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Part Number: TDA2EVM5777
Hello! I have TDA2EVM5777 and I research radar SDK. I successfully built and run radar_read_fft_write and radar_read_objectdetect_write usecases. Also I find information about matlab script radar_cascade_demo.m which using in cascade_radar_object_detect usecase. So, is it possible to use this matlab script in radar_read_fft_write or radar_read_objectdetect_write usecases for visualisation without Display_Video?
Thanks,
Alex
Hi Alex,
It is not possible to use it as-is. You have to make sure the output format matches what is expected by the matlab script.
You also need to change the use case to add the network link to transfer data to PC over Ethernet.
Regards,
Stanley
Hi Stanley,
Thanks for your reply! I modify radar_read_fft_write usecase in radarfilereadfftwrite part, i delete Null and paste NetworkTx(IPU1_1) from radarnetworkreadfftwrite part, it works but i cant see any network packages. Where i did a mistake?
update: do i need run network_rx.exe to get packages or before run matlab script?
Regards,
Alex
UseCase: chains_radarfilereadfftwrite NullSource -> Alg_RadarProcess_fft (DSP1) -> Dup_0 (DSP1) -> NetworkTx(IPU1_1) Dup_0 -> Alg_RadarProcess_draw (DSP1) -> Display_Video GrpxSrc -> Display_Grpx
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/*******************************************************************************
* INCLUDE FILES
*******************************************************************************
*/
#include "chains_radarfilereadfftwrite_priv.h"
#include "chains_radarnetworkreadfftwrite_priv.h"
#include <include/common/chains_radar.h>
#include <include/common/chains_radar_file_io.h>
#define CHAINS_RADAR_INPUT_FILE "Input_512x128_4Rx_1Tx_1TS_10Frm.bin"
#define CHAINS_RADAR_CHIRP_SIZE (512U)
#define CHAINS_RADAR_HEIGHT (128U)
#define CHAINS_RADAR_NUM_RX_ANTENNA (4U)
#define CHAINS_RADAR_NUM_TX_ANTENNA (1U)
#define CHAINS_RADAR_NUM_FRAMES (10U)
#define CHAINS_RADAR_HEAT_MAP_RANGE_RES ((float)0.07862822061191625)
#define CHAINS_RADAR_HEAT_MAP_VELOCITY_RES ((float)0.2256548202963532)
/**
*******************************************************************************
*
* \brief Chains_radarreadfftwriteObj
*
* This structure contains all the LinksId's and create Params.
* The same is passed to all create, start, stop functions.
*
*******************************************************************************
*/
typedef struct {
chains_radarfilereadfftwriteObj ucFileObj;
chains_radarnetworkreadfftwriteObj ucNetObj;
UInt32 displayWidth;
UInt32 displayHeight;
FileIO_CreateParams FileIoPrm;
ChainsCommon_Ar12xxConfigOut ar12xxCfg;
Chains_Ctrl *chainsCfg;
/* Algorithm Function Create Parameters */
AlgorithmFxn_RadarFftCreateParams radarFftParams;
AlgorithmFxn_RadarDrawFFTHeatMapCreateParams RadarDrawFFTHeatMapPrm;
Chains_DataRdWrType linkType;
} Chains_radarreadfftwriteAppObj;
static char Chains_customfftRunTimeMenu();
Void chains_radarreadfftwrite_SetDisplayVideoPrms(DisplayLink_CreateParams *pPrm,
Chains_DisplayType displayType,
UInt32 w,
UInt32 h)
{
if (pPrm)
{
if((displayType == CHAINS_DISPLAY_TYPE_SDTV_NTSC) ||
(displayType == CHAINS_DISPLAY_TYPE_SDTV_PAL))
{
pPrm->displayScanFormat = SYSTEM_SF_INTERLACED;
}
pPrm->rtParams.tarWidth = w;
pPrm->rtParams.tarHeight = h;
pPrm->rtParams.posX = 0;
pPrm->rtParams.posY = 0;
pPrm->displayId = DISPLAY_LINK_INST_DSS_VID1;
}
}
/**
*******************************************************************************
*
* \brief Start the Links
*
* Function sends a control command to all the links to
* to Start them. Links are started in reverce
* order as information of next link is required to connect.
