【TI毫米波雷达】毫米波雷达芯片结构框架解析：out_of_box开箱demo代码解读（以IWR6843AOP为例）

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已于 2023-10-16 10:16:04 修改

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分类专栏： TI毫米波雷达笔记文章标签：毫米波雷达单片机算法嵌入式 mcu 物联网

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【TI毫米波雷达】毫米波雷达芯片结构框架解析：out_of_box开箱demo代码解读（以IWR6843AOP为例）

结构框架

blog.csdn.net/weixin_53403301/article/details/132522364

在这里插入图片描述

功能

IWR6843AOP的开箱工程是根据IWR6843AOPEVM开发板来的
该工程可以将IWR6843AOP的两个串口利用起来实现的功能主要是两个方面：
通过115200波特率的串口配置参数建立握手协议
通过115200*8的串口输出雷达数据
此工程需要匹配TI官方的上位机：mmWave_Demo_Visualizer_3.6.0来使用
该上位机可以在连接串口后自动化操作并且对雷达数据可视化
在这里插入图片描述

关于雷达参数配置则在SDK的mmw\profiles目录下
言简意赅可以直接更改该目录下的文件参数来达到配置雷达参数的目的

但这种方法不利于直接更改每次用上位机运行后的参数是固定的（上位机运行需要SDK环境）所以也可以在代码中写死本文探讨的就是这个方向

CCS工程导入

首先在工业雷达包目录下找到该工程设置

C:\ti\mmwave_industrial_toolbox_4_12_0\labs\Out_Of_Box_Demo\src\xwr6843AOP

使用CCS的import project功能导入工程后即可完成环境搭建
在这里插入图片描述
这里用到的SDK最新版为3.6版本

工程叙述（以下来自官方文档可以直接跳过）

以下来自官方文档可以直接跳过

Software Tasks

The demo consists of the following (SYSBIOS) tasks:

MmwDemo_initTask. This task is created/launched by main and is a one-time active task whose main functionality is to initialize drivers (<driver>_init), MMWave module (MMWave_init), DPM module (DPM_init), open UART and data path related drivers (EDMA, HWA), and create/launch the following tasks (the CLI_task is launched indirectly by calling CLI_open).
CLI_task. This command line interface task provides a simplified 'shell' interface which allows the configuration of the BSS via the mmWave interface (MMWave_config). It parses input CLI configuration commands like chirp profile and GUI configuration. When sensor start CLI command is parsed, all actions related to starting sensor and starting the processing the data path are taken. When sensor stop CLI command is parsed, all actions related to stopping the sensor and stopping the processing of the data path are taken
MmwDemo_mmWaveCtrlTask. This task is used to provide an execution context for the mmWave control, it calls in an endless loop the MMWave_execute API.
MmwDemo_DPC_ObjectDetection_dpmTask. This task is used to provide an execution context for DPM (Data Path Manager) execution, it calls in an endless loop the DPM_execute API. In this context, all of the registered object detection DPC (Data Path Chain) APIs like configuration, control and execute will take place. In this task. When the DPC's execute API produces the detected objects and other results, they are transmitted out of the UART port for display using the visualizer.

Data Path

在这里插入图片描述
Top Level Data Path Processing Chain

Top Level Data Path Timing

The data path processing consists of taking ADC samples as input and producing detected objects (point-cloud and other information) to be shipped out of UART port to the PC. The algorithm processing is realized using the DPM registered Object Detection DPC. The details of the processing in DPC can be seen from the following doxygen documentation:

ti/datapath/dpc/objectdetection/objdethwa/docs/doxygen/html/index.html

Output information sent to host

Output packets with the detection information are sent out every frame through the UART. Each packet consists of the header MmwDemo_output_message_header_t and the number of TLV items containing various data information with types enumerated in MmwDemo_output_message_type_e. The numerical values of the types can be found in mmw_output.h. Each TLV item consists of type, length (MmwDemo_output_message_tl_t) and payload information. The structure of the output packet is illustrated in the following figure. Since the length of the packet depends on the number of detected objects it can vary from frame to frame. The end of the packet is padded so that the total packet length is always multiple of 32 Bytes.

在这里插入图片描述
Output packet structure sent to UART
The following subsections describe the structure of each TLV.

List of detected objects

Type: (MMWDEMO_OUTPUT_MSG_DETECTED_POINTS)

Length: (Number of detected objects) x (size of DPIF_PointCloudCartesian_t)

Value: Array of detected objects. The information of each detected object is as per the structure DPIF_PointCloudCartesian_t. When the number of detected objects is zero, this TLV item is not sent. The maximum number of objects that can be detected in a sub-frame/frame is DPC_OBJDET_MAX_NUM_OBJECTS.

The orientation of x,y and z axes relative to the sensor is as per the following figure. (Note: The antenna arrangement in the figure is shown for standard EVM (see gAntDef_default) as an example but the figure is applicable for any antenna arrangement.)

在这里插入图片描述
Coordinate Geometry
The whole detected objects TLV structure is illustrated in figure below.

Detected objects TLV

Range profile

Type: (MMWDEMO_OUTPUT_MSG_RANGE_PROFILE)

Length: (Range FFT size) x (size of uint16_t)

Value: Array of profile points at 0th Doppler (stationary objects). The points represent the sum of log2 magnitudes of received antennas expressed in Q9 format.

Noise floor profile
Type: (MMWDEMO_OUTPUT_MSG_NOISE_PROFILE)

Length: (Range FFT size) x (size of uint16_t)

Value: This is the same format as range profile but the profile is at the maximum Doppler bin (maximum speed objects). In general for stationary scene, there would be no objects or clutter at maximum speed so the range profile at such speed represents the receiver noise floor.

