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IN NO EVENT SHALL TI AND TI’S LICENSORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. ******************************************************************************/ /******************************************************************************* * INCLUDE FILES ******************************************************************************* */ #include #include #include #include #include #include /* ========================================================================== */ /* Macros & Typedefs */ /* ========================================================================== */ #define CHAINS_RADAR_NUM_RX_ANTENNA (4U) //#define CHAINS_RADAR_NUM_RX_ANTENNA (1U) /* Note: Binary Phase Modulation is enabled when Number of Tx Antenna is 3 */ //#define CHAINS_RADAR_NUM_TX_ANTENNA (2U) #define CHAINS_RADAR_NUM_TX_ANTENNA (3U) /** \brief Number of antennas Rx times tx*/ #define CHAINS_RADAR_NUM_ANTENNA (CHAINS_RADAR_NUM_RX_ANTENNA * \ CHAINS_RADAR_NUM_TX_ANTENNA) /** \brief MCSPI Instance Number used to communicate with the radar sensor */ #define CHAINS_SINGLE_RAD_SENSOR_MCSPI_INST0 (0U) #define CHAINS_SINGLE_RAD_SENSOR_MCSPI_INST1 (1U) /* Uncomment below to enable synthetic input from the AR12x sensor. Kindly note * Test source is not available when CHAINS_RADAR_NUM_TX_ANTENNA > 1 */ /* #define ENABLE_TEST_SOURCE */ //#define ENABLE_TEST_SOURCE //Modified by HW 20170818 /** \brief Radar Sensor Height */ #define AR1243_RADAR_HEIGHT (128U) /** \brief Radar Sensor width */ #define AR1243_PROFILE1_RADAR_WIDTH (256U) /** \brief Radar Sensor width */ #define AR1243_PROFILE2_RADAR_WIDTH (512U) /** \brief Name of the configuration used */ #define CHAINS_AR1243_CONFIG_NAME "CHAINS_CAPT_FFT_DISP" /** \brief CSI Data Rate for data transfer from AR12xx * Valid Values are * 150 (for 150 Mbps) * 300 (for 300 Mbps) * 400 (for 400 Mbps) * 450 (for 450 Mbps) * 600 (for 600 Mbps) */ #define CHAINS_AR1243_CSI_DATA_RATE (300U) #if (CHAINS_AR1243_CSI_DATA_RATE == (150U)) /** \brief CSI Data rate value set in the AR12 parameters */ #define CHAINS_AR1243_CSI_DATA_RATE_VALUE (6) /* 150 Mbps */ /** \brief CSI High speed clock set in the AR12 parameters */ #define CHAINS_AR1243_DDR_HSI_CLK (0xB) /* 150 Mbps */ /** \brief ISS CSI clock paramter set */ #define CHAINS_AR1243_ISS_CSI_CLK (75U) /* 150 Mbps */ #elif (CHAINS_AR1243_CSI_DATA_RATE == (300U)) /** \brief CSI Data rate value set in the AR12 parameters */ #define CHAINS_AR1243_CSI_DATA_RATE_VALUE (4) /* 300 Mbps */ /** \brief CSI High speed clock set in the AR12 parameters */ #define CHAINS_AR1243_DDR_HSI_CLK (0xA) /* 300 Mbps */ /** \brief ISS CSI clock paramter set */ #define CHAINS_AR1243_ISS_CSI_CLK (150U) /* 300 Mbps */ #elif (CHAINS_AR1243_CSI_DATA_RATE == (400U)) /** \brief CSI Data rate value set in the AR12 parameters */ #define CHAINS_AR1243_CSI_DATA_RATE_VALUE (3) /* 400 Mbps */ /** \brief CSI High speed clock set in the AR12 parameters */ #define CHAINS_AR1243_DDR_HSI_CLK (0x1) /* 400 Mbps */ /** \brief ISS CSI clock paramter set */ #define CHAINS_AR1243_ISS_CSI_CLK (200U) /* 400 Mbps */ #elif (CHAINS_AR1243_CSI_DATA_RATE == (450U)) /** \brief CSI Data rate value set in the AR12 parameters */ #define CHAINS_AR1243_CSI_DATA_RATE_VALUE (2) /* 450 Mbps */ /** \brief CSI High speed clock set in the AR12 parameters */ #define CHAINS_AR1243_DDR_HSI_CLK (0x5) /* 450 Mbps */ /** \brief ISS CSI clock paramter set */ #define CHAINS_AR1243_ISS_CSI_CLK (225U) /* 450 Mbps */ #elif (CHAINS_AR1243_CSI_DATA_RATE == (600U)) /** \brief CSI Data rate value set in the AR12 parameters */ #define CHAINS_AR1243_CSI_DATA_RATE_VALUE (1) /* 600 Mbps */ /** \brief CSI High speed clock set in the AR12 parameters */ #define CHAINS_AR1243_DDR_HSI_CLK (0x9) /* 600 Mbps */ /** \brief ISS CSI clock paramter set */ #define CHAINS_AR1243_ISS_CSI_CLK (300U) /* 600 Mbps */ #else #warn "CHAINS_AR1243: No valid data rate specified!!" #endif /** * On the TDA3x EVM and the ALPS board the CSI data lane positions are * as below: * * TDA AR * ---------------- ------------------ * csi2_0_dx/y0 |-----------------| dx/dy0 * csi2_0_dx/y1 |-----------------| dx/dy2 ** Note * csi2_0_dx/y2 |-----------------| dx/dy1 ** Note * csi2_0_dx/y3 |-----------------| dx/dy3 * csi2_0_dx/y4 |-----------------| dx/dy4 * ---------------- ------------------ */ /** \brief AR CSI clock lane position */ #define CHAINS_AR1243_CSI_CLOCKLANE_POS (3U) /** \brief AR CSI first data lane position */ #define CHAINS_AR1243_CSI_DATA1LANE_POS (1U) /** \brief AR CSI second data lane position */ #define CHAINS_AR1243_CSI_DATA2LANE_POS (2U) /** \brief AR CSI third data lane position */ #define CHAINS_AR1243_CSI_DATA3LANE_POS (4U) /** \brief AR CSI fourth data lane position */ #define CHAINS_AR1243_CSI_DATA4LANE_POS (5U) //#ifdef BOARD_TYPE_TDA3XX_RVP #if 1 //Modified by HW 20170818 /** \brief TDA CSI clock lane position */ #define CHAINS_AR1243_TDA_CSI_CLOCKLANE_POS (1U) /** \brief TDA CSI first data lane position */ #define CHAINS_AR1243_TDA_CSI_DATA1LANE_POS (2U) /** \brief TDA CSI second data lane position */ #define CHAINS_AR1243_TDA_CSI_DATA2LANE_POS (3U) /** \brief TDA CSI third data lane position */ #define CHAINS_AR1243_TDA_CSI_DATA3LANE_POS (4U) /** \brief TDA CSI fourth data lane position */ #define CHAINS_AR1243_TDA_CSI_DATA4LANE_POS (5U) #else /** \brief TDA CSI clock lane position */ #define CHAINS_AR1243_TDA_CSI_CLOCKLANE_POS (2U) /** \brief TDA CSI first data