% RF calibration data:None
% Range Detection Threshold (dB):15
% Doppler Detection Threshold (dB):15
% Range Peak Grouping:enabled
% Doppler Peak Grouping:enabled
% Static clutter removal:disabled
% Angle of Arrival FoV: Full FoV
% Range FoV: Full FoV
% Doppler FoV: Full FoV
% ***************************************************************
sensorStop
flushCfg
dfeDataOutputMode 1
channelCfg 15 7 0
adcCfg 2 1
adcbufCfg -1 0 1 1 1
profileCfg 0 60 359 7 57.14 0 0 70 1 256 5209 0 0 158
chirpCfg 0 0 0 0 0 0 0 1
chirpCfg 1 1 0 0 0 0 0 2
chirpCfg 2 2 0 0 0 0 0 4
frameCfg 0 2 16 0 100 1 0
lowPower 0 0
guiMonitor -1 1 1 0 0 0 1
cfarCfg -1 0 2 8 4 3 0 15 1
cfarCfg -1 1 0 4 2 3 1 15 1
multiObjBeamForming -1 1 0.5
clutterRemoval -1 0
calibDcRangeSig -1 0 -5 8 256
extendedMaxVelocity -1 0
lvdsStreamCfg -1 0 0 0
compRangeBiasAndRxChanPhase 0.0 1 0 -1 0 1 0 -1 0 1 0 -1 0 1 0 -1 0 1 0 -1 0 1 0 -1 0
measureRangeBiasAndRxChanPhase 0 1.5 0.2
CQRxSatMonitor 0 3 5 121 0
CQSigImgMonitor 0 127 4
analogMonitor 0 0
aoaFovCfg -1 -90 90 -90 90
cfarFovCfg -1 0 0 8.92
cfarFovCfg -1 1 -1 1.00
calibData 0 0 0
sensorStart
上位机输出结果：
对应log：
mmwDemo:/>% ***************************************************************
Skipped
mmwDemo:/>% Created for SDK ver:03.06
Skipped
mmwDemo:/>% Created using Visualizer ver:3.6.0.0
Skipped
mmwDemo:/>% Frequency:60
Skipped
mmwDemo:/>% Platform:xWR68xx_AOP
Skipped
mmwDemo:/>% Scene Classifier:best_range_res
Skipped
mmwDemo:/>% Azimuth Resolution(deg):30 + 30
Skipped
mmwDemo:/>% Range Resolution(m):0.044
Skipped
mmwDemo:/>% Maximum unambiguous Range(m):9.02
Skipped
mmwDemo:/>% Maximum Radial Velocity(m/s):1
Skipped
mmwDemo:/>% Radial velocity resolution(m/s):0.13
Skipped
mmwDemo:/>% Frame Duration(msec):100
Skipped
mmwDemo:/>% RF calibration data:None
Skipped
mmwDemo:/>% Range Detection Threshold (dB):15
Skipped
mmwDemo:/>% Doppler Detection Threshold (dB):15
Skipped
mmwDemo:/>% Range Peak Grouping:enabled
Skipped
mmwDemo:/>% Doppler Peak Grouping:enabled
Skipped
mmwDemo:/>% Static clutter removal:disabled
Skipped
mmwDemo:/>% Angle of Arrival FoV: Full FoV
Skipped
mmwDemo:/>% Range FoV: Full FoV
Skipped
mmwDemo:/>% Doppler FoV: Full FoV
Skipped
mmwDemo:/>% ***************************************************************
Skipped
mmwDemo:/>sensorStop
Ignored: Sensor is already stopped
Done
mmwDemo:/>flushCfg
Done
mmwDemo:/>dfeDataOutputMode 1
Done
mmwDemo:/>channelCfg 15 7 0
Done
mmwDemo:/>adcCfg 2 1
Done
mmwDemo:/>adcbufCfg -1 0 1 1 1
Done
mmwDemo:/>profileCfg 0 60 359 7 57.14 0 0 70 1 256 5209 0 0 158
Done
mmwDemo:/>chirpCfg 0 0 0 0 0 0 0 1
Done
mmwDemo:/>chirpCfg 1 1 0 0 0 0 0 2
Done
mmwDemo:/>chirpCfg 2 2 0 0 0 0 0 4
Done
mmwDemo:/>frameCfg 0 2 16 0 100 1 0
Done
mmwDemo:/>lowPower 0 0
Done
mmwDemo:/>guiMonitor -1 1 1 0 0 0 1
Done
mmwDemo:/>cfarCfg -1 0 2 8 4 3 0 15 1
Done
mmwDemo:/>cfarCfg -1 1 0 4 2 3 1 15 1
Done
mmwDemo:/>multiObjBeamForming -1 1 0.5
Done
mmwDemo:/>clutterRemoval -1 0
Done
mmwDemo:/>calibDcRangeSig -1 0 -5 8 256
Done
mmwDemo:/>extendedMaxVelocity -1 0
Done
mmwDemo:/>lvdsStreamCfg -1 0 0 0
Done
mmwDemo:/>compRangeBiasAndRxChanPhase 0.0 1 0 -1 0 1 0 -1 0 1 0 -1 0 1 0 -1 0 1 0 -1 0 1 0 -1 0
Done
mmwDemo:/>measureRangeBiasAndRxChanPhase 0 1.5 0.2
Done
mmwDemo:/>CQRxSatMonitor 0 3 5 121 0
Done
mmwDemo:/>CQSigImgMonitor 0 127 4
Done
mmwDemo:/>analogMonitor 0 0
Done
mmwDemo:/>aoaFovCfg -1 -90 90 -90 90