* System_linkStart is called with LinkId to start the links.
*
* \param pObj [IN] Chains_radarreadfftwriteAppObj
*
* \return SYSTEM_LINK_STATUS_SOK on success
*
*******************************************************************************
*/
Void chains_radarreadfftwrite_StartApp(Chains_radarreadfftwriteAppObj *pObj)
{
ChainsCommon_StartDisplayDevice(pObj->chainsCfg->displayType);
Chains_memPrintHeapStatus();
if (CHAINS_RADAR_LINKTYPE_FILE == pObj->linkType)
{
chains_radarfilereadfftwrite_Start(&pObj->ucFileObj);
}
else
{
chains_radarnetworkreadfftwrite_Start(&pObj->ucNetObj);
}
Chains_prfLoadCalcEnable(TRUE, FALSE, FALSE);
}
/**
*******************************************************************************
*
* \brief Delete the usecase Links
*
* Function sends a control command to all usecase links to
* to delete them
* System_linkDelete is called with LinkId to delete the links.
*
* \param pObj [IN] Chains_radarreadfftwriteAppObj
*
*******************************************************************************
*/
Void chains_radarreadfftwrite_StopAndDeleteApp(Chains_radarreadfftwriteAppObj *pObj)
{
if (CHAINS_RADAR_LINKTYPE_FILE == pObj->linkType)
{
chains_radarfilereadfftwrite_Stop(&pObj->ucFileObj);
chains_radarfilereadfftwrite_Delete(&pObj->ucFileObj);
}
else
{
chains_radarnetworkreadfftwrite_Stop(&pObj->ucNetObj);
chains_radarnetworkreadfftwrite_Delete(&pObj->ucNetObj);
}
ChainsCommon_StopDisplayCtrl();
ChainsCommon_StopDisplayDevice(pObj->chainsCfg->displayType);
if (CHAINS_RADAR_LINKTYPE_FILE == pObj->linkType)
{
Chains_fileClose();
Chains_fileDeInit(&pObj->FileIoPrm);
}
/* Print the HWI, SWI and all tasks load */
/* Reset the accumulated timer ticks */
Chains_prfLoadCalcEnable(FALSE, TRUE, TRUE);
}
/**
*******************************************************************************
*
* \brief Set link Parameters for file link
*
* It is called in Create function of the auto generated use-case file.
*
* \param pUcFileObj [IN] Auto-generated usecase object
* \param appObj [IN] Application specific object
*
*******************************************************************************
*/
Void chains_radarfilereadfftwrite_SetAppPrms(chains_radarfilereadfftwriteObj *pUcFileObj, Void *appObj)
{
Chains_radarreadfftwriteAppObj *pObj
= (Chains_radarreadfftwriteAppObj*)appObj;
UInt32 chId, cnt;
NullSrcLink_CreateParams *pNullSrcPrm;
NetworkTxLink_CreateParams *pNullPrm;
System_LinkChInfo *pChInfo;
FileIO_CreateParams *pFileIoPrm;
UInt32 range[8] = {2999, 3999, 4999, 5999, 6999,
7999, 8999, 999999};
pObj->ar12xxCfg.radarParams[0].csi2OutWidth = CHAINS_RADAR_CHIRP_SIZE*2*CHAINS_RADAR_NUM_RX_ANTENNA;
pObj->ar12xxCfg.radarParams[0].csi2OutHeight= CHAINS_RADAR_HEIGHT*CHAINS_RADAR_NUM_TX_ANTENNA;
pObj->ar12xxCfg.radarParams[0].radarWidth[0] = CHAINS_RADAR_CHIRP_SIZE;