Azimuth static heatmap

Type: (MMWDEMO_OUTPUT_MSG_AZIMUT_STATIC_HEAT_MAP)

Length: (Range FFT size) x (Number of "azimuth" virtual antennas) (size of cmplx16ImRe_t_)

Value: Array DPU_AoAProcHWA_HW_Resources::azimuthStaticHeatMap. The antenna data are complex symbols, with imaginary first and real second in the following order:

Imag(ant 0, range 0), Real(ant 0, range 0),...,Imag(ant N-1, range 0),Real(ant N-1, range 0)
         ...
         Imag(ant 0, range R-1), Real(ant 0, range R-1),...,Imag(ant N-1, range R-1),Real(ant N-1, range R-1)

Note that the number of virtual antennas is equal to the number of “azimuth” virtual antennas. The antenna symbols are arranged in the order as they occur at the input to azimuth FFT. Based on this data the static azimuth heat map could be constructed by the GUI running on the host.

Azimuth/Elevation static heatmap

Type: (MMWDEMO_OUTPUT_MSG_AZIMUT_ELEVATION_STATIC_HEAT_MAP)

Length: (Range FFT size) x (Number of all virtual antennas) (size of cmplx16ImRe_t_)

Value: Array DPU_AoAProcHWA_HW_Resources::azimuthStaticHeatMap. The antenna data are complex symbols, with imaginary first and real second in the following order:

 Imag(ant 0, range 0), Real(ant 0, range 0),...,Imag(ant N-1, range 0),Real(ant N-1, range 0)
         ...
         Imag(ant 0, range R-1), Real(ant 0, range R-1),...,Imag(ant N-1, range R-1),Real(ant N-1, range R-1)

Note that the number of virtual antennas is equal to the total number of active virtual antennas. The antenna symbols are arranged in the order as they occur in the radar cube matrix. This TLV is sent by AOP version of MMW demo, that uses AOA2D DPU. Based on this data the static azimuth or elevation heat map could be constructed by the GUI running on the host.

Range/Doppler heatmap

Type: (MMWDEMO_OUTPUT_MSG_RANGE_DOPPLER_HEAT_MAP)

Length: (Range FFT size) x (Doppler FFT size) (size of uint16_t)

Value: Detection matrix DPIF_DetMatrix::data. The order is :

 X(range bin 0, Doppler bin 0),...,X(range bin 0, Doppler bin D-1),
        ...
        X(range bin R-1, Doppler bin 0),...,X(range bin R-1, Doppler bin D-1)

Stats information

Type: (MMWDEMO_OUTPUT_MSG_STATS )

Length: (size of MmwDemo_output_message_stats_t)

Value: Timing information as per MmwDemo_output_message_stats_t. See timing diagram below related to the stats.

在这里插入图片描述
Processing timing

Note:

The MmwDemo_output_message_stats_t::interChirpProcessingMargin is not computed (it is always set to 0). This is because there is no CPU involvement in the 1D processing (only HWA and EDMA are involved), and it is not possible to know how much margin is there in chirp processing without CPU being notified at every chirp when processing begins (chirp event) and when the HWA-EDMA computation ends. The CPU is intentionally kept free during 1D processing because a real application may use this time for doing some post-processing algorithm execution.
While the MmwDemo_output_message_stats_t::interFrameProcessingTime reported will be of the current sub-frame/frame, the MmwDemo_output_message_stats_t::interFrameProcessingMargin and MmwDemo_output_message_stats_t::transmitOutputTime will be of the previous sub-frame (of the same MmwDemo_output_message_header_t::subFrameNumber as that of the current sub-frame) or of the previous frame.
The MmwDemo_output_message_stats_t::interFrameProcessingMargin excludes the UART transmission time (available as MmwDemo_output_message_stats_t::transmitOutputTime). This is done intentionally to inform the user of a genuine inter-frame processing margin without being influenced by a slow transport like UART, this transport time can be significantly longer for example when streaming out debug information like heat maps. Also, in a real product deployment, higher speed interfaces (e.g LVDS) are likely to be used instead of UART. User can calculate the margin that includes transport overhead (say to determine the max frame rate that a particular demo configuration will allow) using the stats because they also contain the UART transmission time.

The CLI command “guMonitor” specifies which TLV element will be sent out within the output packet. The arguments of the CLI command are stored in the structure MmwDemo_GuiMonSel_t.

Side information of detected objects

Type: (MMWDEMO_OUTPUT_MSG_DETECTED_POINTS_SIDE_INFO)

Length: (Number of detected objects) x (size of DPIF_PointCloudSideInfo_t)

Value: Array of detected objects side information. The side information of each detected object is as per the structure DPIF_PointCloudSideInfo_t). When the number of detected objects is zero, this TLV item is not sent.

Temperature Stats

Type: (MMWDEMO_OUTPUT_MSG_TEMPERATURE_STATS)

Length: (size of MmwDemo_temperatureStats_t)

Value: Structure of detailed temperature report as obtained from Radar front end. MmwDemo_temperatureStats_t::tempReportValid is set to return value of rlRfGetTemperatureReport. If MmwDemo_temperatureStats_t::tempReportValid is 0, values in MmwDemo_temperatureStats_t::temperatureReport are valid else they should be ignored. This TLV is sent along with Stats TLV described in Stats information

Range Bias and Rx Channel Gain/Phase Measurement and Compensation

Because of imperfections in antenna layouts on the board, RF delays in SOC, etc, there is need to calibrate the sensor to compensate for bias in the range estimation and receive channel gain and phase imperfections. The following figure illustrates the calibration procedure.