Done
mmwDemo:/>cfarFovCfg -1 0 0 8.92
Done
mmwDemo:/>cfarFovCfg -1 1 -1 1.00
Done
mmwDemo:/>calibData 0 0 0
Done
mmwDemo:/>sensorStart
Debug: Init Calibration Status = 0x1ffe
Done
上位机发送配置指令时 串口发送结果：
version
queryDemoStatus
% ***************************************************************
% Created for SDK ver:03.06
% Created using Visualizer ver:3.6.0.0
% Frequency:60
% Platform:xWR68xx_AOP
% Scene Classifier:best_range_res
% Azimuth Resolution(deg):30 + 30
% Range Resolution(m):0.044
% Maximum unambiguous Range(m):9.02
% Maximum Radial Velocity(m/s):1
% Radial velocity resolution(m/s):0.13
% Frame Duration(msec):100
% RF calibration data:None
% Range Detection Threshold (dB):15
% Doppler Detection Threshold (dB):15
% Range Peak Grouping:enabled
% Doppler Peak Grouping:enabled
% Static clutter removal:disabled
% Angle of Arrival FoV: Full FoV
% Range FoV: Full FoV
% Doppler FoV: Full FoV
% ***************************************************************
sensorStop
flushCfg
dfeDataOutputMode 1
channelCfg 15 7 0
adcCfg 2 1
adcbufCfg -1 0 1 1 1
profileCfg 0 60 359 7 57.14 0 0 70 1 256 5209 0 0 158
chirpCfg 0 0 0 0 0 0 0 1
chirpCfg 1 1 0 0 0 0 0 2
chirpCfg 2 2 0 0 0 0 0 4
frameCfg 0 2 16 0 100 1 0
lowPower 0 0
guiMonitor -1 1 1 0 0 0 1
cfarCfg -1 0 2 8 4 3 0 15 1
cfarCfg -1 1 0 4 2 3 1 15 1
multiObjBeamForming -1 1 0.5
clutterRemoval -1 0
calibDcRangeSig -1 0 -5 8 256
extendedMaxVelocity -1 0
lvdsStreamCfg -1 0 0 0
compRangeBiasAndRxChanPhase 0.0 1 0 -1 0 1 0 -1 0 1 0 -1 0 1 0 -1 0 1 0 -1 0 1 0 -1 0
measureRangeBiasAndRxChanPhase 0 1.5 0.2
CQRxSatMonitor 0 3 5 121 0
CQSigImgMonitor 0 127 4
analogMonitor 0 0
aoaFovCfg -1 -90 90 -90 90
cfarFovCfg -1 0 0 8.92
cfarFovCfg -1 1 -1 1.00
calibData 0 0 0
sensorStart
芯片返回到上位机的结果 串口数据：
******************************************
xWR64xx MMW Demo 03.06.00.00
******************************************
mmwDemo:/>version
Platform : xWR68xx_AOP
mmWave SDK Version : 03.06.00.00
Device Info : IWR68XX QM non-secure AOP ES 02.00
RF F/W Version : 06.03.02.06.20.08.11
RF F/W Patch : 00.00.00.00.00.00.00
mmWaveLink Version : 01.02.06.06
Lot number : 5509421
Wafer number : 6
Die coordinates in wafer: X = 26, Y = 8
Done
mmwDemo:/>queryDemoStatus
Sensor State: 0
Data port baud rate: 921600
Done
mmwDemo:/>configDataPort 921600 1
Done
mmwDemo:/>version
Platform : xWR68xx_AOP
mmWave SDK Version : 03.06.00.00
Device Info : IWR68XX QM non-secure AOP ES 02.00
RF F/W Version : 06.03.02.06.20.08.11
RF F/W Patch : 00.00.00.00.00.00.00
mmWaveLink Version : 01.02.06.06
Lot number : 5509421
Wafer number : 6
Die coordinates in wafer: X = 26, Y = 8
Done
mmwDemo:/>queryDemoStatus
Sensor State: 0
Data port baud rate: 921600
Done
mmwDemo:/>configDataPort 921600 1
Done
mmwDemo:/>% ***************************************************************
Skipped
mmwDemo:/>% Created for SDK ver:03.06
Skipped
mmwDemo:/>% Created using Visualizer ver:3.6.0.0
Skipped
mmwDemo:/>% Frequency:60
Skipped
mmwDemo:/>% Platform:xWR68xx_AOP
Skipped
mmwDemo:/>% Scene Classifier:best_range_res
Skipped
mmwDemo:/>% Azimuth Resolution(deg):30 + 30
Skipped
mmwDemo:/>% Range Resolution(m):0.044
Skipped
mmwDemo:/>% Maximum unambiguous Range(m):9.02
Skipped
mmwDemo:/>% Maximum Radial Velocity(m/s):1
Skipped
mmwDemo:/>% Radial velocity resolution(m/s):0.13
Skipped
mmwDemo:/>% Frame Duration(msec):100
Skipped
mmwDemo:/>% RF calibration data:None
