Other Parts Discussed in Thread: AWR1243
Hi Piyali/Stanley,
I am re-opening this issue which I worked with both of you 4 months ago regarding frame rate seen at Ethernet output. Back then, we got to a point where I am happy with what I've seen and closed the case. I used to have a single profile at that time and am able to get the frame rate very much followed that of the frameperiodicity specified in the rlFrameCfg_t data structure. Today, we now have 4 profiles and allow dynamically switch between them from network control on a Host. Attached is our AWR config c file that defines the 4 chirp configurations.
As you can see, I have 4 rlFrameCfg_t objects for the 4 corresponding profiles. FramePeriodicity is selected for each rlFrameCfg_t object after I thought I completely understood how much time it takes to acquire + processing + Ethernet download time based on experiments. The 4RX RDM size of 128x256 + PkDetect data would require FramePeriodicity = 14ms while 4 128x128 RDMs + PkDetect data would take 12ms. Please see attached Timing Diagram.
However, when running doing performance measurement from a Linux Host PC using the network monitoring tool, I observed that only profile 0 yields the accurate frame rate per the defined FramePerdiocity of 14ms or 71 fr/s. Profile 1-2, I got Ethernet frame rate 43 fr/s, Profile 3, I got 36 fr/s. I expect the Profile 1-2 to do even better at 83 fr/s and Profile 3 should be the same as Profile 0.
I then twiddle with the rampEndTime parameter in rlProfileCfg_t by setting rampEndTime in all Profiles to have the same value as Profile 0 (30.87). To my surprise, all Profile's frame rates are now running based on the defined FramePerdiocity for each profile. What does FramePerdiocity have to do with rampEndTime ? Why does rampEndTime also dictate the output frame rate?
Thanks,
--Khai
chains_common_LRR_ar12xx_config.c
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/* Armin Volkel, 11/06/2018
* Config file for LRR application
* similar chirp sequence as Infineon board to enable the following radar parameters:
* Rmax = 330 m
* deltaR = 1.3 m
* vmax = 30 m/s
* deltaV = 0.5 m/s
*
* high level chirp parameters (board independent):
* Nr = 512
* B = 162 MHz
* Tchirp = 28.48 us
* fsamp = 25 MHz
* NC = 128
* Trepeat = 32.85 us
*
* TI chirp parameters:
* AR1243_PROFILE1_RADAR_WIDTH = 512 [Nr]
* AR1243_RADAR_HEIGHT = 128 [NC]
* CHAINS_AR1243_NUM_SUBFRAMES = 1 [ 1 chirp in sequence ]
* struct rlFrameCfg_t
* numAdcSamples = AR1243_PROFILE1_RADAR_WIDTH * 1 [ need to work with real only data ]
* struct rlProfileCfg_t
* startFreqConst = 77 GHz
* idleTimeConst = 2 us
* adcStartTimeConst = 2.37 us
* rampEndTime = 30.85 us
* freqSlopeConst = 5.688 MHz/us [ B / Tchirp ]
* digOutSampleRate = 25000 kilo samples / s
* Bsp_Ar12xxConfigObj.adcOutCfgArgs
* b2AdcOutFmt = RL_ADC_FORMAT_REAL
* Bsp_Ar12xxConfigObj.dataFmtCfgArgs
* adcFmt = RL_ADC_FORMAT_REAL
* Bsp_Ar12xxConfigObj.dataFmtCfgArgs
* burstPeriodicity = 66 ms [same time as chirp repeat time since we have only one burst]
*
*/
/*******************************************************************************
* INCLUDE FILES
*******************************************************************************
*/
#include <include/common/chains_radar.h>
#include <ti/drv/vps/examples/utility/bsputils_ub960.h>
/* ========================================================================== */
/* Macros & Typedefs */
/* ========================================================================== */
#define CHAINS_RADAR_NUM_RX_ANTENNA (4U)
#define CHAINS_RADAR_NUM_TX_ANTENNA (1U)
/** \brief Number of antennas Rx times tx*/
#define CHAINS_RADAR_NUM_ANTENNA (CHAINS_RADAR_NUM_RX_ANTENNA * \
CHAINS_RADAR_NUM_TX_ANTENNA)
/** \brief Radar Sensor Height */
#define AR1243_RADAR_HEIGHT_128 (128U)
#define AR1243_RADAR_HEIGHT_64 (64U)
/** \brief Radar Sensor width */
#define AR1243_RADAR_WIDTH_256 (256U)
#define AR1243_RADAR_WIDTH_128 (128U) // Khai: NOt being used
/** \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)
#define CHAINS_UB960_CSI_DATA_RATE (800U)
#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
/** \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)
#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 */
#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 */
#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 */
#else
#warn "CHAINS_AR1243: No valid ADC data format specified!!"