lane position */ #define CHAINS_AR1243_TDA_CSI_DATA1LANE_POS (1U) /** \brief TDA CSI second data lane position */ #define CHAINS_AR1243_TDA_CSI_DATA2LANE_POS (3U) /** \brief TDA CSI third data lane position */ #define CHAINS_AR1243_TDA_CSI_DATA3LANE_POS (4U) /** \brief TDA CSI fourth data lane position */ #define CHAINS_AR1243_TDA_CSI_DATA4LANE_POS (5U) #endif /** \brief ADC Data Format for AR12 * Valid Values are * 12 (for 12 bit ADC) * 14 (for 14 bit ADC) * 16 (for 16 bit ADC) */ #define CHAINS_AR1243_ADC_DATA_FORMAT (16U) //#define CHAINS_AR1243_ADC_DATA_FORMAT (14U) //Modified by HW 20170901 #if (CHAINS_AR1243_ADC_DATA_FORMAT == (12U)) /** \brief AR12 data format value set in the configuration */ #define CHAINS_AR1243_DATA_FORMAT_CONFIG (RL_ADC_DATA_12_BIT) /* 12 bit */ /** \brief CSI data format configuration */ #define CHAINS_AR1243_CSI_CAPTURE_DATA_FORMAT (SYSTEM_CSI2_RAW12) /* 12 bit */ #elif (CHAINS_AR1243_ADC_DATA_FORMAT == (14U)) /** \brief AR12 data format value set in the configuration */ #define CHAINS_AR1243_DATA_FORMAT_CONFIG (RL_ADC_DATA_14_BIT) /* 14 bit */ /** \brief CSI data format configuration */ #define CHAINS_AR1243_CSI_CAPTURE_DATA_FORMAT (SYSTEM_CSI2_RAW14) /* 14 bit */ #elif (CHAINS_AR1243_ADC_DATA_FORMAT == (16U)) /** \brief AR12 data format value set in the configuration */ #define CHAINS_AR1243_DATA_FORMAT_CONFIG (RL_ADC_DATA_16_BIT) /* 16 bit */ /** \brief CSI data format configuration */ #define CHAINS_AR1243_CSI_CAPTURE_DATA_FORMAT (SYSTEM_CSI2_RAW8) /* 16 bit */ #else #warn "CHAINS_AR1243: No valid ADC data format specified!!" #endif /** \brief Advanced Frame Configurations */ #define CHAINS_AR1243_NUM_SUBFRAMES (2U) #define CHAINS_AR1243_NUM_BURSTS (1U) #define CHAINS_AR1243_NUM_BURST_LOOPS (1U) /** \brief Macros for time calculation */ #define CHAINS_AR1243_TIME_MS_TO_5NS(x) ((x * 1000000)/5) #define CHAINS_AR1243_TIME_US_TO_10NS(x) (x * 100) #define CHAINS_AR1243_TIME_5NS_TO_MS(x) ((x * 5)/1000000) #define CHAINS_AR1243_FREQ_CONST (3.6 * 1000000000.0/67108864.0) /** \brief Macro for Frequency Calculation. Input 'x' is in GHz */ #define CHAINS_AR1243_FREQ_GHZ_CONV(x) ((rlUInt32_t)(((float)x * 1000000000.0 + CHAINS_AR1243_FREQ_CONST)/CHAINS_AR1243_FREQ_CONST)) #define CHAINS_AR1243_FREQ_SLOPE_CONST (CHAINS_AR1243_FREQ_CONST * 900.0/1000.0) /** \brief Macro for frequency slope conversion. Input 'x' is in MHz/us */ #define CHAINS_AR1243_FREQ_MHZ_PER_MICRO_S_SLOPE_CONV(x) ((rlInt16_t)((x * 1000.0 + CHAINS_AR1243_FREQ_SLOPE_CONST)/CHAINS_AR1243_FREQ_SLOPE_CONST)) /** \brief Compile time assert for the array size not correct */ #define COMPILE_TIME_ASSERT(expr) \ extern UInt8 check_parameter_size[2]; \ extern UInt8 check_parameter_size[expr? 1: 2] /* ========================================================================== */ /* Globals */ /* ========================================================================== */ static Bsp_Ar12xxInitParams gAr12xx_initParams; /* When Advanced frame configuration is set this is ignored */ static rlFrameCfg_t gAr1243FrmArgs = { .chirpStartIdx = (rlUInt16_t) 0, .chirpEndIdx = (rlUInt16_t) CHAINS_RADAR_NUM_TX_ANTENNA - (rlUInt16_t)1, .numLoops = (rlUInt16_t) AR1243_RADAR_HEIGHT, .numFrames = (rlUInt16_t) 0, /* profileCfgArgs[1].numAdcSamples * 2 - 512 * 2*/ // .numAdcSamples = (rlUInt16_t) AR1243_PROFILE1_RADAR_WIDTH * (rlUInt16_t)2, .numAdcSamples = (rlUInt16_t) AR1243_PROFILE1_RADAR_WIDTH * (rlUInt16_t)2, .framePeriodicity = (rlUInt32_t) CHAINS_AR1243_TIME_MS_TO_5NS(150U), /* 33 ms / 30 FPS, 20 ms / 50fps */ .triggerSelect = (rlUInt16_t) RL_FRAMESTRT_API_TRIGGER, .reserved = (rlUInt32_t) 0, .reserved2 = (rlUInt32_t) 0, .frameTriggerDelay = (rlUInt32_t) 0 }; static rlProfileCfg_t gAr1243ProfileArgs[] = { { .profileId = (rlUInt16_t) 0, .startFreqConst = (rlUInt32_t) CHAINS_AR1243_FREQ_GHZ_CONV(77), .idleTimeConst = (rlUInt32_t) CHAINS_AR1243_TIME_US_TO_10NS(7U), .adcStartTimeConst = (rlUInt32_t) CHAINS_AR1243_TIME_US_TO_10NS(6U), .rampEndTime = (rlUInt32_t) CHAINS_AR1243_TIME_US_TO_10NS(60U), .txOutPowerBackoffCode = (rlUInt32_t) 0, // .txOutPowerBackoffCode = (rlUInt32_t) 0x001e1e1e, .txPhaseShifter = (rlUInt32_t) 0, .freqSlopeConst = (rlInt16_t) CHAINS_AR1243_FREQ_MHZ_PER_MICRO_S_SLOPE_CONV(25), .txStartTime = (rlInt16_t) CHAINS_AR1243_TIME_US_TO_10NS(1U), .numAdcSamples = (rlUInt16_t) AR1243_PROFILE1_RADAR_WIDTH, .digOutSampleRate = (rlUInt16_t) 16000, /* Kilo Samples per second */ .hpfCornerFreq1 = (rlUInt8_t) RL_RX_HPF1_175_KHz, .hpfCornerFreq2 = (rlUInt8_t) RL_RX_HPF2_350_KHz, .reserved = (rlUInt16_t) 0, .rxGain = (rlUInt16_t) 38 }, { .profileId = (rlUInt16_t) 1, .startFreqConst = (rlUInt32_t) CHAINS_AR1243_FREQ_GHZ_CONV(77), .idleTimeConst = (rlUInt32_t) CHAINS_AR1243_TIME_US_TO_10NS(7U), .adcStartTimeConst = (rlUInt32_t) CHAINS_AR1243_TIME_US_TO_10NS(6U), .rampEndTime = (rlUInt32_t) CHAINS_AR1243_TIME_US_TO_10NS(60U), .txOutPowerBackoffCode = (rlUInt32_t) 0, // .txOutPowerBackoffCode = (rlUInt32_t) 0x001e1e1e, .txPhaseShifter = (rlUInt32_t) 0, // .freqSlopeConst = (rlInt16_t) CHAINS_AR1243_FREQ_MHZ_PER_MICRO_S_SLOPE_CONV(59.616), .freqSlopeConst = (rlInt16_t) CHAINS_AR1243_FREQ_MHZ_PER_MICRO_S_SLOPE_CONV(25), .txStartTime = (rlInt16_t) CHAINS_AR1243_TIME_US_TO_10NS(1U), .numAdcSamples = (rlUInt16_t) AR1243_PROFILE2_RADAR_WIDTH, .digOutSampleRate = (rlUInt16_t) 16000, /* Kilo Samples per second */ .hpfCornerFreq1 = (rlUInt8_t) RL_RX_HPF1_175_KHz, .hpfCornerFreq2 = (rlUInt8_t) RL_RX_HPF2_350_KHz, .reserved = (rlUInt16_t) 