在这里插入图片描述
Calibration procedure ladder diagram

The calibration procedure includes the following steps:

Set a strong target like corner reflector at the distance of X meter (X less than 50 cm is not recommended) at boresight.
Set the following command in the configuration profile in .../profiles/profile_calibration.cfg, to reflect the position X as follows: where D (in meters) is the distance of window around X where the peak will be searched. The purpose of the search window is to allow the test environment from not being overly constrained say because it may not be possible to clear it of all reflectors that may be stronger than the one used for calibration. The window size is recommended to be at least the distance equivalent of a few range bins. One range bin for the calibration profile (profile_calibration.cfg) is about 5 cm. The first argument "1" is to enable the measurement. The stated configuration profile (.cfg) must be used otherwise the calibration may not work as expected (this profile ensures all transmit and receive antennas are engaged among other things needed for calibration).
   measureRangeBiasAndRxChanPhase 1 X D
Start the sensor with the configuration file.
In the configuration file, the measurement is enabled because of which the DPC will be configured to perform the measurement and generate the measurement result (DPU_AoAProc_compRxChannelBiasCfg_t) in its result structure (DPC_ObjectDetection_ExecuteResult_t::compRxChanBiasMeasurement), the measurement results are written out on the CLI port (MmwDemo_measurementResultOutput) in the format below: For details of how DPC performs the measurement, see the DPC documentation.
   compRangeBiasAndRxChanPhase <rangeBias> <Re(0,0)> <Im(0,0)> <Re(0,1)> <Im(0,1)> ... <Re(0,R-1)> <Im(0,R-1)> <Re(1,0)> <Im(1,0)> ... <Re(T-1,R-1)> <Im(T-1,R-1)>
The command printed out on the CLI now can be copied and pasted in any configuration file for correction purposes. This configuration will be passed to the DPC for the purpose of applying compensation during angle computation, the details of this can be seen in the DPC documentation. If compensation is not desired, the following command should be given (depending on the EVM and antenna arrangement) Above sets the range bias to 0 and the phase coefficients to unity so that there is no correction. Note the two commands must always be given in any configuration file, typically the measure commmand will be disabled when the correction command is the desired one.
   For ISK EVM:
   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 
   For AOP EVM
   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

Streaming data over LVDS

The LVDS streaming feature enables the streaming of HW data (a combination of ADC/CP/CQ data) and/or user specific SW data through LVDS interface. The streaming is done mostly by the CBUFF and EDMA peripherals with minimal CPU intervention. The streaming is configured through the MmwDemo_LvdsStreamCfg_t CLI command which allows control of HSI header, enable/disable of HW and SW data and data format choice for the HW data. The choices for data formats for HW data are:

MMW_DEMO_LVDS_STREAM_CFG_DATAFMT_DISABLED
MMW_DEMO_LVDS_STREAM_CFG_DATAFMT_ADC
MMW_DEMO_LVDS_STREAM_CFG_DATAFMT_CP_ADC_CQ
In order to see the high-level data format details corresponding to the above data format configurations, refer to the corresponding slides in ti\drivers\cbuff\docs\CBUFF_Transfers.pptx

When HW data LVDS streaming is enabled, the ADC/CP/CQ data is streamed per chirp on every chirp event. When SW data streaming is enabled, it is streamed during inter-frame period after the list of detected objects for that frame is computed. The SW data streamed every frame/sub-frame is composed of the following in time:

HSI header (HSIHeader_t): refer to HSI module for details.
User data header: MmwDemo_LVDSUserDataHeader
User data payloads:
Point-cloud information as a list : DPIF_PointCloudCartesian_t x number of detected objects
Point-cloud side information as a list : DPIF_PointCloudSideInfo_t x number of detected objects

The format of the SW data streamed is shown in the following figure:
在这里插入图片描述
LVDS SW Data format

Note:

Only single-chirp formats are allowed, multi-chirp is not supported.
When number of objects detected in frame/sub-frame is 0, there is no transmission beyond the user data header.
For HW data, the inter-chirp duration should be sufficient to stream out the desired amount of data. For example, if the HW data-format is ADC and HSI header is enabled, then the total amount of data generated per chirp is:
(numAdcSamples * numRxChannels * 4 (size of complex sample) + 52 [sizeof(HSIDataCardHeader_t) + sizeof(HSISDKHeader_t)] ) rounded up to multiples of 256 [=sizeof(HSIHeader_t)] bytes.
The chirp time Tc in us = idle time + ramp end time in the profile configuration. For n-lane LVDS with each lane at a maximum of B Mbps,
maximum number of bytes that can be send per chirp = Tc * n * B / 8 which should be greater than the total amount of data generated per chirp i.e
Tc * n * B / 8 >= round-up(numAdcSamples * numRxChannels * 4 + 52, 256).
E.g if n = 2, B = 600 Mbps, idle time = 7 us, ramp end time = 44 us, numAdcSamples = 512, numRxChannels = 4, then 7650 >= 8448 is violated so this configuration will not work. If the idle-time is doubled in the above example, then we have 8700 > 8448, so this configuration will work.
For SW data, the number of bytes to transmit each sub-frame/frame is:
52 [sizeof(HSIDataCardHeader_t) + sizeof(HSISDKHeader_t)] + sizeof(MmwDemo_LVDSUserDataHeader_t) [=8] +
number of detected objects (Nd) * { sizeof(DPIF_PointCloudCartesian_t) [=16] + sizeof(DPIF_PointCloudSideInfo_t) [=4] } rounded up to multiples of 256 [=sizeof(HSIHeader_t)] bytes.
or X = round-up(60 + Nd * 20, 256). So the time to transmit this data will be
X * 8 / (n*B) us. The maximum number of objects (Ndmax) that can be detected is defined in the DPC (DPC_OBJDET_MAX_NUM_OBJECTS). So if Ndmax = 500, then time to transmit SW data is 68 us. Because we parallelize this transmission with the much slower UART transmission, and because UART transmission is also sending at least the same amount of information as the LVDS, the LVDS transmission time will not add any burdens on the processing budget beyond the overhead of reconfiguring and activating the CBUFF session (this overhead is likely bigger than the time to transmit).
The total amount of data to be transmitted in a HW or SW packet must be greater than the minimum required by CBUFF, which is 64 bytes or 32 CBUFF Units (this is the definition CBUFF_MIN_TRANSFER_SIZE_CBUFF_UNITS in the CBUFF driver implementation). If this threshold condition is violated, the CBUFF driver will return an error during configuration and the demo will generate a fatal exception as a result. When HSI header is enabled, the total transfer size is ensured to be at least 256 bytes, which satisfies the minimum. If HSI header is disabled, for the HW session, this means that numAdcSamples * numRxChannels * 4 >= 64. Although mmwavelink allows minimum number of ADC samples to be 2, the demo is supported for numAdcSamples >= 64. So HSI header is not required to be enabled for HW only case. But if SW session is enabled, without the HSI header, the bytes in each packet will be 8 + Nd * 20. So for frames/sub-frames where Nd < 3, the demo will generate exception. Therefore HSI header must be enabled if SW is enabled, this is checked in the CLI command validation.