Skipped
mmwDemo:/>% Range Detection Threshold (dB):15
Skipped
mmwDemo:/>% Doppler Detection Threshold (dB):15
Skipped
mmwDemo:/>% Range Peak Grouping:enabled
Skipped
mmwDemo:/>% Doppler Peak Grouping:enabled
Skipped
mmwDemo:/>% Static clutter removal:disabled
Skipped
mmwDemo:/>% Angle of Arrival FoV: Full FoV
Skipped
mmwDemo:/>% Range FoV: Full FoV
Skipped
mmwDemo:/>% Doppler FoV: Full FoV
Skipped
mmwDemo:/>% ***************************************************************
Skipped
mmwDemo:/>sensorStop
Ignored: Sensor is already stopped
Done
mmwDemo:/>flushCfg
Done
mmwDemo:/>dfeDataOutputMode 1
Done
mmwDemo:/>channelCfg 15 7 0
Done
mmwDemo:/>adcCfg 2 1
Done
mmwDemo:/>adcbufCfg -1 0 1 1 1
Done
mmwDemo:/>profileCfg 0 60 359 7 57.14 0 0 70 1 256 5209 0 0 158
Done
mmwDemo:/>chirpCfg 0 0 0 0 0 0 0 1
Done
mmwDemo:/>chirpCfg 1 1 0 0 0 0 0 2
Done
mmwDemo:/>chirpCfg 2 2 0 0 0 0 0 4
Done
mmwDemo:/>frameCfg 0 2 16 0 100 1 0
Done
mmwDemo:/>lowPower 0 0
Done
mmwDemo:/>guiMonitor -1 1 1 0 0 0 1
Done
mmwDemo:/>cfarCfg -1 0 2 8 4 3 0 15 1
Done
mmwDemo:/>cfarCfg -1 1 0 4 2 3 1 15 1
Done
mmwDemo:/>multiObjBeamForming -1 1 0.5
Done
mmwDemo:/>clutterRemoval -1 0
Done
mmwDemo:/>calibDcRangeSig -1 0 -5 8 256
Done
mmwDemo:/>extendedMaxVelocity -1 0
Done
mmwDemo:/>lvdsStreamCfg -1 0 0 0
Done
mmwDemo:/>compRangeBiasAndRxChanPhase 0.0 1 0 -1 0 1 0 -1 0 1 0 -1 0 1 0 -1 0 1 0 -1 0 1 0 -1 0
Done
mmwDemo:/>measureRangeBiasAndRxChanPhase 0 1.5 0.2
Done
mmwDemo:/>CQRxSatMonitor 0 3 5 121 0
Done
mmwDemo:/>CQSigImgMonitor 0 127 4
Done
mmwDemo:/>analogMonitor 0 0
Done
mmwDemo:/>aoaFovCfg -1 -90 90 -90 90
Done
mmwDemo:/>cfarFovCfg -1 0 0 8.92
Done
mmwDemo:/>cfarFovCfg -1 1 -1 1.00
Done
mmwDemo:/>calibData 0 0 0
Done
mmwDemo:/>sensorStart
Debug: Init Calibration Status = 0x1ffe
Done
mmwDemo:/>
## CLI配置流程
CLI的SDK内置函数：
static int32_t CLI_MMWaveVersion (int32_t argc, char* argv[]);
static int32_t CLI_MMWaveFlushCfg (int32_t argc, char* argv[]);
static int32_t CLI_MMWaveDataOutputMode (int32_t argc, char* argv[]);
static int32_t CLI_MMWaveChannelCfg (int32_t argc, char* argv[]);
static int32_t CLI_MMWaveADCCfg (int32_t argc, char* argv[]);
static int32_t CLI_MMWaveProfileCfg (int32_t argc, char* argv[]);
static int32_t CLI_MMWaveChirpCfg (int32_t argc, char* argv[]);
static int32_t CLI_MMWaveFrameCfg (int32_t argc, char* argv[]);
static int32_t CLI_MMWaveAdvFrameCfg (int32_t argc, char* argv[]);
static int32_t CLI_MMWaveSubFrameCfg (int32_t argc, char* argv[]);
static int32_t CLI_MMWaveLowPowerCfg (int32_t argc, char* argv[]);
static int32_t CLI_MMWaveContModeCfg (int32_t argc, char* argv[]);
static int32_t CLI_MMWaveBPMCfgAdvanced (int32_t argc, char* argv[]);
demo代码用户自定义函数：
static int32_t MmwDemo_CLICfarCfg (int32_t argc, char* argv[]);
static int32_t MmwDemo_CLIMultiObjBeamForming (int32_t argc, char* argv[]);
static int32_t MmwDemo_CLICalibDcRangeSig (int32_t argc, char* argv[]);
static int32_t MmwDemo_CLIClutterRemoval (int32_t argc, char* argv[]);
static int32_t MmwDemo_CLISensorStart (int32_t argc, char* argv[]);
static int32_t MmwDemo_CLISensorStop (int32_t argc, char* argv[]);
static int32_t MmwDemo_CLIGuiMonSel (int32_t argc, char* argv[]);
static int32_t MmwDemo_CLIADCBufCfg (int32_t argc, char* argv[]);
static int32_t MmwDemo_CLICompRangeBiasAndRxChanPhaseCfg (int32_t argc, char* argv[]);
