+<block>
+  <name>Correct Frequency</name>
+  <key>hamnet70_correct_frequency</key>
+  <category>[hamnet70]</category>
+  <import>import hamnet70</import>
+  <make>hamnet70.correct_frequency($symbols)</make>
+
+  <param>
+    <name>Symbols</name>
+    <key>symbols</key>
+    <type>complex_vector</type>
+  </param>
+
+  <sink>
+    <name>in</name>
+    <type>complex</type>
+  </sink>
+
+  <source>
+    <name>out</name>
+    <type>complex</type>
+  </source>
+
+</block>

gr-hamnet70/grc/hamnet70_freq_est_lr.xml

@@ -0,0 +1,37 @@
+<?xml version="1.0"?>
+<block>
+	<name>L&amp;R Data-Aided Freq. Est.</name>
+	<key>hamnet70_freq_est_lr</key>
+	<category>[hamnet70]</category>
+	<import>import hamnet70</import>
+	<make>hamnet70.freq_est_lr($symbols, $kappa)</make>
+
+	<param>
+		<name>Preamble Symbols</name>
+		<key>symbols</key>
+		<type>complex_vector</type>
+	</param>
+
+	<param>
+		<name>Kappa</name>
+		<key>kappa</key>
+		<type>int</type>
+	</param>
+
+	<sink>
+		<name>in</name>
+		<type>complex</type>
+	</sink>
+
+	<source>
+		<name>out</name>
+		<type>float</type>
+	</source>
+
+	<source>
+		<name>freq_offset</name>
+		<type>message</type>
+		<optional>1</optional>
+	</source>
+
+</block>

gr-hamnet70/grc/hamnet70_pid_controller.xml

@@ -0,0 +1,53 @@
+<?xml version="1.0"?>
+<block>
+	<name>PID Controller</name>
+	<key>hamnet70_pid_controller</key>
+	<category>[hamnet70]</category>
+	<import>import hamnet70</import>
+	<make>hamnet70.pid_controller($interval, $p, $i, $d, $post_gain)</make>
+
+	<param>
+		<name>interval</name>
+		<key>interval</key>
+		<value>1</value>
+		<type>int</type>
+	</param>
+
+	<param>
+		<name>P Gain</name>
+		<key>p</key>
+		<value>1.0</value>
+		<type>float</type>
+	</param>
+
+	<param>
+		<name>I Gain</name>
+		<key>i</key>
+		<value>0.0</value>
+		<type>float</type>
+	</param>
+
+	<param>
+		<name>D Gain</name>
+		<key>d</key>
+		<value>0.0</value>
+		<type>float</type>
+	</param>
+
+	<param>
+		<name>Post Gain</name>
+		<key>post_gain</key>
+		<value>1.0</value>
+		<type>float</type>
+	</param>
+
+	<sink>
+		<name>in</name>
+		<type>float</type>
+	</sink>
+
+	<source>
+		<name>control_value</name>
+		<type>message</type>
+	</source>
+</block>

gr-hamnet70/include/hamnet70/CMakeLists.txt

@@ -23,5 +23,8 @@
 ########################################################################
 install(FILES
     api.h
-    correct_phase_from_tag.h DESTINATION include/hamnet70
+    correct_phase_from_tag.h
+    correct_frequency.h
+    freq_est_lr.h
+    pid_controller.h DESTINATION include/hamnet70
 )