Implementation Notes

The LVDS implementation is mostly present in mmw_lvds_stream.h and mmw_lvds_stream.c with calls in mss_main.c. Additionally HSI clock initialization is done at first time sensor start using MmwDemo_mssSetHsiClk.
EDMA channel resources for CBUFF/LVDS are in the global resource file (mmw_res.h, see Hardware Resource Allocation) along with other EDMA resource allocation. The user data header and two user payloads are configured as three user buffers in the CBUFF driver. Hence SW allocation for EDMA provides for three sets of EDMA resources as seen in the SW part (swSessionEDMAChannelTable[.]) of MmwDemo_LVDSStream_EDMAInit. The maximum number of HW EDMA resources are needed for the data-format MMW_DEMO_LVDS_STREAM_CFG_DATAFMT_CP_ADC_CQ, which as seen in the corresponding slide in ti\drivers\cbuff\docs\CBUFF_Transfers.pptx is 12 channels (+ shadows) including the 1st special CBUFF EDMA event channel which CBUFF IP generates to the EDMA, hence the HW part (hwwSessionEDMAChannelTable[.]) of MmwDemo_LVDSStream_EDMAInit has 11 table entries.
Although the CBUFF driver is configured for two sessions (hw and sw), at any time only one can be active. So depending on the LVDS CLI configuration and whether advanced frame or not, there is logic to activate/deactivate HW and SW sessions as necessary.
The CBUFF session (HW/SW) configure-create and delete depends on whether or not re-configuration is required after the first time configuration.
For HW session, re-configuration is done during sub-frame switching to re-configure for the next sub-frame but when there is no advanced frame (number of sub-frames = 1), the HW configuration does not need to change so HW session does not need to be re-created.
For SW session, even though the user buffer start addresses and sizes of headers remains same, the number of detected objects which determines the sizes of some user buffers changes from one sub-frame/frame to another sub-frame/frame. Therefore SW session needs to be recreated every sub-frame/frame.
User may modify the application software to transmit different information than point-cloud in the SW data e.g radar cube data (output of range DPU). However the CBUFF also has a maximum link list entry size limit of 0x3FFF CBUFF units or 32766 bytes. This means it is the limit for each user buffer entry [there are maximum of 3 entries -1st used for user data header, 2nd for point-cloud and 3rd for point-cloud side information]. During session creation, if this limit is exceeded, the CBUFF will return an error (and demo will in turn generate an exception). A single physical buffer of say size 50000 bytes may be split across two user buffers by providing one user buffer with (address, size) = (start address, 25000) and 2nd user buffer with (address, size) = (start address + 25000, 25000), beyond this two (or three if user data header is also replaced) limit, the user will need to create and activate (and wait for completion) the SW session multiple times to accomplish the transmission.

The following figure shows a timing diagram for the LVDS streaming (the figure is not to scale as actual durations will vary based on configuration).
在这里插入图片描述

How to bypass CLI

Re-implement the file mmw_cli.c as follows:

MmwDemo_CLIInit should just create a task with input taskPriority. Lets say the task is called "MmwDemo_sensorConfig_task".
All other functions are not needed
Implement the MmwDemo_sensorConfig_task as follows:
Fill gMmwMCB.cfg.openCfg
Fill gMmwMCB.cfg.ctrlCfg
Add profiles and chirps using MMWave_addProfile and MMWave_addChirp functions
Call MmwDemo_CfgUpdate for every offset in Offsets for storing CLI configuration (MMWDEMO_xxx_OFFSET in mmw.h)
Fill gMmwMCB.dataPathObj.objDetCommonCfg.preStartCommonCfg
Call MmwDemo_openSensor
Call MmwDemo_startSensor (One can use helper function MmwDemo_isAllCfgInPendingState to know if all dynamic config was provided)

Hardware Resource Allocation

The Object Detection DPC needs to configure the DPUs hardware resources (HWA, EDMA). Even though the hardware resources currently are only required to be allocated for this one and only DPC in the system, the resource partitioning is shown to be in the ownership of the demo. This is to illustrate the general case of resource allocation across more than one DPCs and/or demo's own processing that is post-DPC processing. This partitioning can be seen in the mmw_res.h file. This file is passed as a compiler command line define