pObj->ar12xxCfg.radarParams[0].radarHeight[0] = CHAINS_RADAR_HEIGHT;
pObj->ar12xxCfg.radarParams[0].numTxAntenna[0] = CHAINS_RADAR_NUM_TX_ANTENNA;
pObj->ar12xxCfg.radarParams[0].numRxAntenna[0] = CHAINS_RADAR_NUM_RX_ANTENNA;
pObj->ar12xxCfg.radarParams[0].numProfiles = 1;
pObj->ar12xxCfg.radarParams[0].numValidBits = 16;
pObj->ar12xxCfg.radarParams[0].inBufAddrOffset = 0;
pObj->ar12xxCfg.radarParams[0].offsetBwAntennas[0] = CHAINS_RADAR_CHIRP_SIZE*4;
pObj->ar12xxCfg.numRadars = 1;
pNullSrcPrm = &pUcFileObj->NullSourcePrm;
// pNullPrm = &pUcFileObj->NullPrm;
pNullPrm = &pUcFileObj->NetworkTxPrm;
pFileIoPrm = &pObj->FileIoPrm;
/*
* Set NullSrc Params
*/
pNullSrcPrm->outQueInfo.numCh = 1;
for (chId = 0; chId < pNullSrcPrm->outQueInfo.numCh; chId++)
{
pNullSrcPrm->channelParams[chId].fileReadMode = NULLSRC_LINK_FILEREAD_DISABLE;
pChInfo = &pNullSrcPrm->outQueInfo.chInfo[chId];
pChInfo->flags = System_Link_Ch_Info_Set_Flag_Data_Format(pChInfo->flags,
SYSTEM_DF_YUV422I_YUYV);
pChInfo->flags = System_Link_Ch_Info_Set_Flag_Scan_Format(pChInfo->flags,
SYSTEM_SF_PROGRESSIVE);
pChInfo->flags = System_Link_Ch_Info_Set_Flag_Buf_Type(pChInfo->flags,
SYSTEM_BUFFER_TYPE_VIDEO_FRAME);
pChInfo->width = pObj->ar12xxCfg.radarParams[0].csi2OutWidth;
pChInfo->height = pObj->ar12xxCfg.radarParams[0].csi2OutHeight;
pChInfo->startX = 0U;
pChInfo->startY = 0U;
pChInfo->pitch[0U] = SystemUtils_align(pChInfo->width*2, 32U);
pChInfo->pitch[1U] = pChInfo->pitch[0U];
pNullSrcPrm->channelParams[chId].numBuffers
= NULL_SRC_LINK_NUM_BUFS_PER_CH_DEFAULT;
}
pNullSrcPrm->timerPeriodMilliSecs = 40;
pNullSrcPrm->dataRxMode = NULLSRC_LINK_DATA_RX_MODE_CUSTOM;
pNullSrcPrm->appCb = Chains_readFrameCb;
pNullSrcPrm->appCbArg = pFileIoPrm;
/*
* Set Null Params
*/
// pNullPrm->appCb = Chains_writeFrameCb;
// pNullPrm->appCbArg = pFileIoPrm;
pNullPrm->networkServerPort = NETWORK_TX_SERVER_PORT;
pNullPrm->transmitDataType = NETWORK_TX_LINK_TRANSMIT_TYPE_TCPIP;
/*
* Set FileIO Params
*/
pChInfo = &pNullSrcPrm->outQueInfo.chInfo[0];
strncpy(pFileIoPrm->channelParams[0].nameDataFile, CHAINS_RADAR_INPUT_FILE, 260);
pFileIoPrm->channelParams[0].frameSize =
(pChInfo->pitch[0] * pChInfo->height);
pFileIoPrm->readFromCfg = FALSE;
pFileIoPrm->cfgOptions.startFrameNum = 0;
pFileIoPrm->cfgOptions.stopFrameNum = CHAINS_RADAR_NUM_FRAMES;
pFileIoPrm->cfgOptions.repeatMode = TRUE;
Chains_fileInit(pFileIoPrm);
/*
* Set Display Params
*/
ChainsCommon_GetDisplayWidthHeight(
pObj->chainsCfg->displayType,
&pObj->displayWidth,
&pObj->displayHeight
);
ChainsCommon_SetGrpxSrcPrms(&pUcFileObj->GrpxSrcPrm,
pObj->displayWidth,
pObj->displayHeight
);
pUcFileObj->GrpxSrcPrm.grpxBufInfo.dataFormat = SYSTEM_DF_BGRA16_4444;
ChainsCommon_SetDisplayPrms(NULL,
&pUcFileObj->Display_GrpxPrm,
pObj->chainsCfg->displayType,