0, .rxGain = (rlUInt16_t) 38 }, // { // .profileId = (rlUInt16_t) 1, // .startFreqConst = (rlUInt32_t) CHAINS_AR1243_FREQ_GHZ_CONV(77), // .idleTimeConst = (rlUInt32_t) CHAINS_AR1243_TIME_US_TO_10NS(7U), // .adcStartTimeConst = (rlUInt32_t) CHAINS_AR1243_TIME_US_TO_10NS(2U), // .rampEndTime = (rlUInt32_t) CHAINS_AR1243_TIME_US_TO_10NS(62U), //// .txOutPowerBackoffCode = (rlUInt32_t) 0, // .txOutPowerBackoffCode = (rlUInt32_t) 0x001e1e1e, // .txPhaseShifter = (rlUInt32_t) 0, // .freqSlopeConst = (rlInt16_t) CHAINS_AR1243_FREQ_MHZ_PER_MICRO_S_SLOPE_CONV(62.4), // .txStartTime = (rlInt16_t) CHAINS_AR1243_TIME_US_TO_10NS(1U), // .numAdcSamples = (rlUInt16_t) AR1243_PROFILE1_RADAR_WIDTH, // .digOutSampleRate = (rlUInt16_t) 2150, /* Kilo Samples per second */ // .hpfCornerFreq1 = (rlUInt8_t) RL_RX_HPF1_175_KHz, // .hpfCornerFreq2 = (rlUInt8_t) RL_RX_HPF2_350_KHz, // .reserved = (rlUInt16_t) 0, // .rxGain = (rlUInt16_t) 38 // } }; static rlChirpCfg_t gAr1243ChirpCfgArgs[] = { { .chirpStartIdx = (rlUInt16_t) 0x0, .chirpEndIdx = (rlUInt16_t) 0x0, .profileId = (rlUInt16_t) 0x0, /* First profile */ // .profileId = (rlUInt16_t) 0x1, .startFreqVar = (rlUInt32_t) 0x0, .freqSlopeVar = (rlInt16_t) 0x0, .idleTimeVar = (rlUInt16_t) 0x0, .adcStartTimeVar = (rlUInt16_t) 0x0, #if (CHAINS_RADAR_NUM_TX_ANTENNA > 2) .txEnable = (rlUInt16_t) 0x1, /* TX1 + TX3 */ #else .txEnable = (rlUInt16_t) 0x4, /* TX1 */ #endif .reserved = (rlUInt16_t) 0x0 }, #if (CHAINS_RADAR_NUM_TX_ANTENNA > 1) { .chirpStartIdx = (rlUInt16_t) 0x1, .chirpEndIdx = (rlUInt16_t) 0x1, .profileId = (rlUInt16_t) 0x0, /* First profile */ .startFreqVar = (rlUInt32_t) 0x0, .freqSlopeVar = (rlInt16_t) 0x0, .idleTimeVar = (rlUInt16_t) 0x0, .adcStartTimeVar = (rlUInt16_t) 0x0, #if (CHAINS_RADAR_NUM_TX_ANTENNA > 2) .txEnable = (rlUInt16_t) 0x2, /* TX1 - TX3 */ #else .txEnable = (rlUInt16_t) 0x2, /* TX2 */ #endif .reserved = (rlUInt16_t) 0x0 }, #endif #if (CHAINS_RADAR_NUM_TX_ANTENNA > 2) { .chirpStartIdx = (rlUInt16_t) 0x2, .chirpEndIdx = (rlUInt16_t) 0x2, .profileId = (rlUInt16_t) 0x0, /* First profile */ .startFreqVar = (rlUInt32_t) 0x0, .freqSlopeVar = (rlInt16_t) 0x0, .idleTimeVar = (rlUInt16_t) 0x0, .adcStartTimeVar = (rlUInt16_t) 0x0, .txEnable = (rlUInt16_t) 0x4, /* TX2 */ .reserved = (rlUInt16_t) 0x0 }, #endif }; static rlBpmChirpCfg_t gAr1243BpmChirpCfgArgs[] = { { .chirpStartIdx = (rlUInt16_t) 0x0, .chirpEndIdx = (rlUInt16_t) 0x0, .constBpmVal = (rlUInt16_t) 0x0, .reserved = (rlUInt16_t) 0x0 }, { .chirpStartIdx = (rlUInt16_t) 0x1, .chirpEndIdx = (rlUInt16_t) 0x1, .constBpmVal = (rlUInt16_t) 0x20, /* TX3 Phase is 180 degrees in On phase */ .reserved = (rlUInt16_t) 0x0 }, { .chirpStartIdx = (rlUInt16_t) 0x2, .chirpEndIdx = (rlUInt16_t) 0x2, .constBpmVal = (rlUInt16_t) 0x0, .reserved = (rlUInt16_t) 0x0 }, { .chirpStartIdx = (rlUInt16_t) 0x3, .chirpEndIdx = (rlUInt16_t) 0x3, .constBpmVal = (rlUInt16_t) 0x0, .reserved = (rlUInt16_t) 0x0 }, { .chirpStartIdx = (rlUInt16_t) 0x4, .chirpEndIdx = (rlUInt16_t) 0x4, .constBpmVal = (rlUInt16_t) 0x20, /* TX3 Phase is 180 degrees in On phase */ .reserved = (rlUInt16_t) 0x0 }, { .chirpStartIdx = (rlUInt16_t) 0x5, .chirpEndIdx = (rlUInt16_t) 0x5, .constBpmVal = (rlUInt16_t) 0x0, .reserved = (rlUInt16_t) 0x0 } }; /**< \brief Sensor configuration for the AR1243 Radar Sensor */ Bsp_Ar12xxConfigObj gAr12xx_config = { .rfChanCfgArgs = { .rxChannelEn = (rlUInt16_t) (1<= * (numLoops)* (numOfChirps) * chirpTime + InterBurstBlankTime, * where InterBurstBlankTime is primarily for sensor * calibration / monitoring, thermal control, and some minimum * time needed for triggering next burst. * NOTE: Across bursts, if the value numOfChirps, is not a * constant, then the actual available blank time can vary and * needs to be accounted for 1 LSB = 5 ns */ .chirpStartIdxOffset = (rlUInt16_t) 0, .numOfBurst = (rlUInt16_t) CHAINS_AR1243_NUM_BURSTS, .numOfBurstLoops = (rlUInt16_t) CHAINS_AR1243_NUM_BURST_LOOPS, .reserved1 = (rlUInt16_t) 0, .subFramePeriodicity = (rlUInt32_t) CHAINS_AR1243_TIME_MS_TO_5NS(66U), .reserved2 = (rlUInt32_t) 0, .reserved3 = (rlUInt32_t) 0 }, { .forceProfileIdx = (rlUInt16_t) 1, .chirpStartIdx = (rlUInt16_t) 0, .numOfChirps = (rlUInt16_t) CHAINS_RADAR_NUM_TX_ANTENNA, .numLoops = (rlUInt16_t) AR1243_RADAR_HEIGHT, .burstPeriodicity = (rlUInt32_t) CHAINS_AR1243_TIME_MS_TO_5NS(33U), .chirpStartIdxOffset = (rlUInt16_t) 0, .numOfBurst = (rlUInt16_t) CHAINS_AR1243_NUM_BURSTS, .numOfBurstLoops = (rlUInt16_t) CHAINS_AR1243_NUM_BURST_LOOPS, .reserved1 = (rlUInt16_t) 0, .subFramePeriodicity = (rlUInt32_t) CHAINS_AR1243_TIME_MS_TO_5NS(66U), .reserved2 = (rlUInt32_t) 0, .reserved3 = (rlUInt32_t) 0 }, { .forceProfileIdx = (rlUInt16_t) 0, .chirpStartIdx = (rlUInt16_t) 0, .numOfChirps = (rlUInt16_t) 0, .numLoops = (rlUInt16_t) 0, .burstPeriodicity = (rlUInt32_t) 0, .chirpStartIdxOffset = (rlUInt16_t) 0, .numOfBurst = (rlUInt16_t) 0, .numOfBurstLoops = (rlUInt16_t) 0, .reserved1 = (rlUInt16_t) 0, .subFramePeriodicity = (rlUInt32_t) 0, .reserved2 = (rlUInt32_t) 0, .reserved3 = (rlUInt32_t) 0 }, { .forceProfileIdx = (rlUInt16_t) 0, .chirpStartIdx = (rlUInt16_t) 0, .numOfChirps = (rlUInt16_t) 0, .numLoops = (rlUInt16_t) 0, .burstPeriodicity = (rlUInt32_t) 0, .chirpStartIdxOffset = (rlUInt16_t) 0, .numOfBurst = (rlUInt16_t) 0, .numOfBurstLoops = (rlUInt16_t) 0, .reserved1 = (rlUInt16_t) 0, .subFramePeriodicity = (rlUInt32_t) 0, .reserved2 = (rlUInt32_t) 0, .reserved3 = (rlUInt32_t) 0 } }, .numFrames = (rlUInt16_t) 0, .triggerSelect = (rlUInt16_t) RL_FRAMESTRT_API_TRIGGER, .frameTrigDelay = (rlUInt32_t) 0, .reserved1 = (rlUInt32_t) 0, .reserved2 = (rlUInt32_t) 0 }, .frameData = { .numSubFrames = (rlUInt8_t) CHAINS_AR1243_NUM_SUBFRAMES, .reserved1 = (rlUInt8_t) 0, .reserved2 = (rlUInt16_t) 0, .subframeDataCfg = { { .totalChirps = (rlUInt32_t) CHAINS_RADAR_NUM_TX_ANTENNA * AR1243_RADAR_HEIGHT * CHAINS_AR1243_NUM_BURSTS, /* Number of Chirps in Sub-Frame = * numOfChirps * numLoops * numOfBurst */ .numAdcSamples = (rlUInt16_t) AR1243_PROFILE1_RADAR_WIDTH * (rlUInt16_t) 2, .numChirpsInDataPacket = (rlUInt8_t) 1, /* In AR12xx: Program this as 1 */ .reserved1 = (rlUInt8_t) 0, }, { .totalChirps = (rlUInt32_t) CHAINS_RADAR_NUM_TX_ANTENNA * AR1243_RADAR_HEIGHT * CHAINS_AR1243_NUM_BURSTS, .numAdcSamples = (rlUInt16_t) AR1243_PROFILE2_RADAR_WIDTH * (rlUInt16_t) 2, .numChirpsInDataPacket = (rlUInt8_t) 1, .reserved1 = (rlUInt8_t) 0, }, { .totalChirps = (rlUInt32_t) 0, .numAdcSamples = (rlUInt16_t) 0, .numChirpsInDataPacket = (rlUInt8_t) 1, .reserved1 = (rlUInt8_t) 0, }, { .totalChirps = (rlUInt32_t) 0, .numAdcSamples = (rlUInt16_t) 0, .numChirpsInDataPacket = (rlUInt8_t) 1, .reserved1 = (rlUInt8_t) 0, } } } } }; static DEV_Struct uartAr12FlashDevObj; char gChains_ar12xxRunTimeMenu[] = { "\r\n " "\r\n ===========================" "\r\n Select Frame Configuration" "\r\n ===========================" "\r\n " "\r\n 1: Normal Frame " "\r\n 2: Advanced Frame " "\r\n " "\r\n Enter Choice: " "\r\n " }; static UInt32 gChainsCommon_ar12xxFrameType = 0U; static Void ChainsCommon_ar12xxInit(); static Void ChainsCommon_ar12xxDeInit(); static Void ChainsCommon_CalcResolution(UInt32 profileId, float *range, float *velocity); /** ******************************************************************************* * * \brief Function to print run time menu of the frame configuration selection * * \param None * /return char User Input choice. * ******************************************************************************* */ char ChainsCommon_ar12xxRunTimeMenu() { Vps_printf(gChains_ar12xxRunTimeMenu); return Chains_readChar(); } /** ******************************************************************************* * * \brief Function to enable the dummy input of objects from AR12xx * * \param None * /return retVal SYSTEM_LINK_STATUS_SOK if the test source is set correctly. * ******************************************************************************* */ Int32 ChainsCommon_ar12xxEnableTestSource(Void) { #if (CHAINS_RADAR_NUM_TX_ANTENNA == 1) Bsp_Ar12xxTestSource tsArgs = {0}; Int32 retVal = SYSTEM_LINK_STATUS_SOK; tsArgs.testObj[0].posX = 0; tsArgs.testObj[0].posY = 500; tsArgs.testObj[0].posZ = 0; tsArgs.testObj[0].velX = 0; tsArgs.testObj[0].velY = 0; tsArgs.testObj[0].velZ = 0; tsArgs.testObj[0].posXMin = -32700; tsArgs.testObj[0].posYMin = 0; tsArgs.testObj[0].posZMin = -32700; tsArgs.testObj[0].posXMax = 32700; tsArgs.testObj[0].posYMax = 32700; tsArgs.testObj[0].posZMax = 32700; tsArgs.testObj[0].sigLvl = 150; tsArgs.testObj[1].posX = 0; tsArgs.testObj[1].posY = 32700; tsArgs.testObj[1].posZ = 0; tsArgs.testObj[1].velX = 0; tsArgs.testObj[1].velY = 0; tsArgs.testObj[1].velZ = 0; tsArgs.testObj[1].posXMin = -32700; tsArgs.testObj[1].posYMin = 0; tsArgs.testObj[1].posZMin = -32700; tsArgs.testObj[1].posXMax = 32700; tsArgs.testObj[1].posYMax = 32700; tsArgs.testObj[1].posZMax = 32700; tsArgs.testObj[1].sigLvl = 948; tsArgs.rxAntPos[0].antPosX = 0; tsArgs.rxAntPos[0].antPosZ = 0; tsArgs.rxAntPos[1].antPosX = 32; tsArgs.rxAntPos[1].antPosZ = 0; tsArgs.rxAntPos[2].antPosX = 64; tsArgs.rxAntPos[2].antPosZ = 0; tsArgs.rxAntPos[3].antPosX = 96; tsArgs.rxAntPos[3].antPosZ = 0; tsArgs.txAntPos[0].antPosX = 0; tsArgs.txAntPos[0].antPosZ = 0; tsArgs.txAntPos[1].antPosX = 0; tsArgs.txAntPos[1].antPosZ = 0; tsArgs.txAntPos[2].antPosX = 0; tsArgs.txAntPos[2].antPosZ = 0; retVal = Bsp_ar12xxEnableDummySource(&tsArgs); UTILS_assert(SYSTEM_LINK_STATUS_SOK == retVal); return retVal; #else return SYSTEM_LINK_STATUS_SOK; #endif } /** ******************************************************************************* * * \brief Function to Initialize and configure the AR12 sensor. * * \param pCfgOut Configuration parameters populated by the AR12 parameters. * * \return None * ******************************************************************************* */ Void ChainsCommon_ar12xxConfig(ChainsCommon_Ar12xxConfigOut *pCfgOut) { Int32 retVal; UInt32 i; char ch; Bsp_BoardId boardId; UInt32 done = FALSE; Vps_printf(" CHAINS: Init AR12xx ... \n\r"); ChainsCommon_ar12xxInit(); boardId = Bsp_boardGetId(); if (boardId == BSP_BOARD_TDA3XX_AR12XX_ALPS) { /* For the ALPS board assume the AR12 Flash is already programmed * with firmware. Hence not downloading firmware again through SPI. * If the firmware has to be downloaded through SPI, make the input to * this API as 1 and ensure the AR12 Flash is erased. */ retVal = Bsp_ar12xxBoot(0U); } else if ((boardId == BSP_BOARD_TDA3XX_RVP_ALPHA) || (boardId == BSP_BOARD_TDA3XX_RVP_BETA) || (boardId == BSP_BOARD_TDA3XX_RVP_A)) { retVal = Bsp_ar12xxBoot(0U); } else { /* For the TDA3xx EVM + DIB + VAB + Booster Pack setup always load the * firmware via SPI. */ retVal = Bsp_ar12xxBoot(1U); } UTILS_assert(SYSTEM_LINK_STATUS_SOK == retVal); retVal = Bsp_ar12xxGetWidthHeight(&pCfgOut->csi2OutWidth, &pCfgOut->csi2OutHeight); UTILS_assert(SYSTEM_LINK_STATUS_SOK == retVal); Vps_printf(" CHAINS: Config AR12xx ... \n\r"); /* Check for certain size