"--define=APP_RESOURCE_FILE="<ti/demo/xwr64xx/mmw/mmw_res.h>"

in mmw.mak when building the DPC sources as part of building the demo application and is referred in object detection DPC sources where needed as

#include APP_RESOURCE_FILE

代码解读

这里我将从main函数、三个主要线程、一个次要线程来叙述整体代码结构：

main函数：初始化SOC 上电BSS 创建初始化线程。
MmwDemo_initTask：主要线程，此任务由 main 创建/启动，是一次性活动任务，其主要功能是初始化驱动程序（<驱动程序>_init）、MMWave 模块（MMWave_init）、DPM 模块（DPM_init）、打开 UART 和数据路径相关的驱动程序（EDMA、HWA），并创建/启动以下任务（CLI_task通过调用 CLI_open 间接启动）。
CLI_task：主要线程，此命令行界面任务提供了一个简化的“shell”界面，允许通过毫米波接口（MMWave_config）配置BSS。它解析输入 CLI 配置命令，如线性调频配置文件和 GUI 配置。解析传感器启动 CLI 命令时，将执行与启动传感器和启动处理数据路径相关的所有操作。解析传感器停止 CLI 命令时，将执行与停止传感器和停止数据路径处理相关的所有操作
MmwDemo_mmWaveCtrlTask：次要线程，此任务用于为毫米波控制提供执行上下文，它在无限循环中调用MMWave_execute API。
MmwDemo_DPC_ObjectDetection_dpmTask：主要线程，此任务用于为 DPM（数据路径管理器）执行提供执行上下文，它在无限循环中调用 DPM_execute API。在此上下文中，将发生所有注册对象检测 DPC（数据路径链）API，如配置、控制和执行。在此任务中。当DPC的执行API生成检测到的对象和其他结果时，它们将从UART端口传输出去，以便使用可视化工具进行显示。

除了MmwDemo_initTask没有配置优先级外（因为是最先调用的）
其他的三个线程都有优先级
分别是：

#define MMWDEMO_CLI_TASK_PRIORITY                 3
#define MMWDEMO_DPC_OBJDET_DPM_TASK_PRIORITY      4
#define MMWDEMO_MMWAVE_CTRL_TASK_PRIORITY         5

数字越大越优先响应（与NVIC不同）

配置说明

TI官方的代码有个特点所有的handle句柄、配置参数都会放在一个全局变量结构体里在这个工程下为gMmwMCB
而配置流程也是先将参数写入到结构体里然后再把结构体的参数传到各个配置函数
比如以下两个函数：

/* Platform specific configuration */
MmwDemo_platformInit(&gMmwMCB.cfg.platformCfg);

/* Initialize the Data Path: */
MmwDemo_dataPathInit(&gMmwMCB.dataPathObj);

串口的配置参数就在第一个函数内写入
然后再调用UART_open：

/* Setup the default UART Parameters */
UART_Params_init(&uartParams);
uartParams.clockFrequency = gMmwMCB.cfg.platformCfg.sysClockFrequency;
uartParams.baudRate       = gMmwMCB.cfg.platformCfg.commandBaudRate;
uartParams.isPinMuxDone   = 1;

/* Open the UART Instance */
gMmwMCB.commandUartHandle = UART_open(0, &uartParams);

主要名词

MMWave

毫米波雷达外设（BSS）配套使用的控制外设为MMWaveLink

Mailbox

邮箱用于BSS和MSS、DSS之间的通信主要是起到传递雷达数据和参数的作用

ADCBuf

原始雷达数据（ADC采样数据）控制外设

Common Buffer Controller (CBUFF Driver)

CBUFF（通用缓冲控制器）负责将数据从多个来源（如ADCBUFF、线性调频参数（CP）、线性调频质量（CQ）或任何其他来源）传输到LVDS Tx或CSI2模块。

Data Path Manager (DPM)

DPM 模块提供定义完善的 IPC 机制，允许应用程序和数据路径处理链（DPC）相互通信。应用程序和 DPC 可以位于同一子系统上，也可以位于不同的子系统上。

LVDS Stream

低电压差分信号流
该部分是demo代码里面的一种信号处理解决方案不属于芯片外设资源

DPC

数据路径处理

Cycleprofiler

用于获取时间戳等

Enhanced DMA (EDMA)

增强型DMA 用于数据移动处理

HWA

硬件加速器用于硬件计算等

main函数

初始化SOC 这是一套标准流程同时上电BSS

SOC_waitBSSPowerUp(socHandle, &errCode)

然后建立MmwDemo_initTask主线程

Task_create(MmwDemo_initTask, &taskParams, NULL);

MmwDemo_mmWaveCtrlTask

在初始化毫米波雷达中打开毫米波雷达并执行同步后调用：
需要在调用MMWave_init和MMWave_sync后启用
该线程一直循环调用MMWave_execute函数
用于在毫米波上下文中调用说白了就是固定用法

while (1)
{
    /* Execute the mmWave control module: */
    if (MMWave_execute (gMmwMCB.ctrlHandle, &errCode) < 0)
    {
    }
}

主要线程中最先被调用的是MmwDemo_initTask 其承担了主要的初始化任务

MmwDemo_initTask

GPIO、UART、BSS上电

首先

UART_init();
GPIO_init();
Mailbox_init(MAILBOX_TYPE_MSS);

这三个最重要的函数必须提前调用
前两个就不说了了 Mailbox_init也是BSS上电函数如果不调用则MMWave_init会报错

引脚复用

然后是Pinmux引脚复用和UART配置

MmwDemo_platformInit(&gMmwMCB.cfg.platformCfg);