static int32_t MmwDemo_CLIMeasureRangeBiasAndRxChanPhaseCfg (int32_t argc, char* argv[]);
static int32_t MmwDemo_CLICfarFovCfg (int32_t argc, char* argv[]);
static int32_t MmwDemo_CLIAoAFovCfg (int32_t argc, char* argv[]);
static int32_t MmwDemo_CLIExtendedMaxVelocity (int32_t argc, char* argv[]);
static int32_t MmwDemo_CLIChirpQualityRxSatMonCfg (int32_t argc, char* argv[]);
static int32_t MmwDemo_CLIChirpQualitySigImgMonCfg (int32_t argc, char* argv[]);
static int32_t MmwDemo_CLIAnalogMonitorCfg (int32_t argc, char* argv[]);
static int32_t MmwDemo_CLILvdsStreamCfg (int32_t argc, char* argv[]);
static int32_t MmwDemo_CLIConfigDataPort (int32_t argc, char* argv[]);
其中 SDK内置的函数在接受到串口命令时 也会调用 但是是存在内部一个全局变量`gCLI`中
最后再通过`CLI_getMMWaveExtensionConfig`和`CLI_getMMWaveExtensionOpenConfig`把变量复制到用户自定义的全局变量结构体`gMmwMCB`中 从而完成配置
这里的配置仅仅是写入结构体 真正配置的地方是在调用MMwave相关API函数时 在这里是在`MmwDemo_CLISensorStart`函数中完成配置
## CLI重构
根据官方手册 跳过CLI配置需要以下几个步骤：
但是按照这个来 完全没用
会在配置时报错参数无效/冲突等等
但是 首先还是覆写CLI初始化函数 使其只执行我们定义的函数
void MmwDemo_CLIInit (uint8_t taskPriority)
{
if(Remix_Flag)
{
MmwDemo_sensorConfig_task();
}
else
{
CLI_Cfg cliCfg;
char demoBanner[256];
uint32_t cnt;
/* Create Demo Banner to be printed out by CLI */
sprintf(&demoBanner[0],
“******************************************\n”
“xWR64xx MMW Demo %02d.%02d.%02d.%02d\n”
“******************************************\n”,
MMWAVE_SDK_VERSION_MAJOR,
MMWAVE_SDK_VERSION_MINOR,
MMWAVE_SDK_VERSION_BUGFIX,
MMWAVE_SDK_VERSION_BUILD
);
…
…
在我们自定义的函数中 仿照命令配置函数的方式来写各个配置函数 同时 通过上位机确定想要的配置：
当然 无关紧要的函数可以省去
void MmwDemo_sensorConfig_task(void)
{
int32_t errCode;
/\* Sanity Check: We need the mmWave handle to work. \*/
if (gMmwMCB.ctrlHandle == NULL)
{
return;
}
/\* Initialize the mmWave control configuration: \*/
memset ((void \*)&gMmwMCB.cfg.ctrlCfg, 0, sizeof(MMWave_CtrlCfg));
mmwave_freq_scale_factor = SOC\_getDeviceRFFreqScaleFactor(gMmwMCB.socHandle, &errCode);
if(errCode < 0)
{
return;
}
CLI\_Remix\_sensorStop();
CLI\_Remix\_flushCfg();
CLI\_Remix\_dfeDataOutputMode(1);
CLI\_Remix\_channelCfg(15,7,0);
CLI\_Remix\_adcCfg(2,1);
CLI\_Remix\_adcbufCfg(-1,0,1,1,1);
CLI\_Remix\_profileCfg(0,60,47,7,57.14,0,0,70,1,272,5535,0,0,158);
CLI\_Remix\_chirpCfg(0,0,0,0,0,0,0,1);
CLI\_Remix\_chirpCfg(1,1,0,0,0,0,0,2);
CLI\_Remix\_chirpCfg(2,2,0,0,0,0,0,4);
CLI\_Remix\_frameCfg(0,2,16,0,50,1,0);
CLI\_Remix\_lowPower(0,0);
CLI\_Remix\_guiMonitor(-1,1,1,0,0,0,1);
CLI\_Remix\_cfarCfg(-1,0,2,8,4,3,0,15,1);
CLI\_Remix\_cfarCfg(-1,1,0,4,2,3,1,15,1);
CLI\_Remix\_multiObjBeamForming(-1,1,0.5);
CLI\_Remix\_clutterRemoval(-1,0);
CLI\_Remix\_calibDcRangeSig(-1,0,-5,8,256);
CLI\_Remix\_extendedMaxVelocity(-1,0);
CLI\_Remix\_lvdsStreamCfg(-1,0,0,0);
CLI\_Remix\_compRangeBiasAndRxChanPhase(0.0,1,0,-1,0,1,0,-1,0,1,0,-1,0,1,0,-1,0,1,0,-1,0,1,0,-1,0);
CLI\_Remix\_measureRangeBiasAndRxChanPhase(0,1.5,0.2);
CLI\_Remix\_CQRxSatMonitor(0,3,5,121,0);
CLI\_Remix\_CQSigImgMonitor(0,89,6);
CLI\_Remix\_analogMonitor(0,0);
CLI\_Remix\_aoaFovCfg(-1,-90,90,-90,90);
CLI\_Remix\_cfarFovCfg(-1,0,0,9.48);
CLI\_Remix\_cfarFovCfg(-1,1,-4,4.00);
CLI\_Remix\_calibData(0,0,0);
CLI\_Remix\_sensorStart();
return;
}
另外 正如之前所说 内部SDK的函数在覆写时 直接把配置参数给到我们用户自定义的结构体`gMmwMCB`中即可
比如配置chirp profile frame的函数：
void CLI_Remix_profileCfg(int a1,float a2,float a3,float a4,float a5,int a6,int a7,float a8,float a9,int a10,int a11,int a12,int a13,int a14)
{
rlProfileCfg_t profileCfg;
uint8_t index;
int32_t errCode;