limitations. This will show up as compile time * issues. */ COMPILE_TIME_ASSERT(sizeof(gAr1243ChirpCfgArgs)/sizeof(rlChirpCfg_t) > 512); COMPILE_TIME_ASSERT( sizeof(gAr1243ProfileArgs)/sizeof(rlProfileCfg_t) > CHAINS_AR1243_MAX_PROFILES); while (!done) { //ch = ChainsCommon_ar12xxRunTimeMenu(); ch = '1'; //Modified by HW 20170818 if (ch == '2') { Vps_printf(" CHAINS: Configuring the parameters for Advanced Frame \n\r"); retVal = Bsp_ar12xxConfigParams(BSP_AR12XX_CONFIG_ADV_FRAME_ALL, 0U); pCfgOut->numProfiles = sizeof(gAr1243ProfileArgs)/sizeof(rlProfileCfg_t); gChainsCommon_ar12xxFrameType = 2U; done = TRUE; } else if (ch == '1') { Vps_printf(" CHAINS: Configuring the parameters for Normal Frame \n\r"); retVal = Bsp_ar12xxConfigParams(BSP_AR12XX_CONFIG_ALL, 0U); pCfgOut->numProfiles = 1U; gChainsCommon_ar12xxFrameType = 1U; done = TRUE; } else { Vps_printf(" CHAINS: Unsupported option '%c'. Please try again\n", ch); } } UTILS_assert(SYSTEM_LINK_STATUS_SOK == retVal); #if defined(ENABLE_TEST_SOURCE) Vps_printf(" CHAINS: Enabling test source ...\n\r"); ChainsCommon_ar12xxEnableTestSource(); #endif for (i = 0; i < pCfgOut->numProfiles; i++) { pCfgOut->radarWidth[i] = gAr1243ProfileArgs[i].numAdcSamples; pCfgOut->radarHeight[i] = AR1243_RADAR_HEIGHT; if (gAr12xx_config.dataPathCfgArgs.transferFmtPkt0 == (rlUInt8_t) 6) { pCfgOut->inBufAddrOffset = 4U; pCfgOut->offsetBwAntennas [i] = pCfgOut->radarWidth[i] * sizeof(UInt32) + 4U; } else if (gAr12xx_config.dataPathCfgArgs.transferFmtPkt0 == (rlUInt8_t) 9) { pCfgOut->inBufAddrOffset = 0U; pCfgOut->offsetBwAntennas [i] = pCfgOut->radarWidth[i] * sizeof(UInt32) + 4U; } else { pCfgOut->inBufAddrOffset = 0U; pCfgOut->offsetBwAntennas [i] = pCfgOut->radarWidth[i] * sizeof(UInt32); } } pCfgOut->numTxAntenna = CHAINS_RADAR_NUM_TX_ANTENNA; pCfgOut->numRxAntenna = CHAINS_RADAR_NUM_RX_ANTENNA; for (i = 0; i < pCfgOut->numProfiles; i++) { ChainsCommon_CalcResolution(i, &pCfgOut->rangeRes[i], &pCfgOut->velocityRes[i]); } pCfgOut->numValidBits = CHAINS_AR1243_ADC_DATA_FORMAT; Vps_printf(" CHAINS: Init AR12xx ... DONE !!!\n\r"); } /** ******************************************************************************* * * \brief Function to Start the AR12 sensor * * \param None * * \return None * ******************************************************************************* */ Void ChainsCommon_ar12xxStart(void) { Int32 retVal = SYSTEM_LINK_STATUS_SOK; Vps_printf(" CHAINS: AR12xx Starting Radar Sensor ...\n\r"); retVal = Bsp_ar12xxStartRadar(); UTILS_assert(SYSTEM_LINK_STATUS_SOK == retVal); Vps_printf(" CHAINS: AR12xx Starting Radar Sensor ... DONE !!!\n\r"); } Void ChainsCommon_ar12xxStop() { Int32 retVal = SYSTEM_LINK_STATUS_SOK; Vps_printf(" CHAINS: AR12xx Stopping Radar Sensor ...\n\r"); retVal = Bsp_ar12xxStopRadar(); UTILS_assert(SYSTEM_LINK_STATUS_SOK == retVal); Task_sleep(100); ChainsCommon_ar12xxDeInit(); Vps_printf(" CHAINS: AR12xx Stopping Radar Sensor ... DONE !!!\n\r"); } /** ******************************************************************************* * * \brief Function to Set up the ISS capture parameters * * \param pPrm ISS Capture params * * \return None * ******************************************************************************* */ Void ChainsCommon_ar12xxSetIssCaptureParams(IssCaptureLink_CreateParams *pPrm) { Int32 retVal; UInt32 outWidth, outHeight; UInt32 idx; retVal = Bsp_ar12xxGetWidthHeight(&outWidth, &outHeight); UTILS_assert(SYSTEM_LINK_STATUS_SOK == retVal); memset(pPrm, 0, sizeof(IssCaptureLink_CreateParams)); /* Set CSI2 Capture params */ pPrm->videoIfMode = SYSTEM_VIFM_SCH_CSI2; pPrm->videoIfWidth = SYSTEM_VIFW_4LANES; pPrm->bufCaptMode = SYSTEM_CAPT_BCM_LAST_FRM_REPEAT; pPrm->allocBufferForRawDump = 0U; pPrm->numCh = 1U; pPrm->outParams[0U].dataFormat = SYSTEM_DF_BAYER_BGGR; pPrm->outParams[0U].inCsi2DataFormat = CHAINS_AR1243_CSI_CAPTURE_DATA_FORMAT; pPrm->outParams[0U].inCsi2VirtualChanNum = 0U; // pPrm->outParams[0U].numOutBuf = 3U; pPrm->outParams[0U].numOutBuf = 4U; //Modified by HW 20170822 if (pPrm->outParams[0U].inCsi2DataFormat == SYSTEM_CSI2_RAW8) { pPrm->outParams[0U].width = outWidth * 2U; } else { pPrm->outParams[0U].width = outWidth; } pPrm->outParams[0U].height = outHeight; pPrm->outParams[0U].maxWidth = pPrm->outParams[0U].width; pPrm->outParams[0U].maxHeight = pPrm->outParams[0U].height; for(idx = 0U; idx < ISSCAPT_LINK_MAX_CMPLXIO_INST; idx++) { pPrm->csi2Params[idx].isCmplxIoCfgValid = FALSE; pPrm->csi2Params[idx].cmplxIoCfg.clockLane.pol = (UInt32) FALSE; pPrm->csi2Params[idx].cmplxIoCfg.clockLane.position = CHAINS_AR1243_TDA_CSI_CLOCKLANE_POS; pPrm->csi2Params[idx].cmplxIoCfg.data1Lane.pol = (UInt32) FALSE; pPrm->csi2Params[idx].cmplxIoCfg.data1Lane.position = CHAINS_AR1243_TDA_CSI_DATA1LANE_POS; pPrm->csi2Params[idx].cmplxIoCfg.data2Lane.pol = (UInt32) FALSE; pPrm->csi2Params[idx].cmplxIoCfg.data2Lane.position = CHAINS_AR1243_TDA_CSI_DATA2LANE_POS; pPrm->csi2Params[idx].cmplxIoCfg.data3Lane.pol = (UInt32) FALSE; pPrm->csi2Params[idx].cmplxIoCfg.data3Lane.position = CHAINS_AR1243_TDA_CSI_DATA3LANE_POS; pPrm->csi2Params[idx].cmplxIoCfg.data4Lane.pol = (UInt32) FALSE; pPrm->csi2Params[idx].cmplxIoCfg.data4Lane.position = CHAINS_AR1243_TDA_CSI_DATA4LANE_POS; pPrm->csi2Params[idx].csi2PhyClk = CHAINS_AR1243_ISS_CSI_CLK; } pPrm->csi2Params[0].isCmplxIoCfgValid = TRUE; } /** ******************************************************************************* * * \brief Function to flash and erase AR12 QSPI flash via