pObj->displayWidth,
pObj->displayHeight
);
chains_radarreadfftwrite_SetDisplayVideoPrms(&pUcFileObj->Display_VideoPrm,
pObj->chainsCfg->displayType,
pObj->displayWidth,
pObj->displayHeight);
/*
* Set FFT Params
*/
ChainsCommon_ar12xxSetFFTParams(
&pObj->radarFftParams,
&pObj->ar12xxCfg
);
/*
* Set FFT Draw Params
*/
ChainsCommon_ar12xxSetFFTHeatMapParams(
&pObj->RadarDrawFFTHeatMapPrm,
&pObj->ar12xxCfg,
pObj->displayWidth,
pObj->displayHeight
);
pObj->RadarDrawFFTHeatMapPrm.rangeRes[0] = CHAINS_RADAR_HEAT_MAP_RANGE_RES;
pObj->RadarDrawFFTHeatMapPrm.velocityRes[0] = CHAINS_RADAR_HEAT_MAP_VELOCITY_RES;
/* Value derived for sample input data: */
for (cnt = 0; cnt < pObj->RadarDrawFFTHeatMapPrm.numBins; cnt ++)
{
pObj->RadarDrawFFTHeatMapPrm.binRange[cnt] = range[cnt];
}
/*
* Set Display Control Params
*/
ChainsCommon_StartDisplayCtrl(
pObj->chainsCfg->displayType,
pObj->displayWidth,
pObj->displayHeight
);
return;
}
/**
*******************************************************************************
*
* \brief Set link Parameters for network link
*
* It is called in Create function of the auto generated use-case file.
*
* \param pUcNetObj [IN] Auto-generated usecase object
* \param appObj [IN] Application specific object
*
*******************************************************************************
*/
Void chains_radarnetworkreadfftwrite_SetAppPrms(chains_radarnetworkreadfftwriteObj *pUcNetObj, Void *appObj)
{
Chains_radarreadfftwriteAppObj *pObj
= (Chains_radarreadfftwriteAppObj*)appObj;
UInt32 chId, cnt;
NetworkRxLink_CreateParams *pNullSrcPrm;
NetworkTxLink_CreateParams *pNullPrm;
System_LinkChInfo *pChInfo;
UInt32 range[8] = {2999, 3999, 4999, 5999, 6999,
7999, 8999, 999999};
pObj->ar12xxCfg.radarParams[0].csi2OutWidth = CHAINS_RADAR_CHIRP_SIZE*2*CHAINS_RADAR_NUM_RX_ANTENNA;
pObj->ar12xxCfg.radarParams[0].csi2OutHeight= CHAINS_RADAR_HEIGHT*CHAINS_RADAR_NUM_TX_ANTENNA;
pObj->ar12xxCfg.radarParams[0].radarWidth[0] = CHAINS_RADAR_CHIRP_SIZE;
pObj->ar12xxCfg.radarParams[0].radarHeight[0] = CHAINS_RADAR_HEIGHT;
pObj->ar12xxCfg.radarParams[0].numTxAntenna[0] = CHAINS_RADAR_NUM_TX_ANTENNA;
pObj->ar12xxCfg.radarParams[0].numRxAntenna[0] = CHAINS_RADAR_NUM_RX_ANTENNA;
pObj->ar12xxCfg.radarParams[0].rangeRes[0] = CHAINS_RADAR_HEAT_MAP_RANGE_RES;
pObj->ar12xxCfg.radarParams[0].velocityRes[0] = CHAINS_RADAR_HEAT_MAP_VELOCITY_RES;
pObj->ar12xxCfg.radarParams[0].numProfiles = 1;
pObj->ar12xxCfg.radarParams[0].numValidBits = 16;
pObj->ar12xxCfg.radarParams[0].inBufAddrOffset = 0;
pObj->ar12xxCfg.radarParams[0].offsetBwAntennas[0] = CHAINS_RADAR_CHIRP_SIZE*4;
pObj->ar12xxCfg.numRadars = 1;
pNullSrcPrm = &pUcNetObj->NetworkRxPrm;
pNullPrm = &pUcNetObj->NetworkTxPrm;
/*
* Set NetworkRx Params
*/
pNullSrcPrm->outQueInfo.numCh = 1;
for (chId = 0; chId < pNullSrcPrm->outQueInfo.numCh; chId++)