MMWave_ProfileHandle profileHandle;
MMWave_ProfileHandle* ptrBaseCfgProfileHandle;
/\* Sanity Check: Profile configuration is valid only for the Frame or
Advanced Frame Mode: */
if ((gMmwMCB.cfg.ctrlCfg.dfeDataOutputMode != MMWave_DFEDataOutputMode_FRAME) &&
(gMmwMCB.cfg.ctrlCfg.dfeDataOutputMode != MMWave_DFEDataOutputMode_ADVANCED_FRAME))
{
//CLI_write (“Error: Configuration is valid only if the DFE Output Mode is Frame or Advanced Frame\n”);
return;
}
if (gMmwMCB.cfg.ctrlCfg.dfeDataOutputMode == MMWave_DFEDataOutputMode_FRAME)
{
ptrBaseCfgProfileHandle = &gMmwMCB.cfg.ctrlCfg.u.frameCfg.profileHandle[0U];
}
else
{
ptrBaseCfgProfileHandle = &gMmwMCB.cfg.ctrlCfg.u.advancedFrameCfg.profileHandle[0U];
}
/\* Initialize the profile configuration: \*/
memset ((void \*)&profileCfg, 0, sizeof(rlProfileCfg\_t));
/\* Populate the profile configuration: \*/
profileCfg.profileId = a1;
/\* Translate from GHz to [1 LSB = gCLI\_mmwave\_freq\_scale\_factor \* 1e9 / 2^26 Hz] units
* of mmwavelink format */
profileCfg.startFreqConst = (uint32_t) (((float)a2) * (1U << 26) /mmwave_freq_scale_factor);
/\* Translate below times from us to [1 LSB = 10 ns] units of mmwavelink format \*/
profileCfg.idleTimeConst = (uint32\_t)((float)a3 \* 1000 / 10);
profileCfg.adcStartTimeConst = (uint32\_t)((float)a4 \* 1000 / 10);
profileCfg.rampEndTime = (uint32\_t)((float)a5 \* 1000 / 10);
profileCfg.txOutPowerBackoffCode = a6;
profileCfg.txPhaseShifter = a7;
/\* Translate from MHz/us to [1 LSB = (gCLI\_mmwave\_freq\_scale\_factor \* 1e6 \* 900) / 2^26 kHz/uS]
* units of mmwavelink format */
profileCfg.freqSlopeConst = (int16_t)((float)a8 * (1U << 26) /((mmwave_freq_scale_factor * 1e3) * 900.0));
/\* Translate from us to [1 LSB = 10 ns] units of mmwavelink format \*/
profileCfg.txStartTime = (int32\_t)(((float)a9) \* 1000 / 10);
profileCfg.numAdcSamples = a10;
profileCfg.digOutSampleRate = a11;
profileCfg.hpfCornerFreq1 = a12;
profileCfg.hpfCornerFreq2 = a13;
profileCfg.rxGain = a14;
/\* Search for a free space in the mmWave configuration block: \*/
for (index = 0U; index < MMWAVE_MAX_PROFILE; index++)
{
/\* Did we get a free entry? \*/
if (ptrBaseCfgProfileHandle[index] == NULL)
{
/\* YES: We can add the profile. \*/
break;
}
}
if (index == MMWAVE_MAX_PROFILE)
{
/\* Error: All the profiles have been exhausted \*/
return;
}
/\* Add the profile to the mmWave module: \*/
profileHandle = MMWave\_addProfile (gMmwMCB.ctrlHandle, &profileCfg, &errCode);
if (profileHandle == NULL)
{
/\* Error: Unable to add the profile. Return the error code back \*/
return;
}
/\* Record the profile: \*/
ptrBaseCfgProfileHandle[index] = profileHandle;
return;
}
void CLI_Remix_chirpCfg(int a1,int a2,int a3,float a4,float a5,float a6,float a7,int a8)
{
rlChirpCfg_t chirpCfg;
MMWave_ProfileHandle profileHandle;
int32_t errCode;
/\* Sanity Check: Chirp configuration is valid only for the Frame or
Advanced Frame Mode: */
if ((gMmwMCB.cfg.ctrlCfg.dfeDataOutputMode != MMWave_DFEDataOutputMode_FRAME) &&
(gMmwMCB.cfg.ctrlCfg.dfeDataOutputMode != MMWave_DFEDataOutputMode_ADVANCED_FRAME))
{
//CLI_write (“Error: Configuration is valid only if the DFE Output Mode is Chirp\n”);
return;
}
/\* Initialize the chirp configuration: \*/
memset ((void \*)&chirpCfg, 0, sizeof(rlChirpCfg\_t));
/\* Populate the chirp configuration: \*/
chirpCfg.chirpStartIdx = a1;
chirpCfg.chirpEndIdx = a2;