UART communication * interface to the AR12 ROM * * \param None * * \return None * ******************************************************************************* */ Void ChainsCommon_ar12xxFirmwareFlash(void) { char ch; Bool done = FALSE; Int32 retVal = BSP_SOK; static UInt32 eraseDone = 0U; char gChainsCommon_ar12xxFlashMenu[] = { "\r\n " "\r\n AR12XX Flash Programming Menu" "\r\n -----------------------------" "\r\n " "\r\n 1: Erase AR12xx Flash." "\r\n " "\r\n 2: Flash AR12xx Firmware." "\r\n " "\r\n x: Exit" "\r\n " "\r\n Enter Choice: " "\r\n " }; ChainsCommon_ar12xxInit(); while(!done) { Vps_printf(gChainsCommon_ar12xxFlashMenu); ch = Chains_readChar(); Vps_printf(" \r\n"); switch(ch) { case '1': /* Only erase the flash such that the flash is empty */ if (eraseDone == 0U) { Vps_printf(" CHAINS: Started erasing the AR12 flash memory....\n\r"); retVal = Bsp_ar12xxEraseFirmware(); UTILS_assert(SYSTEM_LINK_STATUS_SOK == retVal); eraseDone = 1U; Vps_printf(" CHAINS: Erasing AR12 flash memory completed.\n\r"); } else { Vps_printf(" CHAINS: Erasing AR12 flash memory already done.\n\r"); } break; case '2': /* Flash the MSS, BSS and Config sections of the firmware. */ if (eraseDone == 0U) { Vps_printf(" CHAINS: Started erasing the AR12 flash memory....\n\r"); retVal = Bsp_ar12xxEraseFirmware(); UTILS_assert(SYSTEM_LINK_STATUS_SOK == retVal); Vps_printf(" CHAINS: Erasing AR12 flash memory completed.\n\r"); } Vps_printf(" CHAINS: Started flashing the AR12 firmware....\n\r"); retVal = Bsp_ar12xxFlashFirmware(); UTILS_assert(SYSTEM_LINK_STATUS_SOK == retVal); eraseDone = 0U; Vps_printf(" CHAINS: Finished flashing the AR12 firmware.\n\r"); break; case 'x': case 'X': done = TRUE; break; default: Vps_printf(" Unsupported option '%c'. Please try again\n", ch); break; } } ChainsCommon_ar12xxDeInit(); } /** ******************************************************************************* * * \brief Function to check if the profile, chirp and frame configurations * are okay * * \param None * * \return retval SYSTEM_LINK_STATUS_SOK if the parameters are matching the * programmed values. * ******************************************************************************* */ Int32 ChainsCommon_ar12xxCheckParameters(void) { Int32 retVal = SYSTEM_LINK_STATUS_SOK; rlProfileCfg_t retProfConfig; rlChirpCfg_t retChirpConfig; rlFrameCfg_t retFrameConfig; UInt32 i = 0; /* Check for the profile configurations */ for (i = 0; i < gAr12xx_config.numProfileCfgArgs; i++) { retVal = Bsp_ar12xxGetConfiguredParam(BSP_AR12XX_CONFIG_PROFILE_PARAM, i, &retProfConfig); if ((0 == memcmp(&retProfConfig, &gAr12xx_config.profileCfgArgs[i], sizeof(rlProfileCfg_t))) && (retVal == SYSTEM_LINK_STATUS_SOK)) { retVal = SYSTEM_LINK_STATUS_SOK; } else if (retVal == BSP_EUNSUPPORTED_CMD) { /* Do nothing as an ES1.0 AR device has been detected */ retVal = SYSTEM_LINK_STATUS_SOK; break; } else { retVal = SYSTEM_LINK_STATUS_EFAIL; Vps_printf(" CHAINS: Profile Config Param Id %d did not match!!\n", i); } } if (retVal == SYSTEM_LINK_STATUS_SOK) { /* Check for the chirp configurations */ for (i = 0U; i < gAr12xx_config.numChirpCfgArgs; i++) { retVal = Bsp_ar12xxGetConfiguredParam(BSP_AR12XX_CONFIG_CHIRP_PARAM, i, &retChirpConfig); if ((0 == memcmp(&retChirpConfig, &gAr12xx_config.chirpCfgArgs[i], sizeof(rlChirpCfg_t))) && (retVal == SYSTEM_LINK_STATUS_SOK)) { retVal = SYSTEM_LINK_STATUS_SOK; } else if (retVal == BSP_EUNSUPPORTED_CMD) { /* Do nothing as an ES1.0 AR device has been detected */ retVal = SYSTEM_LINK_STATUS_SOK; break; } else { retVal = SYSTEM_LINK_STATUS_EFAIL; Vps_printf(" CHAINS: Chirp Config Param Id %d did not match!!\n", i); } } } if (retVal == SYSTEM_LINK_STATUS_SOK) { /* Check for the frame configurations */ for (i = 0U; i < 1U; i++) { retVal += Bsp_ar12xxGetConfiguredParam(BSP_AR12XX_CONFIG_FRAME_PARAM, i, &retFrameConfig); if ((0 == memcmp(&retFrameConfig, &gAr12xx_config.frameCfgArgs[i], sizeof(rlFrameCfg_t))) && (retVal == SYSTEM_LINK_STATUS_SOK)) { retVal += SYSTEM_LINK_STATUS_SOK; } else if (retVal == BSP_EUNSUPPORTED_CMD) { /* Do nothing as an ES1.0 AR device has been detected */ retVal = SYSTEM_LINK_STATUS_SOK; break; } else { retVal = SYSTEM_LINK_STATUS_EFAIL; Vps_printf(" CHAINS: Frame Config Param did not match!!\n"); } } } if (retVal == SYSTEM_LINK_STATUS_SOK) { Vps_printf(" CHAINS: Parameters have matched with programmed!!\n"); } return retVal; } /** ******************************************************************************* * * \brief Function to change the profile parameters at run time * * \param algId Algorithm Link ID for the FFT Heat Map * \param pAr12xxCfg Pointer to the configuration structure. * * \return retval SYSTEM_LINK_STATUS_SOK if the parameter change has happened. * ******************************************************************************* */ Int32 ChainsCommon_ar12xxChangeParameters(UInt32 algId, ChainsCommon_Ar12xxConfigOut *pCfgOut) { Int32 retVal = SYSTEM_LINK_STATUS_SOK; Vps_printf(" CHAINS: AR12xx Stopping Radar Sensor ...\n\r"); retVal = Bsp_ar12xxStopRadar(); UTILS_assert(SYSTEM_LINK_STATUS_SOK == retVal); Vps_printf(" CHAINS: AR12xx Radar Stopped ...