{
pChInfo = &pNullSrcPrm->outQueInfo.chInfo[chId];
pChInfo->flags = System_Link_Ch_Info_Set_Flag_Data_Format(pChInfo->flags,
SYSTEM_DF_YUV422I_YUYV);
pChInfo->flags = System_Link_Ch_Info_Set_Flag_Scan_Format(pChInfo->flags,
SYSTEM_SF_PROGRESSIVE);
pChInfo->flags = System_Link_Ch_Info_Set_Flag_Buf_Type(pChInfo->flags,
SYSTEM_BUFFER_TYPE_VIDEO_FRAME);
pChInfo->width = pObj->ar12xxCfg.radarParams[0].csi2OutWidth;
pChInfo->height = pObj->ar12xxCfg.radarParams[0].csi2OutHeight;
pChInfo->startX = 0U;
pChInfo->startY = 0U;
pChInfo->pitch[0U] = SystemUtils_align(pChInfo->width*2, 32U);
pChInfo->pitch[1U] = pChInfo->pitch[0U];
pNullSrcPrm->channelParams[chId].numBuffers
= NETWORK_RX_LINK_NUM_BUFS_PER_CH_DEFAULT;
}
pNullSrcPrm->timerPeriodMilliSecs = 100;
pNullSrcPrm->networkServerPort = NETWORK_RX_SERVER_PORT;
ChainsCommon_networkRxSetMode(pNullSrcPrm);
/*
* Set Null Params
*/
pNullPrm->networkServerPort = NETWORK_TX_SERVER_PORT;
/* We set similar mode for Null & Null source link */
if (pNullSrcPrm->dataRxMode == NETWORK_RX_LINK_DATA_RX_MODE_TCPIP)
{
pNullPrm->transmitDataType = NETWORK_TX_LINK_TRANSMIT_TYPE_TCPIP;
}
else
{
pNullPrm->transmitDataType = NETWORK_TX_LINK_TRANSMIT_TYPE_TFDTP;
/* no. of retry count */
pNullPrm->retryCount = NETWORK_TFDTP_RETRANSMIT_COUNT;
}
/*
* Set Display Params
*/
ChainsCommon_GetDisplayWidthHeight(
pObj->chainsCfg->displayType,
&pObj->displayWidth,
&pObj->displayHeight
);
ChainsCommon_SetGrpxSrcPrms(&pUcNetObj->GrpxSrcPrm,
pObj->displayWidth,
pObj->displayHeight
);
pUcNetObj->GrpxSrcPrm.grpxBufInfo.dataFormat = SYSTEM_DF_BGRA16_4444;
ChainsCommon_SetDisplayPrms(NULL,
&pUcNetObj->Display_GrpxPrm,
pObj->chainsCfg->displayType,
pObj->displayWidth,
pObj->displayHeight
);
chains_radarreadfftwrite_SetDisplayVideoPrms(&pUcNetObj->Display_VideoPrm,
pObj->chainsCfg->displayType,
pObj->displayWidth,
pObj->displayHeight);
/*
* Set FFT Params
*/
ChainsCommon_ar12xxSetFFTParams(
&pObj->radarFftParams,
&pObj->ar12xxCfg
);
/*
* Set FFT Draw Params
*/
ChainsCommon_ar12xxSetFFTHeatMapParams(
&pObj->RadarDrawFFTHeatMapPrm,
&pObj->ar12xxCfg,
pObj->displayWidth,
pObj->displayHeight
);
/* Value derived for sample input data: */
for (cnt = 0; cnt < pObj->RadarDrawFFTHeatMapPrm.numBins; cnt ++)
{
pObj->RadarDrawFFTHeatMapPrm.binRange[cnt] = range[cnt];
}
/*
* Set Display Control Params
*/
ChainsCommon_StartDisplayCtrl(
pObj->chainsCfg->displayType,
pObj->displayWidth,
pObj->displayHeight
);
return;
}
/**
*******************************************************************************
*
* \brief Pre-recorded SD card read, radar frame copy and write to SD Card
*
* This functions executes the create, start functions
*
* Further in a while loop displays run time menu and waits
* for user inputs to print the statistics or to end the demo.
