【TI毫米波雷达】雷达芯片框架解析：out_of_box开箱demo代码重构，绕过上位机CLI指令（IWR6843AOP）_azimuth target separation with sra(1)

最新推荐文章于 2024-11-20 16:48:51 发布

disrm84160

最新推荐文章于 2024-11-20 16:48:51 发布

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毫米波雷达芯片结构框架解析

CLI指令：

毫米波雷达芯片out_of_box开箱demo代码解读

上位机操作方式：

IWR6843AOPEVM开箱功能测试

上位机指令一览

上位机通过串口发送配置命令
芯片初始化以后会输出mmwDemo:/>即表示可以接受命令
每次发送的指令都会通过CLI模块执行对应的函数执行完成后又会输出mmwDemo:/>
如果是不正确的指令则实现串口回环（发送什么数据就回复什么数据）
TI官方的上位机配置如图所示：
在这里插入图片描述
对应导出的cfg文件：

% \*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*
% 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

上位机输出结果：
在这里插入图片描述
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：
在这里插入图片描述

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：
在这里插入图片描述

\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*

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：
在这里插入图片描述
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：
在这里插入图片描述

TargetList[i].x = TargetList[i].range\*cos(TargetList[i].elevation \* sin(TargetList[i].azimuth);
## 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。**

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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：
在这里插入图片描述

TargetList[i].x = TargetList[i].range\*cos(TargetList[i].elevation \* sin(TargetList[i].azimuth);
## 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。**

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[外链图片转存中...(img-eKKRS3Do-1715608709742)]

 [外链图片转存中...(img-7WKMIpSl-1715608709742)]

[外链图片转存中...(img-vH11WJk0-1715608709742)]

[外链图片转存中...(img-O8Uc8J6N-1715608709743)]

[外链图片转存中...(img-ZyBhMPF3-1715608709744)]

 

**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！**

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