\n\r"); /* This sleep is required else the Radar re-start fails. Fixed in 0.8 DFP * with async event for stop frame. Worst case delay assumed with buffer. */ if (gChainsCommon_ar12xxFrameType == 1U) { /* Normal Frame */ BspOsal_sleep(2 * CHAINS_AR1243_TIME_5NS_TO_MS(gAr1243FrmArgs.framePeriodicity)); } else { /* Advanced Frame */ BspOsal_sleep(2 * CHAINS_AR1243_TIME_5NS_TO_MS( gAr12xx_config.advFrameCfgArgs.frameSeq.subFrameCfg[0].subFramePeriodicity + gAr12xx_config.advFrameCfgArgs.frameSeq.subFrameCfg[1].subFramePeriodicity + gAr12xx_config.advFrameCfgArgs.frameSeq.subFrameCfg[2].subFramePeriodicity + gAr12xx_config.advFrameCfgArgs.frameSeq.subFrameCfg[3].subFramePeriodicity)); } /* Change the parameters as required. */ if (gAr1243ProfileArgs[0].freqSlopeConst == CHAINS_AR1243_FREQ_MHZ_PER_MICRO_S_SLOPE_CONV(62.4)) { gAr1243ProfileArgs[0].freqSlopeConst = CHAINS_AR1243_FREQ_MHZ_PER_MICRO_S_SLOPE_CONV(32.4); } else { gAr1243ProfileArgs[0].freqSlopeConst = CHAINS_AR1243_FREQ_MHZ_PER_MICRO_S_SLOPE_CONV(62.4); } ChainsCommon_CalcResolution(0, &pCfgOut->rangeRes[0], &pCfgOut->velocityRes[0]); Vps_printf(" CHAINS: Reconfiguring Parameters ...\n\r"); retVal = Bsp_ar12xxConfigParams(BSP_AR12XX_CONFIG_PROFILE_PARAM, 0U); Vps_printf(" CHAINS: Reconfigured Parameters ...\n\r"); ChainsCommon_ar12xxSetFFTHeatMapProfile(algId, pCfgOut, 0); Vps_printf(" CHAINS: AR12xx Re-starting Radar Sensor ...\n\r"); retVal = Bsp_ar12xxStartRadar(); UTILS_assert(SYSTEM_LINK_STATUS_SOK == retVal); Vps_printf(" CHAINS: AR12xx Radar Started ...\n\r"); return retVal; } static Void ChainsCommon_ar12xxInit(void) { char customName[BSP_AR12XX_MAX_SENSOR_NAME_LENGTH] = CHAINS_AR1243_CONFIG_NAME; Int32 retVal = BSP_SOK; Bsp_BoardId boardId; /* Get the initial default parameters for the radar link configuration */ Bsp_ar12xxInitParams_init (&gAr12xx_initParams); boardId = Bsp_boardGetId(); if (boardId == BSP_BOARD_TDA3XX_AR12XX_ALPS) { Bsp_Ar12xxGpioInputParams inGpioParamsDef = {(UInt8) 3, (UInt8) 15, (UInt16) 51}; /* GPIO4, Pin 15, CPU Intr 51 */ Bsp_Ar12xxGpioOutputParams outGpioParamsDef[BSP_AR12XX_GPIO_OUTPUT_COUNT] = { /* GPIO2, PIN 7 BSP_AR12XX_GPIO_OUTPUT_NRESET */ {(UInt8) 1, (UInt8) 7}, /* GPIO2, PIN 6: BSP_AR12XX_GPIO_OUTPUT_WARM_RESET */ {(UInt8) 1, (UInt8) 6}, /* Not Used: BSP_AR12XX_GPIO_OUTPUT_NERRORIN */ {(UInt8) 0xFF, (UInt8) 5 }, /* GPIO1, PIN 5: BSP_AR12XX_GPIO_OUTPUT_SOP_MODE_SEL_TDO */ {(UInt8) 0, (UInt8) 5}, /* GPIO1 PIN 4: BSP_AR12XX_GPIO_OUTPUT_SOP_MODE_SEL_SYNCOUT */ {(UInt8) 0, (UInt8) 4}, /* GPIO1 PIN 6: BSP_AR12XX_GPIO_OUTPUT_SOP_MODE_SEL_PMICOUT */ {(UInt8) 0, (UInt8) 6} }; memcpy(&gAr12xx_initParams.inGpioParams[0], &inGpioParamsDef, sizeof (inGpioParamsDef)); memcpy(&gAr12xx_initParams.outGpioParams[0], outGpioParamsDef, sizeof (outGpioParamsDef)); /* Use McSPI 2 */ gAr12xx_initParams.mcSpiDevInst = 1U; Utils_mcspiInit(CHAINS_SINGLE_RAD_SENSOR_MCSPI_INST1); } else if ((boardId == BSP_BOARD_TDA3XX_RVP_ALPHA) || (boardId == BSP_BOARD_TDA3XX_RVP_BETA) || (boardId == BSP_BOARD_TDA3XX_RVP_A)) { Bsp_Ar12xxGpioInputParams inGpioParamsDef = {(UInt8) 3, (UInt8) 15, (UInt16) 51}; /* GPIO4, Pin 15, CPU Intr 51 */ Bsp_Ar12xxGpioOutputParams outGpioParamsDef[BSP_AR12XX_GPIO_OUTPUT_COUNT] = { /* GPIO2, PIN 7 BSP_AR12XX_GPIO_OUTPUT_NRESET */ {(UInt8) 1, (UInt8) 7}, /* Not Used: BSP_AR12XX_GPIO_OUTPUT_WARM_RESET */ {(UInt8) 0xFF, (UInt8) 17}, /* Not Used: BSP_AR12XX_GPIO_OUTPUT_NERRORIN */ {(UInt8) 0xFF, (UInt8) 5 }, /* GPIO2, PIN 14: BSP_AR12XX_GPIO_OUTPUT_SOP_MODE_SEL_TDO */ {(UInt8) 1, (UInt8) 14}, /* GPIO2, PIN 13: BSP_AR12XX_GPIO_OUTPUT_SOP_MODE_SEL_SYNCOUT */ {(UInt8) 1, (UInt8) 13}, /* GPIO2, PIN 12: BSP_AR12XX_GPIO_OUTPUT_SOP_MODE_SEL_PMICOUT */ {(UInt8) 1, (UInt8) 12} }; memcpy(&gAr12xx_initParams.inGpioParams[0], &inGpioParamsDef, sizeof (inGpioParamsDef)); memcpy(&gAr12xx_initParams.outGpioParams[0], outGpioParamsDef, sizeof (outGpioParamsDef)); /* Use McSPI 2 */ gAr12xx_initParams.mcSpiDevInst = 1U; Utils_mcspiInit(CHAINS_SINGLE_RAD_SENSOR_MCSPI_INST1); } else { Utils_mcspiInit(CHAINS_SINGLE_RAD_SENSOR_MCSPI_INST0); } Utils_uartCreateDevice(gAr12xx_initParams.uartDevInst, &uartAr12FlashDevObj); retVal = Bsp_ar12xxRegisterConfig(customName, &gAr12xx_config); UTILS_assert(SYSTEM_LINK_STATUS_SOK == retVal); strcpy(gAr12xx_initParams.radarConfigName, customName); /* Set the EDMA Handle */ gAr12xx_initParams.edmaHandle = Utils_dmaGetEdma3Hndl(UTILS_DMA_SYSTEM_EDMA_INST_ID); retVal = Bsp_ar12xxInit(&gAr12xx_initParams); UTILS_assert(SYSTEM_LINK_STATUS_SOK == retVal); /* This is an optional step if the only a single AR1243 configuration is used. * If there are more than one configurations used then one can use the following API to * switch between configurations after performing Bsp_ar12xxInit. */ retVal = Bsp_ar12xxSwitchConfig(customName); UTILS_assert(SYSTEM_LINK_STATUS_SOK == retVal); } static Void ChainsCommon_ar12xxDeInit() { Int32 retVal = SYSTEM_LINK_STATUS_SOK; char customName[BSP_AR12XX_MAX_SENSOR_NAME_LENGTH] = CHAINS_AR1243_CONFIG_NAME; Bsp_BoardId boardId; Vps_printf(" CHAINS: AR12xx De-initing Radar Sensor ...\n\r"); retVal = Bsp_ar12xxDeInit(); UTILS_assert(SYSTEM_LINK_STATUS_SOK == retVal); retVal = Bsp_ar12xxUnRegisterConfig(customName); UTILS_assert(SYSTEM_LINK_STATUS_SOK == retVal); Vps_printf(" CHAINS: AR12xx De-initing McSPI ...