gr-hamnet70/include/hamnet70/correct_frequency.h

@@ -0,0 +1,56 @@
+/* -*- c++ -*- */
+/* 
+ * Copyright 2019 Thomas Kolb.
+ * 
+ * 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.
+ */
+
+
+#ifndef INCLUDED_HAMNET70_CORRECT_FREQUENCY_H
+#define INCLUDED_HAMNET70_CORRECT_FREQUENCY_H
+
+#include <hamnet70/api.h>
+#include <gnuradio/sync_block.h>
+
+namespace gr {
+  namespace hamnet70 {
+
+    /*!
+     * \brief <+description of block+>
+     * \ingroup hamnet70
+     *
+     */
+    class HAMNET70_API correct_frequency : virtual public gr::sync_block
+    {
+     public:
+      typedef boost::shared_ptr<correct_frequency> sptr;
+
+      /*!
+       * \brief Return a shared_ptr to a new instance of hamnet70::correct_frequency.
+       *
+       * To avoid accidental use of raw pointers, hamnet70::correct_frequency's
+       * constructor is in a private implementation
+       * class. hamnet70::correct_frequency::make is the public interface for
+       * creating new instances.
+       */
+      static sptr make(const std::vector<gr_complex> &symbols);
+    };
+
+  } // namespace hamnet70
+} // namespace gr
+
+#endif /* INCLUDED_HAMNET70_CORRECT_FREQUENCY_H */
+

gr-hamnet70/include/hamnet70/freq_est_lr.h

@@ -0,0 +1,56 @@
+/* -*- c++ -*- */
+/* 
+ * Copyright 2019 Thomas Kolb.
+ * 
+ * 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.
+ */
+
+
+#ifndef INCLUDED_HAMNET70_FREQ_EST_LR_H
+#define INCLUDED_HAMNET70_FREQ_EST_LR_H
+
+#include <hamnet70/api.h>
+#include <gnuradio/block.h>
+
+namespace gr {
+  namespace hamnet70 {
+
+    /*!
+     * \brief <+description of block+>
+     * \ingroup hamnet70
+     *
+     */
+    class HAMNET70_API freq_est_lr : virtual public gr::block
+    {
+     public:
+      typedef boost::shared_ptr<freq_est_lr> sptr;
+
+      /*!
+       * \brief Return a shared_ptr to a new instance of hamnet70::freq_est_lr.
+       *
+       * To avoid accidental use of raw pointers, hamnet70::freq_est_lr's
+       * constructor is in a private implementation
+       * class. hamnet70::freq_est_lr::make is the public interface for
+       * creating new instances.
+       */
+      static sptr make(const std::vector<gr_complex> &symbols, size_t kappa = 3);
+    };
+
+  } // namespace hamnet70
+} // namespace gr
+
+#endif /* INCLUDED_HAMNET70_FREQ_EST_LR_H */
+

gr-hamnet70/include/hamnet70/pid_controller.h

@@ -0,0 +1,56 @@
+/* -*- c++ -*- */
+/* 
+ * Copyright 2019 Thomas Kolb.
+ * 
+ * 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.
+ */
+
+
+#ifndef INCLUDED_HAMNET70_PID_CONTROLLER_H
+#define INCLUDED_HAMNET70_PID_CONTROLLER_H
+
+#include <hamnet70/api.h>
+#include <gnuradio/sync_block.h>
+
+namespace gr {
+  namespace hamnet70 {
+
+    /*!
+     * \brief <+description of block+>
+     * \ingroup hamnet70
+     *
+     */
+    class HAMNET70_API pid_controller : virtual public gr::sync_block
+    {
+     public:
+      typedef boost::shared_ptr<pid_controller> sptr;
+
+      /*!
+       * \brief Return a shared_ptr to a new instance of hamnet70::pid_controller.
+       *
+       * To avoid accidental use of raw pointers, hamnet70::pid_controller's
+       * constructor is in a private implementation
+       * class. hamnet70::pid_controller::make is the public interface for
+       * creating new instances.
+       */
+      static sptr make(size_t interval, float p, float i, float d, float post_gain = 1.0f);
+    };
+
+  } // namespace hamnet70
+} // namespace gr
+
+#endif /* INCLUDED_HAMNET70_PID_CONTROLLER_H */
+

gr-hamnet70/lib/CMakeLists.txt

@@ -25,9 +25,11 @@ include(GrPlatform) #define LIB_SUFFIX
 
 include_directories(${Boost_INCLUDE_DIR})
 link_directories(${Boost_LIBRARY_DIRS})
-
 list(APPEND hamnet70_sources
     correct_phase_from_tag_impl.cc
+    correct_frequency_impl.cc
+    freq_est_lr_impl.cc
+    pid_controller_impl.cc
 )
 
 set(hamnet70_sources "${hamnet70_sources}" PARENT_SCOPE)