两个UART分别是115200和115200*8的波特率
采用UART_open对两个串口进行打开，编号为0和1

HWA、EDMA上电

函数MmwDemo_dataPathInit(&gMmwMCB.dataPathObj);初始化了HWA和EDMA（仅仅是上电，不是配置类似UART_init();）
这类上电函数要在外设配置函数之前就要被调用同样类似的还有ADCBuf_init等

雷达上层初始化

调用MMWave_init和MMWave_sync函数
全运行MSS独立模式
回调函数：MmwDemo_eventCallbackFxn
同时打开EDMA、HWA和ADCBuf外设（open函数）
初始化后建立MmwDemo_mmWaveCtrlTask线程

数据路径定义

初始化DPM、LVDS、DPC等
DPC报告回调：MmwDemo_DPC_ObjectDetection_reportFxn
DPC相关函数回调：gDPC_ObjectDetectionCfg（这部分下文会讲到）
这里DPC建立了一个新线程MmwDemo_DPC_ObjectDetection_dpmTask

执行校准

在函数MmwDemo_calibInit中对校准参数进行获取另外初始化用户级QSPI
建立CLI线程CLI_task

CLI_task

CLI让SOC变成一个类似shell指令的设备可以通过串口接收函数来进行配置、操作也可以进行log输出等等

CLI初始化

CLI的配置中指定了串口0作为CLI功能

cliCfg.cliUartHandle                = gMmwMCB.commandUartHandle;

函数MmwDemo_CLIInit 定义了多个命令
比如：

cliCfg.tableEntry[cnt].cmd            = "sensorStart";
cliCfg.tableEntry[cnt].helpString     = "[doReconfig(optional, default:enabled)]";
cliCfg.tableEntry[cnt].cmdHandlerFxn  = MmwDemo_CLISensorStart;

接收到"sensorStart"字符串的时候执行MmwDemo_CLISensorStart函数
helpString为传递的参数
再比如：

cliCfg.tableEntry[cnt].cmd            = "adcbufCfg";
cliCfg.tableEntry[cnt].helpString     = "<subFrameIdx> <adcOutputFmt> <SampleSwap> <ChanInterleave> <ChirpThreshold>";
cliCfg.tableEntry[cnt].cmdHandlerFxn  = MmwDemo_CLIADCBufCfg;

配置ADCBuf
传入的参数按helpString指示中间以空格分开

命令函数一览：

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[]);

开启雷达则调用的是MmwDemo_CLISensorStart 函数
还有一部分配置是在SDK里面就已经定义了的：

/* CLI Command Functions */
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[]);

MMWave_open

CLI接收到信号后调用MmwDemo_CLISensorStart函数对应到MmwDemo_openSensor
这里函数MMWave_open是固定参数配置为默认校准频率范围为60G-64G

/* Setup the calibration frequency */
gMmwMCB.cfg.openCfg.freqLimitLow  = 600U;
gMmwMCB.cfg.openCfg.freqLimitHigh = 640U;

/* start/stop async events */
gMmwMCB.cfg.openCfg.disableFrameStartAsyncEvent = false;
gMmwMCB.cfg.openCfg.disableFrameStopAsyncEvent  = false;

/* No custom calibration: */
gMmwMCB.cfg.openCfg.useCustomCalibration        = false;
gMmwMCB.cfg.openCfg.customCalibrationEnableMask = 0x0;

/* calibration monitoring base time unit
 * setting it to one frame duration as the demo doesnt support any 
 * monitoring related functionality
 */
gMmwMCB.cfg.openCfg.calibMonTimeUnit            = 1;

MMWave_config

同样在函数MmwDemo_CLISensorStart中被调用对应到MmwDemo_configSensor
参数ctrlCfg则在CLI中通过串口发送过来
在线程MmwDemo_DPC_ObjectDetection_dpmTask中调用了DPM_ioctl从而触发回调
这里回调函数：DPC_ObjectDetection_ioctl

MMWave_start

CLI接收到信号后调用MmwDemo_CLISensorStart函数对应到MmwDemo_startSensor
该函数调用了MmwDemo_dataPathStart （DPM_start）用于开始DPM
而后就开始了
这里回调函数：DPC_ObjectDetection_start

开启雷达`MmwDemo_CLISensorStart`

该函数下完善了剩余配置尤其是DPC与雷达参数配置的参数统一
并调用了MmwDemo_openSensor与MmwDemo_configSensor来进行MMWave_open和MMWave_config
最后用MmwDemo_startSensor开始

在完善参数时还调用了以下几个函数：

CLI_getMMWaveExtensionOpenConfig (&openCfg);
CLI_getMMWaveExtensionOpenConfig (&gMmwMCB.cfg.openCfg);
CLI_getMMWaveExtensionConfig (&ctrlCfg);
CLI_getMMWaveExtensionConfig (&gMmwMCB.cfg.ctrlCfg);

该函数实现的功能就是把CLI内部的一个配置结构体gCLI（位于cli.c中）复制到你想要的结构体中（数据复制 memcpy）
因为在SDK里面就已经定义了的函数启配置运行时操作的CLI内部的结构体而不是用户自己定义的结构配置frame chirp profile等都是在这个里面
所对应的结构体也就是MMWave_OpenCfg和MMWave_CtrlCfg类型
在覆写CLI时这一点要格外注意

雷达循环开始

frame事件：回调DPC_ObjectDetection_frameStart
chirp事件：回调DPC_ObjectDetection_execute 这里调用了HWA

MmwDemo_DPC_ObjectDetection_dpmTask

该线程也是一个死循环
主要任务就是执行DPC和计算
该线程执行时同步CLI线程（其实是一直在调用同时同步毫米波雷达采集只不过这部分是在CLI中被控制的）
在CLI中调用MmwDemo_CLISensorStart函数后会调用MmwDemo_startSensor
从而执行MmwDemo_dataPathStart 调用DPM_start函数然后这一部分线程才能进行有效工作