#endif
/** \brief Advanced Frame Configurations */
#define CHAINS_AR1243_NUM_SUBFRAMES (1U)
#define CHAINS_AR1243_NUM_BURSTS (1U)
#define CHAINS_AR1243_NUM_BURST_LOOPS (1U)
/* ========================================================================== */
/* Globals */
/* ========================================================================== */
static char gChains_numRadarsMenu[] = {
"\r\n "
"\r\n ======================="
"\r\n Select Number of Radars"
"\r\n ======================="
"\r\n "
"\r\n Enter Number of Radars are connected: (1-4)"
"\r\n "
};
/* When Advanced frame configuration is set this is ignored */
/* Armin: p. 386 in AWR1xx_Radar_Interface_Control.pdf */
rlFrameCfg_t gAr1243FrmArgs_RadarMode1 =
{
.chirpStartIdx = (rlUInt16_t) 0,
.chirpEndIdx = (rlUInt16_t) CHAINS_RADAR_NUM_TX_ANTENNA - (rlUInt16_t)1, // 1
.numLoops = (rlUInt16_t) AR1243_RADAR_HEIGHT_128, // 128
.numFrames = (rlUInt16_t) 0,
.numAdcSamples = (rlUInt16_t) AR1243_RADAR_WIDTH_256 * (rlUInt16_t)2, // 256 * 2
.framePeriodicity = (rlUInt32_t) CHAINS_AR1243_TIME_MS_TO_5NS(14), // 14 - 4RDM@77 fr/s, 7 - 2RDM@142 fr/s
.framePeriod = (rlUInt32_t) 14, // POC: use in AlgorithmFxn_RadarFftDynamicTxPowerBackOff()
.triggerSelect = (rlUInt16_t) RL_FRAMESTRT_API_TRIGGER,
.reserved = (rlUInt32_t) 0,
.frameTriggerDelay = (rlUInt32_t) 0
};
rlFrameCfg_t gAr1243FrmArgs_RadarMode2 =
{
.chirpStartIdx = (rlUInt16_t) 0,
.chirpEndIdx = (rlUInt16_t) CHAINS_RADAR_NUM_TX_ANTENNA - (rlUInt16_t)1, // 1
.numLoops = (rlUInt16_t) AR1243_RADAR_HEIGHT_128, // 128
.numFrames = (rlUInt16_t) 0,
.numAdcSamples = (rlUInt16_t) AR1243_RADAR_WIDTH_128 * (rlUInt16_t)2, // 128 * 2
.framePeriodicity = (rlUInt32_t) CHAINS_AR1243_TIME_MS_TO_5NS(12), // 12 - 4RDM@83 fr/s, 9 - 2RDM@111 fr/s
.framePeriod = (rlUInt32_t) 12, // POC: use in AlgorithmFxn_RadarFftDynamicTxPowerBackOff()
.triggerSelect = (rlUInt16_t) RL_FRAMESTRT_API_TRIGGER,
.reserved = (rlUInt32_t) 0,
.frameTriggerDelay = (rlUInt32_t) 0
};
rlFrameCfg_t gAr1243FrmArgs_RadarMode4 =
{
.chirpStartIdx = (rlUInt16_t) 0,
.chirpEndIdx = (rlUInt16_t) CHAINS_RADAR_NUM_TX_ANTENNA - (rlUInt16_t)1, // 1
.numLoops = (rlUInt16_t) AR1243_RADAR_HEIGHT_128, // 128
.numFrames = (rlUInt16_t) 0,
.numAdcSamples = (rlUInt16_t) AR1243_RADAR_WIDTH_128 * (rlUInt16_t)2, // 128 * 2