chirpCfg.profileId = a3;
/\* Translate from Hz to number of [1 LSB = (gCLI\_mmwave\_freq\_scale\_factor \* 1e9) / 2^26 Hz]
* units of mmwavelink format */
chirpCfg.startFreqVar = (uint32_t) ((float)a4 * (1U << 26) /
(mmwave_freq_scale_factor * 1e9));
/\* Translate from KHz/us to number of [1 LSB = (gCLI\_mmwave\_freq\_scale\_factor \* 1e6) \* 900 /2^26 KHz/us]
* units of mmwavelink format */
chirpCfg.freqSlopeVar = (uint16_t) ((float)a5 * (1U << 26) /
((mmwave_freq_scale_factor * 1e6) * 900.0));
/\* Translate from us to [1 LSB = 10ns] units of mmwavelink format \*/
chirpCfg.idleTimeVar = (uint32\_t)((float)a6 \* 1000.0 / 10.0);
/\* Translate from us to [1 LSB = 10ns] units of mmwavelink format \*/
chirpCfg.adcStartTimeVar = (uint32\_t)((float)a7 \* 1000.0 / 10.0);
chirpCfg.txEnable = a8;
/\* Get the profile handle to which the chirp is to be added: \*/
if (MMWave\_getProfileHandle (gMmwMCB.ctrlHandle, chirpCfg.profileId,
&profileHandle, &errCode) < 0)
{
/\* Error: Unable to get the profile handle. Return the error code \*/
return;
}
/\* Add the chirp to the profile \*/
if (MMWave\_addChirp (profileHandle, &chirpCfg, &errCode) == NULL)
{
/\* Error: Unable to add the chirp. Return the error code. \*/
return;
}
return;
}
void CLI_Remix_frameCfg(int a1,int a2,int a3,int a4,float a5,int a6,float a7)
{
rlFrameCfg_t frameCfg;
/\* Sanity Check: Frame configuration is valid only for the Frame or
Advanced Frame Mode: */
if (gMmwMCB.cfg.ctrlCfg.dfeDataOutputMode != MMWave_DFEDataOutputMode_FRAME)
{
//CLI_write (“Error: Configuration is valid only if the DFE Output Mode is Chirp\n”);
return;
}
/\* Initialize the frame configuration: \*/
memset ((void \*)&frameCfg, 0, sizeof(rlFrameCfg\_t));
/\* Populate the frame configuration: \*/
frameCfg.chirpStartIdx = a1;
frameCfg.chirpEndIdx = a2;
frameCfg.numLoops = a3;
frameCfg.numFrames = a4;
frameCfg.framePeriodicity = (uint32\_t)((float)a5 \* 1000000 / 5);
frameCfg.triggerSelect = a6;
frameCfg.frameTriggerDelay = (uint32\_t)((float)a7 \* 1000000 / 5);
/\* Save Configuration to use later \*/
memcpy((void \*)&gMmwMCB.cfg.ctrlCfg.u.frameCfg.frameCfg, (void \*)&frameCfg, sizeof(rlFrameCfg\_t));
return;
}
配置完成后 调用`MmwDemo_CLISensorStart`即可 但是这个函数会将CLI内部结构体`gCLI`的值读到用户结构体中 如果没有用CLI来配置的话 内部结构体时空的 所以得重构`MmwDemo_CLISensorStart`
## `MmwDemo_CLISensorStart`函数重构
在此函数中 由于我们先前已经将所有的配置覆写了 并且赋值到用户结构体中 所以我们只需要将`CLI_getMMWaveExtensionConfig`和`CLI_getMMWaveExtensionOpenConfig`注释掉即可
如：
int CLI_Remix_sensorStart(void)
{
bool doReconfig = true;
int32_t retVal = 0;
/\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*
* Do sensor state management to influence the sensor actions
***********************************************************************************/
/\* Error checking initial state: no partial config is allowed
until the first sucessful sensor start state */
if ((gMmwMCB.sensorState == MmwDemo_SensorState_INIT) ||
(gMmwMCB.sensorState == MmwDemo_SensorState_OPENED))
{
MMWave_CtrlCfg ctrlCfg;
/\* need to get number of sub-frames so that next function to check
* pending state can work */
//CLI_getMMWaveExtensionConfig (&ctrlCfg);
memcpy((void*)&ctrlCfg,(void*)&gMmwMCB.cfg.ctrlCfg,sizeof(MMWave_CtrlCfg));
gMmwMCB.dataPathObj.objDetCommonCfg.preStartCommonCfg.numSubFrames =
MmwDemo_RFParser_getNumSubFrames(&ctrlCfg);
if (MmwDemo\_isAllCfgInPendingState() == 0)
{