初始化

执行DPM 函数DPM_execute 该函数同MMWave_execute 需要在DPC上下文中调用
对各个参数进行赋值配置ADCBuf、LVDS、EDMA等

执行流程

在这里插入图片描述
这一块的函数都是在DPM的回调
在DPM_execute 执行时回调其他函数进行处理
这一块函数的覆写在objectdetection.c中

DPM_ProcChainCfg gDPC_ObjectDetectionCfg =
{
    DPC_ObjectDetection_init,            /* Initialization Function:         */
    DPC_ObjectDetection_start,           /* Start Function:                  */
    DPC_ObjectDetection_execute,         /* Execute Function:                */
    DPC_ObjectDetection_ioctl,           /* Configuration Function:          */
    DPC_ObjectDetection_stop,            /* Stop Function:                   */
    DPC_ObjectDetection_deinit,          /* Deinitialization Function:       */
    NULL,                                /* Inject Data Function:            */
    NULL,                                /* Chirp Available Function:        */
    DPC_ObjectDetection_frameStart       /* Frame Start Function:            */
};

在这里插入图片描述
这个excute 下面就包含了信号处理
其中就调用了sdk库里面的函数

本质上就还是调库得结果

在这里插入图片描述

数据获取

执行DPM 函数DPM_execute 中传参resultBuffer 用于接收结果
当if (resultBuffer.size[0] == sizeof(DPC_ObjectDetection_ExecuteResult))时
数据有效
才能继续进行
该判断语句有if没有else
所以数据无效则一直调用函数DPM_execute 直到数据有效
如果CLI中没有配置好的话这一部分就一直是个空函数

在帧开始时在函数DPC_ObjectDetection_frameStart中将interSubFrameProcToken标志位加加

时间戳获取

通过Cycleprofiler外设获取时间戳函数Cycleprofiler_getTimeStamp
同时可以用其获取到该周期内的当前时间、开始时间等

currentInterFrameProcessingEndTime = Cycleprofiler_getTimeStamp();

startTime = Cycleprofiler_getTimeStamp();

该函数获取到的是系统计数值
每200,000个计数值对应是1ms
如下图我设置的是一秒20帧（50ms）发送一次数据（115200*8的波特率传输时间可以忽略不计）
也就是10,000,000个计数值对应是50ms
那么就是200,000个计数值对应是1ms
在这里插入图片描述

数据计算

执行LVDS Stream、DPC等相关函数
大部分以回调的形式体现gDPC_ObjectDetectionCfg
回调部分进行了HWA等模板的调用见下文

数据输出

调用MmwDemo_transmitProcessedOutput函数采用串口1进行数据输出
在此函数内有一个结构体类型DPIF_PointCloudCartesian 就是点云数据
该结构体属于DPC模块下的DPIF部分见下文

等待完成

等待当前帧的处理完成（强制性按配置的帧数来处理如果下一次开启时没有处理完成则会报错中断）
在这里插入图片描述

重新获取时间戳并配置ADCBuf等为下一帧做准备
调用DPM_ioctl触发DPC相关回调

完成时在函数中DPC_ObjectDetection_ioctl中将interSubFrameProcToken标志位减减清零

继续循环

开始时在函数DPC_ObjectDetection_frameStart中将interSubFrameProcToken标志位加加
并且在此之前判断interSubFrameProcToken标志位是否为0 作为上次处理完成的标志否则报错
在这里插入图片描述

下一次frame事件继续上面的操作直到接收到stop指令后关闭相关功能

数据输出格式

数据输出函数MmwDemo_transmitProcessedOutput
传入三个参数

UART_Handle uartHandle,
DPC_ObjectDetection_ExecuteResult *result,
MmwDemo_output_message_stats      *timingInfo

第一个为串口句柄
第二个result的类型为DPC_ObjectDetection_ExecuteResult
第三个为时间数据（各个部分处理时间耗时可以看文档Stats information部分）

/** @brief Transmits detection data over UART
*
*    The following data is transmitted:
*    1. Header (size = 32bytes), including "Magic word", (size = 8 bytes)
*       and including the number of TLV items
*    TLV Items:
*    2. If detectedObjects flag is 1 or 2, DPIF_PointCloudCartesian structure containing
*       X,Y,Z location and velocity for detected objects,
*       size = sizeof(DPIF_PointCloudCartesian) * number of detected objects
*    3. If detectedObjects flag is 1, DPIF_PointCloudSideInfo structure containing SNR
*       and noise for detected objects,
*       size = sizeof(DPIF_PointCloudCartesian) * number of detected objects
*    4. If logMagRange flag is set,  rangeProfile,
*       size = number of range bins * sizeof(uint16_t)
*    5. If noiseProfile flag is set,  noiseProfile,
*       size = number of range bins * sizeof(uint16_t)
*    6. If rangeAzimuthHeatMap flag is set, the zero Doppler column of the
*       range cubed matrix, size = number of Rx Azimuth virtual antennas *
*       number of chirps per frame * sizeof(uint32_t)
*    7. If rangeDopplerHeatMap flag is set, the log magnitude range-Doppler matrix,
*       size = number of range bins * number of Doppler bins * sizeof(uint16_t)
*    8. If statsInfo flag is set, the stats information
*   @param[in] uartHandle   UART driver handle
*   @param[in] result       Pointer to result from object detection DPC processing
*   @param[in] timingInfo   Pointer to sub-frame object stats that contains timing info
*/

当满足条件时即可获取到正确数据

typedef struct DPC_ObjectDetection_ExecuteResult_t
{
    /*! @brief      Sub-frame index, this is in the range [0..numSubFrames - 1] */
    uint8_t         subFrameIdx;