gr-hamnet70/lib/correct_frequency_impl.cc

@@ -0,0 +1,134 @@
+/* -*- c++ -*- */
+/* 
+ * Copyright 2019 Thomas Kolb.
+ * 
+ * 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.
+ */
+
+#ifdef HAVE_CONFIG_H
+#include "config.h"
+#endif
+
+#include <gnuradio/io_signature.h>
+#include <gnuradio/expj.h>
+#include <gnuradio/math.h>
+#include "correct_frequency_impl.h"
+
+namespace gr {
+	namespace hamnet70 {
+
+		correct_frequency::sptr
+		correct_frequency::make(const std::vector<gr_complex> &symbols)
+		{
+			return gnuradio::get_initial_sptr
+				(new correct_frequency_impl(symbols));
+		}
+
+		/*
+		 * The private constructor
+		 */
+		correct_frequency_impl::correct_frequency_impl(const std::vector<gr_complex> &symbols)
+			: gr::sync_block("correct_frequency",
+					gr::io_signature::make(1, 1, sizeof(gr_complex)),
+					gr::io_signature::make(1, 1, sizeof(gr_complex))),
+				d_symbols(symbols),
+				d_correctionIncrement(1, 0),
+				d_correctionVector(1, 0),
+				d_filteredPhaseInc(0.0f),
+				d_preIdx(symbols.size()+1) // somewhere out of symbols' index range
+		{}
+
+		/*
+		 * Our virtual destructor.
+		 */
+		correct_frequency_impl::~correct_frequency_impl()
+		{
+		}
+
+		int
+		correct_frequency_impl::work(int noutput_items,
+				gr_vector_const_void_star &input_items,
+				gr_vector_void_star &output_items)
+		{
+			const gr_complex *in = (const gr_complex *) input_items[0];
+			gr_complex *out = (gr_complex *) output_items[0];
+
+			std::vector<tag_t> tags;
+			get_tags_in_window(tags, 0, 0, noutput_items, pmt::intern("corr_est")); // FIXME: make name variable
+			size_t tagidx = 0;
+
+			for(int i = 0; i < noutput_items; i++) {
+				if((tagidx < tags.size()) && (tags[tagidx].offset == nitems_read(0) + i)) {
+					d_preIdx = 0;
+
+					tagidx++;
+				}
+
+				if(d_preIdx < d_symbols.size()) {
+					gr_complex tmp = conj(d_symbols[d_preIdx]) * (*in);
+					float phase = gr::fast_atan2f(tmp);
+
+					if(d_preIdx != 0) {
+						float phaseIncrement = phase - d_lastPhase;
+
+						if(phaseIncrement > M_PI) {
+							add_item_tag(0, nitems_read(0) + i, pmt::intern("phase_overflow"), pmt::from_double(phaseIncrement));
+							phaseIncrement -= 2*M_PI;
+						} else if(phaseIncrement < -M_PI) {
+							add_item_tag(0, nitems_read(0) + i, pmt::intern("phase_underflow"), pmt::from_double(phaseIncrement));
+							phaseIncrement += 2*M_PI;
+						}
+
+						/*
+						d_filteredPhaseInc = c_phaseInc_alpha * phaseIncrement +
+						                     (1 - c_phaseInc_alpha) * d_filteredPhaseInc;
+						*/
+
+						d_filteredPhaseInc += phaseIncrement;
+
+						if(d_preIdx > d_symbols.size()/2) {
+							d_correctionIncrement = gr_expj(-d_filteredPhaseInc/d_preIdx);
+						}
+					} else {
+						d_unwrapOffset = 0;
+						d_filteredPhaseInc = 0;
+					}
+
+					d_lastPhase = phase;
+
+					if(d_preIdx == d_symbols.size()/2) {
+						d_correctionVector = gr_complex(1, 0);
+					}
+
+					d_preIdx++;
+				}
+
+				d_correctionVector *= d_correctionIncrement;
+
+				*out = *in * d_correctionVector;
+
+
+				in++;
+				out++;
+			}
+
+			// Tell runtime system how many output items we produced.
+			return noutput_items;
+		}
+
+	} /* namespace hamnet70 */
+} /* namespace gr */
+