System\_printf ("Error: Full configuration must be provided before sensor can be started "
"the first time\n");
/\* Although not strictly needed, bring back to the initial value since we
* are rejecting this first time configuration, prevents misleading debug. */
gMmwMCB.dataPathObj.objDetCommonCfg.preStartCommonCfg.numSubFrames = 0;
return -1;
}
}
if (gMmwMCB.sensorState == MmwDemo_SensorState_STARTED)
{
System\_printf ("Ignored: Sensor is already started\n");
return 0;
}
if (doReconfig == false)
{
/\* User intends to issue sensor start without config, check if no
config was issued after stop and generate error if this is the case. */
if (! MmwDemo_isAllCfgInNonPendingState())
{
/* Message user differently if all config was issued or partial config was
issued. */
if (MmwDemo_isAllCfgInPendingState())
{
System_printf ("Error: You have provided complete new configuration, "
"issue “sensorStart” (without argument) if you want it to "
“take effect\n”);
}
else
{
System_printf ("Error: You have provided partial configuration between stop and this "
“command and partial configuration cannot be undone.”
“Issue the full configuration and do “sensorStart” \n”);
}
return -1;
}
}
else
{
/* User intends to issue sensor start with full config, check if all config
was issued after stop and generate error if is the case. */
MMWave_CtrlCfg ctrlCfg;
/\* need to get number of sub-frames so that next function to check
* pending state can work */
//CLI_getMMWaveExtensionConfig (&ctrlCfg);
memcpy((void*)&ctrlCfg,(void*)&gMmwMCB.cfg.ctrlCfg,sizeof(MMWave_CtrlCfg));
gMmwMCB.dataPathObj.objDetCommonCfg.preStartCommonCfg.numSubFrames =
MmwDemo_RFParser_getNumSubFrames(&ctrlCfg);
if (MmwDemo\_isAllCfgInPendingState() == 0)
{
/\* Message user differently if no config was issued or partial config was
issued. */
if (MmwDemo_isAllCfgInNonPendingState())
{
System_printf ("Error: You have provided no configuration, "
"issue “sensorStart 0” OR provide "
“full configuration and issue “sensorStart”\n”);
}
else
{
System_printf ("Error: You have provided partial configuration between stop and this "
“command and partial configuration cannot be undone.”
“Issue the full configuration and do “sensorStart” \n”);
}
/* Although not strictly needed, bring back to the initial value since we
* are rejecting this first time configuration, prevents misleading debug. */
gMmwMCB.dataPathObj.objDetCommonCfg.preStartCommonCfg.numSubFrames = 0;
return -1;
}
}
/\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*
* Retreive and check mmwave Open related config before calling openSensor
***********************************************************************************/
/\* Fill demo's MCB mmWave openCfg structure from the CLI configs\*/
if (gMmwMCB.sensorState == MmwDemo_SensorState_INIT)
{
/\* Get the open configuration: \*/
//CLI\_getMMWaveExtensionOpenConfig (&gMmwMCB.cfg.openCfg);
/\* call sensor open \*/
retVal = MmwDemo\_openSensor(true);
if(retVal != 0)
{
return -1;
}
gMmwMCB.sensorState = MmwDemo_SensorState_OPENED;
}
else
{
/\* openCfg related configurations like chCfg, lowPowerMode, adcCfg
* are only used on the first sensor start. If they are different
* on a subsequent sensor start, then generate a fatal error
* so the user does not think that the new (changed) configuration
* takes effect, the board needs to be reboot for the new
* configuration to be applied.