    /*! @brief      Number of detected objects */
    uint32_t         numObjOut;

    /*! @brief      Detected objects output list of @ref numObjOut elements */
    DPIF_PointCloudCartesian *objOut;

    /*! @brief      Radar Cube structure */
    DPIF_RadarCube  radarCube;

    /*! @brief      Detection Matrix structure */
    DPIF_DetMatrix  detMatrix;

    /*! @brief      Detected objects side information (snr + noise) output list,
     *              of @ref numObjOut elements  */
    DPIF_PointCloudSideInfo *objOutSideInfo;

    /*! @brief      Pointer to range-azimuth static heat map, this is a 2D FFT
     *              array in range direction (cmplx16ImRe_t x[numRangeBins][numVirtualAntAzim]),
     *              at doppler index 0 */
    cmplx16ImRe_t   *azimuthStaticHeatMap;

    /*! @brief      Number of elements of @ref azimuthStaticHeatMap, this will be
     *              @ref DPC_ObjectDetection_StaticCfg_t::numVirtualAntAzim *
     *              @ref DPC_ObjectDetection_StaticCfg_t::numRangeBins */
    uint32_t        azimuthStaticHeatMapSize;

    /*! @brief      Pointer to DPC stats structure */
    DPC_ObjectDetection_Stats *stats;

    /*! @brief   Pointer to Range Bias and rx channel gain/phase compensation measurement
     *           result. Note the contents of this pointer are independent of sub-frame
     *           i.e all sub-frames will report the same result although it is
     *           expected that when measurement is enabled,
     *           the number of sub-frames will be 1 (i.e advanced frame
     *           feature will be disabled). If measurement
     *           was not enabled, then this pointer will be NULL. */
    DPU_AoAProc_compRxChannelBiasCfg *compRxChanBiasMeasurement;
} DPC_ObjectDetection_ExecuteResult;

其中numObjOut表示有几个目标决定了后面几个数组的大小
subFrameIdx表示当前第几个子帧
cmplx16ImRe_t为2D FFT的实数与虚数值

时间参数

时间参数在DPC_ObjectDetection_Stats结构体下

typedef struct DPC_ObjectDetection_Stats_t
{
    /*! @brief   interChirpProcess margin in CPU cyctes */
    uint32_t      interChirpProcessingMargin;

    /*! @brief   Counter which tracks the number of frame start interrupt */
    uint32_t      frameStartIntCounter;

    /*! @brief   Frame start CPU time stamp */
    uint32_t      frameStartTimeStamp;

    /*! @brief   Inter-frame start CPU time stamp */
    uint32_t      interFrameStartTimeStamp;

    /*! @brief   Inter-frame end CPU time stamp */
    uint32_t      interFrameEndTimeStamp;

    /*! @brief Sub frame preparation cycles. Note when this is reported as part of
     *         the process result reporting, then it indicates the cycles that took
     *         place in the previous sub-frame/frame for preparing to switch to
     *         the sub-frame that is being reported because switching happens
     *         in the processing of DPC_OBJDET_IOCTL__DYNAMIC_EXECUTE_RESULT_EXPORTED,
     *         which is after the DPC process. */
    uint32_t      subFramePreparationCycles;
} DPC_ObjectDetection_Stats;

由此可以得到时间戳

点云数据

这里主要关注两个参数：
当detectedObjects flag is 1 or 2时 DPIF_PointCloudCartesian和DPIF_PointCloudSideInfo数据有效
前者表示点云数据后者则是SNR和噪音

typedef struct DPIF_PointCloudCartesian_t
{
    /*! @brief  x - coordinate in meters. This axis is parallel to the sensor plane
     *          and makes the azimuth plane with y-axis. Positive x-direction is rightward
     *          in the azimuth plane when observed from the sensor towards the scene
     *          and negative is the opposite direction. */
    float  x;

    /*! @brief  y - coordinate in meters. This axis is perpendicular to the
     *          sensor plane with positive direction from the sensor towards the scene */
    float  y;

    /*! @brief  z - coordinate in meters. This axis is parallel to the sensor plane
     *          and makes the elevation plane with the y-axis. Positive z direction
     *          is above the sensor and negative below the sensor */
    float  z;

    /*! @brief  Doppler velocity estimate in m/s. Positive velocity means target
     *          is moving away from the sensor and negative velocity means target
     *          is moving towards the sensor. */
    float    velocity;
}DPIF_PointCloudCartesian;

typedef struct DPIF_PointCloudSideInfo_t
{
    /*! @brief  snr - CFAR cell to side noise ratio in dB expressed in 0.1 steps of dB */
    int16_t  snr;

    /*! @brief  y - CFAR noise level of the side of the detected cell in dB expressed in 0.1 steps of dB */
    int16_t  noise;
}DPIF_PointCloudSideInfo;

这里的点云数据包含xyz坐标和速度值

DPC相关函数及回调

在objectdetection.c文件中

DPM_ProcChainCfg gDPC_ObjectDetectionCfg =
{
    DPC_ObjectDetection_init,            /* Initialization Function:         */
    DPC_ObjectDetection_start,           /* Start Function:                  */
    DPC_ObjectDetection_execute,         /* Execute Function:                */
    DPC_ObjectDetection_ioctl,           /* Configuration Function:          */
    DPC_ObjectDetection_stop,            /* Stop Function:                   */
    DPC_ObjectDetection_deinit,          /* Deinitialization Function:       */
    NULL,                                /* Inject Data Function:            */
    NULL,                                /* Chirp Available Function:        */
    DPC_ObjectDetection_frameStart       /* Frame Start Function:            */
};