gr-hamnet70/lib/correct_frequency_impl.h

@@ -0,0 +1,57 @@
+/* -*- c++ -*- */
+/* 
+ * Copyright 2019 Thomas Kolb.
+ * 
+ * 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.
+ */
+
+#ifndef INCLUDED_HAMNET70_CORRECT_FREQUENCY_IMPL_H
+#define INCLUDED_HAMNET70_CORRECT_FREQUENCY_IMPL_H
+
+#include <hamnet70/correct_frequency.h>
+
+namespace gr {
+	namespace hamnet70 {
+
+		class correct_frequency_impl : public correct_frequency
+		{
+			private:
+				std::vector<gr_complex> d_symbols;
+				gr_complex    d_correctionVector;
+				gr_complex    d_correctionIncrement;
+
+				float         d_lastPhase;
+				float         d_filteredPhaseInc;
+				float         d_unwrapOffset;
+				size_t        d_preIdx;
+
+				static const constexpr float c_phaseInc_alpha = 0.001f;
+
+			public:
+				correct_frequency_impl(const std::vector<gr_complex> &symbols);
+				~correct_frequency_impl();
+
+				// Where all the action really happens
+				int work(int noutput_items,
+						gr_vector_const_void_star &input_items,
+						gr_vector_void_star &output_items);
+		};
+
+	} // namespace hamnet70
+} // namespace gr
+
+#endif /* INCLUDED_HAMNET70_CORRECT_FREQUENCY_IMPL_H */
+

gr-hamnet70/lib/correct_phase_from_tag_impl.cc

@@ -65,8 +65,6 @@ namespace gr {
 			std::vector<tag_t> tags;
 			get_tags_in_window(tags, 0, 0, noutput_items, m_pmtPhaseTagName);
 
-			std::cerr << "correct_phase_from_tag: Found " << tags.size() << " tags." << std::endl;
-			
 			size_t tagidx = 0;
 
 			// rotate the data by the last set phase angle
@@ -75,8 +73,6 @@ namespace gr {
 					double phase = pmt::to_double(tags[tagidx].value);
 					m_rotation = gr_expj(-phase);
 
-					std::cerr << "correct_phase_from_tag: Updated phase correction to " << -phase << std::endl;
-
 					tagidx++;
 				}
 