*
* Once the user inputs end of demo stop and delete
* functions are executed.
*
* \param chainsCfg [IN] Chains_Ctrl
*
*******************************************************************************
*/
Void Chains_radarreadfftwrite(Chains_Ctrl *chainsCfg)
{
char ch;
UInt32 done = FALSE;
Chains_radarreadfftwriteAppObj chainsObj;
chainsObj.chainsCfg = chainsCfg;
chainsObj.linkType = Chains_getDataRdWrMode();
if (CHAINS_RADAR_LINKTYPE_FILE == chainsObj.linkType)
{
chainsObj.ucFileObj.Alg_RadarProcess_fftPrm =
(AlgorithmLink_RadarProcessCreateParams *)&chainsObj.radarFftParams;
chainsObj.ucFileObj.Alg_RadarProcess_drawPrm =
(AlgorithmLink_RadarProcessCreateParams *)&chainsObj.RadarDrawFFTHeatMapPrm;
chains_radarfilereadfftwrite_Create(&chainsObj.ucFileObj, &chainsObj);
}
else
{
chainsObj.ucNetObj.Alg_RadarProcess_fftPrm =
(AlgorithmLink_RadarProcessCreateParams *)&chainsObj.radarFftParams;
chainsObj.ucNetObj.Alg_RadarProcess_drawPrm =
(AlgorithmLink_RadarProcessCreateParams *)&chainsObj.RadarDrawFFTHeatMapPrm;
chains_radarnetworkreadfftwrite_Create(&chainsObj.ucNetObj, &chainsObj);
}
chains_radarreadfftwrite_StartApp(&chainsObj);
while(!done)
{
ch = Chains_customfftRunTimeMenu(&chainsObj);
switch(ch)
{
case '0':
done = TRUE;
break;
case 'p':
case 'P':
ChainsCommon_PrintStatistics();
if (CHAINS_RADAR_LINKTYPE_FILE == chainsObj.linkType)
{
chains_radarfilereadfftwrite_printStatistics(&chainsObj.ucFileObj);
}
else
{
chains_radarnetworkreadfftwrite_printStatistics(&chainsObj.ucNetObj);
}
break;
case 'f' :
Chains_fileIOMenu();
break;
default:
Vps_printf("\nUnsupported option '%c'. Please try again\n", ch);
break;
}
}
chains_radarreadfftwrite_StopAndDeleteApp(&chainsObj);
}
/**
*******************************************************************************
* \brief Run Time Menu string.
*******************************************************************************
*/
static char gChains_customfftNwRunTimeMenu[] = {
"\r\n "
"\r\n ===================="
"\r\n Chains Run-time Menu"
"\r\n ===================="
"\r\n "
"\r\n 0: Stop Chain"
"\r\n "
"\r\n p: Print Performance Statistics "
"\r\n "
"\r\n Enter Choice: "
"\r\n "
};
static char gChains_customfftFileRunTimeMenu[] = {
"\r\n "
"\r\n ===================="
"\r\n Chains Run-time Menu"
"\r\n ===================="
"\r\n "
"\r\n 0: Stop Chain"
"\r\n "
"\r\n p: Print Performance Statistics "
"\r\n "
"\r\n f: File IO Menu "
"\r\n "
"\r\n Enter Choice: "
"\r\n "
};
static char Chains_customfftRunTimeMenu(Chains_radarreadfftwriteAppObj *pchainsObj)
{
if (CHAINS_RADAR_LINKTYPE_FILE == pchainsObj->linkType)
{
Vps_printf(gChains_customfftFileRunTimeMenu);
}
else
{
Vps_printf(gChains_customfftNwRunTimeMenu);
}
return Chains_readChar();
}
You can run network_rx.exe to test the network connection.
To process the data in matlab, radar_cascade_demo.m already implemented the same network interface as network_rx.exe.
If you can receive data using network_rx.exe, your use case configuration is done correctly.
If not, please refer to cascade_radar_object_detect use case and follow the example to set up NetworkTx Link.