*/
MMWave_OpenCfg openCfg;
//CLI_getMMWaveExtensionOpenConfig (&openCfg);
memcpy((void*)&openCfg,(void*)&gMmwMCB.cfg.openCfg,sizeof(MMWave_OpenCfg));
/* Compare openCfg->chCfg*/
if(memcmp((void *)&gMmwMCB.cfg.openCfg.chCfg, (void *)&openCfg.chCfg,
sizeof(rlChanCfg_t)) != 0)
{
MmwDemo_debugAssert(0);
}
/\* Compare openCfg->lowPowerMode\*/
if(memcmp((void \*)&gMmwMCB.cfg.openCfg.lowPowerMode, (void \*)&openCfg.lowPowerMode,
sizeof(rlLowPowerModeCfg\_t)) != 0)
{
MmwDemo\_debugAssert(0);
}
/\* Compare openCfg->adcOutCfg\*/
if(memcmp((void \*)&gMmwMCB.cfg.openCfg.adcOutCfg, (void \*)&openCfg.adcOutCfg,
sizeof(rlAdcOutCfg\_t)) != 0)
{
MmwDemo\_debugAssert(0);
}
}
/\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*
* Retrieve mmwave Control related config before calling startSensor
***********************************************************************************/
/* Get the mmWave ctrlCfg from the CLI mmWave Extension */
if(doReconfig)
{
/* if MmwDemo_openSensor has non-first time related processing, call here again*/
/* call sensor config */
//CLI_getMMWaveExtensionConfig (&gMmwMCB.cfg.ctrlCfg);
retVal = MmwDemo_configSensor();
if(retVal != 0)
{
return -1;
}
}
retVal = MmwDemo\_startSensor();
if(retVal != 0)
{
return -1;
}
/\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*
* Set the state
***********************************************************************************/
gMmwMCB.sensorState = MmwDemo_SensorState_STARTED;
return 0;
}
## 数据输出
在main.c中的数据输出函数`MmwDemo_transmitProcessedOutput`（位于线程函数`MmwDemo_DPC_ObjectDetection_dpmTask`中）之前 可以定义一个用于输出点云数据的函数（传参为result） 比如：
MMWave_Remix_Result_Output(result);
//MmwDemo_transmitProcessedOutput(gMmwMCB.loggingUartHandle, result,&currSubFrameStats->outputStats);
可以进行方位角等计算
其中 方位角 俯仰角与距离、坐标的关系如下：
TargetList[i].x = TargetList[i].range*cos(TargetList[i].elevation * sin(TargetList[i].azimuth);
TargetList[i].y = TargetList[i].range*cos(TargetList[i].elevation * cos(TargetList[i].azimuth);
TargetList[i].z = TargetList[i].range * sin(TargetList[i].elevation);
输出函数调用到了串口：（建议115200\*8 不然速度过慢会导致下一个帧开始时 还没运行完 就会报错）
void MMWave_Remix_Result_Output(DPC_ObjectDetection_ExecuteResult *result)
{
uint8_t i=0;
uint8_t numObjOut=result->numObjOut;
char buf[100];
memset(&TargetList, 0, sizeof(Target_t) * 100);
float timestamp=0.0f;
current_timestamp=(result->stats->interFrameStartTimeStamp)/200000000.0f;
if(current_timestamp<=last_timestamp)
{
timestamp_overflow_flag++;
}
timestamp=timestamp_overflow_flag\*timestamp_overflow+current_timestamp;
last_timestamp=current_timestamp;
memset(buf,0,sizeof(buf));
sprintf(buf,"[INFO] frame:%u\n",frame_flag);
UART\_writePolling (gMmwMCB.commandUartHandle,(uint8\_t\*)buf,strlen(buf));
for(i=0;i<numObjOut;i++)
{
TargetList[i].timestamp=timestamp;
TargetList[i].id=i;
TargetList[i].used=true;
TargetList[i].SNR=0.1f\*result->objOutSideInfo[i].snr;
TargetList[i].velocity=result->objOut[i].velocity;
TargetList[i].x=result->objOut[i].x;
TargetList[i].y=result->objOut[i].y;
最后
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en(buf));
for(i=0;i<numObjOut;i++)
{
TargetList[i].timestamp=timestamp;
TargetList[i].id=i;
TargetList[i].used=true;
TargetList[i].SNR=0.1f\*result->objOutSideInfo[i].snr;
TargetList[i].velocity=result->objOut[i].velocity;
TargetList[i].x=result->objOut[i].x;
TargetList[i].y=result->objOut[i].y;
最后
自我介绍一下，小编13年上海交大毕业，曾经在小公司待过，也去过华为、OPPO等大厂，18年进入阿里一直到现在。
深知大多数Java工程师，想要提升技能，往往是自己摸索成长，自己不成体系的自学效果低效漫长且无助。
因此收集整理了一份《2024年嵌入式&物联网开发全套学习资料》，初衷也很简单，就是希望能够帮助到想自学提升又不知道该从何学起的朋友，同时减轻大家的负担。
[外链图片转存中…(img-YJrVpn04-1715624864047)]
[外链图片转存中…(img-TkWtvJXi-1715624864048)]
[外链图片转存中…(img-M5K4ai64-1715624864049)]
[外链图片转存中…(img-Y8JVsyti-1715624864049)]
[外链图片转存中…(img-LbJdVAp4-1715624864050)]
[外链图片转存中…(img-ujneEhsa-1715624864051)]
[外链图片转存中…(img-IPev89Yb-1715624864051)]
既有适合小白学习的零基础资料，也有适合3年以上经验的小伙伴深入学习提升的进阶课程，基本涵盖了95%以上嵌入式&物联网开发知识点，真正体系化！
如果你觉得这些内容对你有帮助，需要这份全套学习资料的朋友可以戳我获取！！
由于文件比较大，这里只是将部分目录大纲截图出来，每个节点里面都包含大厂面经、学习笔记、源码讲义、实战项目、讲解视频，并且后续会持续更新！！
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