gr-hamnet70/lib/freq_est_lr_impl.cc

@@ -0,0 +1,141 @@
+/* -*- c++ -*- */
+/* 
+ * Copyright 2019 Thomas Kolb.
+ * 
+ * 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.
+ */
+
+#ifdef HAVE_CONFIG_H
+#include "config.h"
+#endif
+
+#include <gnuradio/io_signature.h>
+#include <gnuradio/math.h>
+#include "freq_est_lr_impl.h"
+
+namespace gr {
+	namespace hamnet70 {
+
+		freq_est_lr::sptr
+		freq_est_lr::make(const std::vector<gr_complex> &symbols, size_t kappa)
+		{
+			return gnuradio::get_initial_sptr
+				(new freq_est_lr_impl(symbols, kappa));
+		}
+
+		/*
+		 * The private constructor
+		 */
+		freq_est_lr_impl::freq_est_lr_impl(const std::vector<gr_complex> &symbols, size_t kappa)
+			: gr::block("freq_est_lr",
+					gr::io_signature::make(1, 1, sizeof(gr_complex)),
+					gr::io_signature::make(1, 1, sizeof(float))),
+				d_refSymbols(symbols),
+				d_kappa(kappa)
+		{
+			d_recvSymbols.reserve(symbols.size() + 1);
+
+			message_port_register_out(pmt::mp("freq_offset"));
+		}
+
+		/*
+		 * Our virtual destructor.
+		 */
+		freq_est_lr_impl::~freq_est_lr_impl()
+		{
+		}
+
+		void
+		freq_est_lr_impl::forecast (int noutput_items, gr_vector_int &ninput_items_required)
+		{
+			ninput_items_required[0] = noutput_items;
+		}
+
+		int
+		freq_est_lr_impl::general_work (int noutput_items,
+				gr_vector_int &ninput_items,
+				gr_vector_const_void_star &input_items,
+				gr_vector_void_star &output_items)
+		{
+			const gr_complex *in = (const gr_complex *) input_items[0];
+			float *out = (float *) output_items[0];
+
+			std::vector<tag_t> tags;
+			get_tags_in_window(tags, 0, 0, ninput_items[0], pmt::intern("corr_est")); // FIXME: make name variable
+			size_t tagidx = 0;
+
+			for(size_t i = 0; i < noutput_items; i++) {
+				if((tagidx < tags.size()) && (tags[tagidx].offset == nitems_read(0) + i)) {
+					d_recvSymbols.clear();
+
+					tagidx++;
+				}
+
+				if(d_recvSymbols.size() < d_refSymbols.size()) {
+					// buffer symbols of the preamble
+					d_recvSymbols.push_back(in[i]);
+				} else if(d_recvSymbols.size() == d_refSymbols.size()) {
+					// received enough symbols for the preamble => do frequency estimation
+					d_recvSymbols.push_back(0); //???
+
+					// remove reference symbols from the received preamble
+					std::vector<gr_complex> z;
+					z.reserve(d_recvSymbols.size());
+					for(size_t k = 0; k < d_recvSymbols.size(); k++) {
+						z.push_back( d_recvSymbols[k] * conj(d_refSymbols[k]) );
+					}
+
+					// Calculate averaged phase increments for <N> sub-sequences
+					size_t N = d_recvSymbols.size()/2;
+					std::vector<gr_complex> R_kappa(N);
+
+					for(size_t kappa = 0; kappa < N; kappa++) {
+						for(size_t k = 0; k < d_recvSymbols.size() - kappa; k++) {
+							R_kappa[kappa] += z[k + kappa] * conj(z[k]);
+						}
+
+						R_kappa[kappa] /= z.size() - kappa;
+					}
+
+					// Calculate phase estimate (in radians/sample)
+					gr_complex sum_R_kappa(0, 0);
+
+					for(size_t kappa = 0; kappa < N; kappa++) {
+						sum_R_kappa += R_kappa[kappa];
+					}
+
+					float arg = gr::fast_atan2f(sum_R_kappa);
+
+					d_freq_est = arg / (M_PI * (1 + N));
+
+					message_port_pub(pmt::intern("freq_offset"), pmt::from_double(-d_freq_est));
+				}
+
+				out[i] = d_freq_est;
+			}
+
+			// Do <+signal processing+>
+			// Tell runtime system how many input items we consumed on
+			// each input stream.
+			consume_each (noutput_items);
+
+			// Tell runtime system how many output items we produced.
+			return noutput_items;
+		}
+
+	} /* namespace hamnet70 */
+} /* namespace gr */
+

gr-hamnet70/lib/freq_est_lr_impl.h

@@ -0,0 +1,54 @@
+/* -*- c++ -*- */
+/* 
+ * Copyright 2019 Thomas Kolb.
+ * 
+ * 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.
+ */
+
+#ifndef INCLUDED_HAMNET70_FREQ_EST_LR_IMPL_H
+#define INCLUDED_HAMNET70_FREQ_EST_LR_IMPL_H
+
+#include <hamnet70/freq_est_lr.h>
+
+namespace gr {
+	namespace hamnet70 {
+
+		class freq_est_lr_impl : public freq_est_lr
+		{
+			private:
+				std::vector<gr_complex> d_refSymbols;
+				std::vector<gr_complex> d_recvSymbols;
+				size_t d_kappa;
+				float  d_freq_est;
+
+			public:
+				freq_est_lr_impl(const std::vector<gr_complex> &symbols, size_t kappa);
+				~freq_est_lr_impl();
+
+				// Where all the action really happens
+				void forecast (int noutput_items, gr_vector_int &ninput_items_required);
+
+				int general_work(int noutput_items,
+						gr_vector_int &ninput_items,
+						gr_vector_const_void_star &input_items,
+						gr_vector_void_star &output_items);
+		};
+
+	} // namespace hamnet70
+} // namespace gr
+
+#endif /* INCLUDED_HAMNET70_FREQ_EST_LR_IMPL_H */
+