\n\r"); boardId = Bsp_boardGetId(); if (boardId == BSP_BOARD_TDA3XX_AR12XX_ALPS) { Utils_mcspiDeinit(CHAINS_SINGLE_RAD_SENSOR_MCSPI_INST1); } else if ((boardId == BSP_BOARD_TDA3XX_RVP_ALPHA) || (boardId == BSP_BOARD_TDA3XX_RVP_BETA) || (boardId == BSP_BOARD_TDA3XX_RVP_A)) { Utils_mcspiDeinit(CHAINS_SINGLE_RAD_SENSOR_MCSPI_INST1); } else { Utils_mcspiDeinit(CHAINS_SINGLE_RAD_SENSOR_MCSPI_INST0); } Utils_uartDeleteDevice(&uartAr12FlashDevObj); /* Re-initializing to have same usecase behavior every time we restart */ gAr1243ProfileArgs[0].freqSlopeConst = CHAINS_AR1243_FREQ_MHZ_PER_MICRO_S_SLOPE_CONV(62.4); } static Void ChainsCommon_CalcResolution(UInt32 profileId, float *range, float *velocity) { float sampling_rate, slope, speedOfLight; float startFreq, chirpRepetitionTime; /* Range resolution is derived using the formula: * deltaR = speed of light * --------------------------- (in meters) * (2 x Radar Chirp Bandwidth) * Radar Chirp Bandwidth = Chirp Slope * Number of samples per chirp * ----------------------------------------- * Sampling Rate */ sampling_rate = gAr1243ProfileArgs[profileId].digOutSampleRate * 100.0; slope = gAr1243ProfileArgs[profileId].freqSlopeConst * 48.0; speedOfLight = 3.0; *range = (sampling_rate * speedOfLight)/ (2.0 * slope * (float)gAr1243ProfileArgs[profileId].numAdcSamples); /* Velocity Resolution is derived using the formula: * 1 speed of light * deltaV = ----------------------------- x ------------------------ (in m/s) * Doppler Dimention x Chirp Time 2 x Starting Frequency */ startFreq = gAr1243ProfileArgs[profileId].startFreqConst * 54.0; chirpRepetitionTime = (gAr1243ProfileArgs[profileId].rampEndTime + gAr1243ProfileArgs[profileId].idleTimeConst) * 10.0/1000000000; *velocity = (speedOfLight * 100000000.0)/ (AR1243_RADAR_HEIGHT * 2.0 * chirpRepetitionTime * startFreq); } /** ******************************************************************************* * * \brief Function to Initialize and configure the AR12 sensor. * * \param pCfgOut Configuration parameters populated by the AR12 parameters. * * \return None * ******************************************************************************* */ Void ChainsCommon_ar12xxFpdConfig(ChainsCommon_Ar12xxConfigOut *pCfgOut) { Int32 retVal; Vps_printf(" CHAINS: Init AR12xx ... \n\r"); ChainsCommon_ar12xxInit(); pCfgOut->numProfiles = 1U; gChainsCommon_ar12xxFrameType = 1U; gAr12xx_config.dataPathCfgArgs.transferFmtPkt0 = 1; retVal = Bsp_ar12xxGetWidthHeight(&pCfgOut->csi2OutWidth, &pCfgOut->csi2OutHeight); UTILS_assert(SYSTEM_LINK_STATUS_SOK == retVal); pCfgOut->radarWidth[0] = gAr1243ProfileArgs[1].numAdcSamples; pCfgOut->radarHeight[0] = AR1243_RADAR_HEIGHT; pCfgOut->inBufAddrOffset = 0U; pCfgOut->offsetBwAntennas [0] = pCfgOut->radarWidth[0] * sizeof(UInt32); pCfgOut->numTxAntenna = CHAINS_RADAR_NUM_TX_ANTENNA; pCfgOut->numRxAntenna = CHAINS_RADAR_NUM_RX_ANTENNA; ChainsCommon_CalcResolution(1, &pCfgOut->rangeRes[0], &pCfgOut->velocityRes[0]); pCfgOut->numValidBits = CHAINS_AR1243_ADC_DATA_FORMAT; Vps_printf(" CHAINS: Init AR12xx ... DONE !!!\n\r"); } /** ******************************************************************************* * * \brief Function to Set up the ISS capture parameters * * \param pPrm ISS Capture params * * \return None * ******************************************************************************* */ Void ChainsCommon_ar12xxFpdSetIssCaptureParams(IssCaptureLink_CreateParams *pPrm) { Int32 retVal; UInt32 outWidth, outHeight; UInt32 idx; retVal = Bsp_ar12xxGetWidthHeight(&outWidth, &outHeight); UTILS_assert(SYSTEM_LINK_STATUS_SOK == retVal); memset(pPrm, 0, sizeof(IssCaptureLink_CreateParams)); /* Set CSI2 Capture params */ pPrm->videoIfMode = SYSTEM_VIFM_SCH_CSI2; pPrm->videoIfWidth = SYSTEM_VIFW_4LANES; pPrm->bufCaptMode = SYSTEM_CAPT_BCM_LAST_FRM_REPEAT; pPrm->allocBufferForRawDump = 0U; pPrm->numCh = 1U; pPrm->outParams[0U].dataFormat = SYSTEM_DF_BAYER_BGGR; pPrm->outParams[0U].inCsi2DataFormat = CHAINS_AR1243_CSI_CAPTURE_DATA_FORMAT; pPrm->outParams[0U].inCsi2VirtualChanNum = 0U; pPrm->outParams[0U].numOutBuf = 3; if (pPrm->outParams[0U].inCsi2DataFormat == SYSTEM_CSI2_RAW8) { pPrm->outParams[0U].width = outWidth * 2U; } else { pPrm->outParams[0U].width = outWidth; } pPrm->outParams[0U].height = outHeight; pPrm->outParams[0U].maxWidth = pPrm->outParams[0U].width; pPrm->outParams[0U].maxHeight = pPrm->outParams[0U].height; for(idx = 0U; idx < ISSCAPT_LINK_MAX_CMPLXIO_INST; idx++) { pPrm->csi2Params[idx].isCmplxIoCfgValid = FALSE; pPrm->csi2Params[idx].cmplxIoCfg.clockLane.pol = (UInt32) FALSE; pPrm->csi2Params[idx].cmplxIoCfg.clockLane.position = 1U; pPrm->csi2Params[idx].cmplxIoCfg.data1Lane.pol = (UInt32) FALSE; pPrm->csi2Params[idx].cmplxIoCfg.data1Lane.position = 2U; pPrm->csi2Params[idx].cmplxIoCfg.data2Lane.pol = (UInt32) FALSE; pPrm->csi2Params[idx].cmplxIoCfg.data2Lane.position = 3U; pPrm->csi2Params[idx].cmplxIoCfg.data3Lane.pol = (UInt32) FALSE; pPrm->csi2Params[idx].cmplxIoCfg.data3Lane.position = 4U; pPrm->csi2Params[idx].cmplxIoCfg.data4Lane.pol = (UInt32) FALSE; pPrm->csi2Params[idx].cmplxIoCfg.data4Lane.position = 5U; pPrm->csi2Params[idx].csi2PhyClk = 800U; } pPrm->csi2Params[0].isCmplxIoCfgValid = TRUE; } /** ******************************************************************************* * * \brief Function to Start the Deserializer * * \param None * * \return None * ******************************************************************************* */ Void ChainsCommon_ar12xxFpdStart(void) { Int32 retVal = SYSTEM_LINK_STATUS_SOK; Vps_printf(" CHAINS: AR12xx Starting Deserializer ...\n\r"); retVal = BspUtils_fpdInitAR12xx(); UTILS_assert(SYSTEM_LINK_STATUS_SOK == retVal); Vps_printf(" CHAINS: AR12xx Starting Deserializer ... DONE !!!\n\r"); } Void ChainsCommon_ar12xxFpdStop(void) { Vps_printf(" CHAINS: AR12xx De-initing Deserializer ...\n\r"); BspUtils_fpdDeInitAR12xx(); Vps_printf(" CHAINS: AR12xx De-initing Deserializer ... DONE !\n\r"); ChainsCommon_ar12xxDeInit(); }