gr-hamnet70/lib/pid_controller_impl.cc

@@ -0,0 +1,99 @@
+/* -*- c++ -*- */
+/* 
+ * Copyright 2019 Thomas Kolb.
+ * 
+ * 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.
+ */
+
+#ifdef HAVE_CONFIG_H
+#include "config.h"
+#endif
+
+#include <gnuradio/io_signature.h>
+#include "pid_controller_impl.h"
+
+namespace gr {
+	namespace hamnet70 {
+
+		pid_controller::sptr
+		pid_controller::make(size_t interval, float p, float i, float d, float post_gain)
+		{
+			return gnuradio::get_initial_sptr
+				(new pid_controller_impl(interval, p, i, d, post_gain));
+		}
+
+		/*
+		 * The private constructor
+		 */
+		pid_controller_impl::pid_controller_impl(size_t interval, float p, float i, float d, float post_gain)
+			: gr::sync_block("pid_controller",
+					gr::io_signature::make(1, 1, sizeof(float)),
+					gr::io_signature::make(0, 0, 0)),
+				d_interval(interval),
+				d_lastInput(0),
+				d_iVal(0),
+				d_postGain(post_gain)
+		{
+			// TODO: scale with interval?
+			d_kp = p;
+			d_ki = i;
+			d_kd = d;
+
+			message_port_register_out(pmt::mp("control_value"));
+		}
+
+		/*
+		 * Our virtual destructor.
+		 */
+		pid_controller_impl::~pid_controller_impl()
+		{
+		}
+
+		int
+		pid_controller_impl::work(int noutput_items,
+				gr_vector_const_void_star &input_items,
+				gr_vector_void_star &output_items)
+		{
+			const float *in = (const float *) input_items[0];
+
+			while(d_nextSampleIdx < noutput_items) {
+				const float &inp = in[d_nextSampleIdx];
+
+				// proportional part
+				float control_value = d_kp * inp;
+
+				// integral part
+				d_iVal += d_ki * inp;
+				control_value += d_iVal;
+
+				// differential part
+				control_value += d_kd * (inp - d_lastInput);
+				d_lastInput = inp;
+
+				message_port_pub(pmt::intern("control_value"), pmt::from_double(d_postGain * control_value));
+
+				d_nextSampleIdx += d_interval;
+			}
+
+			d_nextSampleIdx -= noutput_items;
+
+			// Tell runtime system how many output items we produced.
+			return noutput_items;
+		}
+
+	} /* namespace hamnet70 */
+} /* namespace gr */
+

gr-hamnet70/lib/pid_controller_impl.h

@@ -0,0 +1,58 @@
+/* -*- c++ -*- */
+/* 
+ * Copyright 2019 Thomas Kolb.
+ * 
+ * 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.
+ */
+
+#ifndef INCLUDED_HAMNET70_PID_CONTROLLER_IMPL_H
+#define INCLUDED_HAMNET70_PID_CONTROLLER_IMPL_H
+
+#include <hamnet70/pid_controller.h>
+
+namespace gr {
+	namespace hamnet70 {
+
+		class pid_controller_impl : public pid_controller
+		{
+			private:
+				float d_kp;
+				float d_ki;
+				float d_kd;
+
+				float d_lastInput;
+				float d_iVal;
+
+				float d_postGain;
+
+				size_t d_interval;
+				size_t d_nextSampleIdx;
+
+			public:
+				pid_controller_impl(size_t interval, float p, float i, float d, float post_gain);
+				~pid_controller_impl();
+
+				// Where all the action really happens
+				int work(int noutput_items,
+						gr_vector_const_void_star &input_items,
+						gr_vector_void_star &output_items);
+		};
+
+	} // namespace hamnet70
+} // namespace gr
+
+#endif /* INCLUDED_HAMNET70_PID_CONTROLLER_IMPL_H */
+

gr-hamnet70/make.sh

@@ -1,6 +1,12 @@
 #!/bin/sh
 
+set -e
+
 mkdir -p build
 cd build
 cmake ..
 make -j4
+
+if [ "$1" == "install" ]; then
+	sudo make install
+fi

gr-hamnet70/python/CMakeLists.txt

@@ -43,3 +43,6 @@ include(GrTest)
 set(GR_TEST_TARGET_DEPS gnuradio-hamnet70)
 set(GR_TEST_PYTHON_DIRS ${CMAKE_BINARY_DIR}/swig)
 #GR_ADD_TEST(qa_correct_phase_from_tag ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/qa_correct_phase_from_tag.py)
+##GR_ADD_TEST(qa_correct_frequency ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/qa_correct_frequency.py)
+#GR_ADD_TEST(qa_freq_est_lr ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/qa_freq_est_lr.py)
+#GR_ADD_TEST(qa_pid_controller ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/qa_pid_controller.py)

gr-hamnet70/python/qa_correct_frequency.py

@@ -0,0 +1,41 @@
+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+# 
+# Copyright 2019 Thomas Kolb.
+# 
+# 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.
+# 
+
+from gnuradio import gr, gr_unittest
+from gnuradio import blocks
+import hamnet70_swig as hamnet70
+
+class qa_correct_frequency (gr_unittest.TestCase):
+
+    def setUp (self):
+        self.tb = gr.top_block ()
+
+    def tearDown (self):
+        self.tb = None
+
+    def test_001_t (self):
+        # set up fg
+        self.tb.run ()
+        # check data
+
+
+if __name__ == '__main__':
+    gr_unittest.run(qa_correct_frequency, "qa_correct_frequency.xml")

gr-hamnet70/python/qa_freq_est_lr.py

@@ -0,0 +1,41 @@
+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+# 
+# Copyright 2019 Thomas Kolb.
+# 
+# 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.
+# 
+
+from gnuradio import gr, gr_unittest
+from gnuradio import blocks
+import hamnet70_swig as hamnet70
+
+class qa_freq_est_lr (gr_unittest.TestCase):
+
+    def setUp (self):
+        self.tb = gr.top_block ()
+
+    def tearDown (self):
+        self.tb = None
+
+    def test_001_t (self):
+        # set up fg
+        self.tb.run ()
+        # check data
+
+
+if __name__ == '__main__':
+    gr_unittest.run(qa_freq_est_lr, "qa_freq_est_lr.xml")

gr-hamnet70/python/qa_pid_controller.py

@@ -0,0 +1,41 @@
+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+# 
+# Copyright 2019 Thomas Kolb.
+# 
+# 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.
+# 
+
+from gnuradio import gr, gr_unittest
+from gnuradio import blocks
+import hamnet70_swig as hamnet70
+
+class qa_pid_controller (gr_unittest.TestCase):
+
+    def setUp (self):
+        self.tb = gr.top_block ()
+
+    def tearDown (self):
+        self.tb = None
+
+    def test_001_t (self):
+        # set up fg
+        self.tb.run ()
+        # check data
+
+
+if __name__ == '__main__':
+    gr_unittest.run(qa_pid_controller, "qa_pid_controller.xml")

gr-hamnet70/swig/hamnet70_swig.i

@@ -9,8 +9,18 @@
 
 %{
 #include "hamnet70/correct_phase_from_tag.h"
+#include "hamnet70/correct_frequency.h"
+#include "hamnet70/freq_est_lr.h"
+#include "hamnet70/pid_controller.h"
 %}
 
 
 %include "hamnet70/correct_phase_from_tag.h"
 GR_SWIG_BLOCK_MAGIC2(hamnet70, correct_phase_from_tag);
+
+%include "hamnet70/correct_frequency.h"
+GR_SWIG_BLOCK_MAGIC2(hamnet70, correct_frequency);
+%include "hamnet70/freq_est_lr.h"
+GR_SWIG_BLOCK_MAGIC2(hamnet70, freq_est_lr);
+%include "hamnet70/pid_controller.h"
+GR_SWIG_BLOCK_MAGIC2(hamnet70, pid_controller);