.framePeriodicity = (rlUInt32_t) CHAINS_AR1243_TIME_MS_TO_5NS(12), // 12 - 4RDM@83 fr/s, 9 - 2RDM@111 fr/s
.framePeriod = (rlUInt32_t) 12, // POC: use in AlgorithmFxn_RadarFftDynamicTxPowerBackOff()
.triggerSelect = (rlUInt16_t) RL_FRAMESTRT_API_TRIGGER,
.reserved = (rlUInt32_t) 0,
.frameTriggerDelay = (rlUInt32_t) 0
};
rlFrameCfg_t gAr1243FrmArgs_RadarMode5 =
{
.chirpStartIdx = (rlUInt16_t) 0,
.chirpEndIdx = (rlUInt16_t) CHAINS_RADAR_NUM_TX_ANTENNA - (rlUInt16_t)1, // 1
.numLoops = (rlUInt16_t) AR1243_RADAR_HEIGHT_128, // 128
.numFrames = (rlUInt16_t) 0,
.numAdcSamples = (rlUInt16_t) AR1243_RADAR_WIDTH_256 * (rlUInt16_t)2, // 256 * 2
.framePeriodicity = (rlUInt32_t) CHAINS_AR1243_TIME_MS_TO_5NS(14), // 14 - 4RDM@77 fr/s, 7 - 2RDM@142 fr/s
.framePeriod = (rlUInt32_t) 14, // POC: use in AlgorithmFxn_RadarFftDynamicTxPowerBackOff()
.triggerSelect = (rlUInt16_t) RL_FRAMESTRT_API_TRIGGER,
.reserved = (rlUInt32_t) 0,
.frameTriggerDelay = (rlUInt32_t) 0
};
/* Armin: p. 383 in AWR1xx_Radar_Interface_Control.pdf */
static rlProfileCfg_t gAr1243ProfileArgs_RadarMode1[] = {
// POC: radar mode 1 - Vmax = 37, Vres = .58, Rmax = 330, Rres = 1.29
{
.profileId = (rlUInt16_t) 0,
.pfVcoSelect = (rlUInt8_t) 0,
.pfCalLutUpdate = (rlUInt8_t) 0,
.frequency = 765,
.startFreqConst = (rlUInt32_t) CHAINS_AR1243_FREQ_GHZ_CONV(76.5),
.idleTimeConst = (rlUInt32_t) CHAINS_AR1243_TIME_US_TO_10NS(2),
.adcStartTimeConst = (rlUInt32_t) CHAINS_AR1243_TIME_US_TO_10NS(6),
.rampEndTime = (rlUInt32_t) CHAINS_AR1243_TIME_US_TO_10NS(30.87),
.txOutPowerBackoffCode = (rlUInt32_t) 0,
.txPhaseShifter = (rlUInt32_t) 0,
.freqSlopeConst = (rlInt16_t) CHAINS_AR1243_FREQ_MHZ_PER_MICRO_S_SLOPE_CONV(8.52),
.txStartTime = (rlInt16_t) CHAINS_AR1243_TIME_US_TO_10NS(1U),
.numAdcSamples = (rlUInt16_t) AR1243_RADAR_WIDTH_256,
.digOutSampleRate = (rlUInt16_t) 18750, // Kilo Samples per second
.hpfCornerFreq1 = (rlUInt8_t) RL_RX_HPF1_175_KHz, // Khai: change this to eliminate the range wrap around
.hpfCornerFreq2 = (rlUInt8_t) RL_RX_HPF2_350_KHz, // Khai: change this to eliminate the range wrap around
.rxGain = (rlUInt16_t) 38 // Khai: This is same as 9dB VGA gain
},
// POC: radar mode 2 - Vmax = 60, Vres = .94, Rmax = 330, Rres = 2.58
{
.profileId = (rlUInt16_t) 1,
.pfVcoSelect = (rlUInt8_t) 0,
.pfCalLutUpdate = (rlUInt8_t) 0,
// POC: center frequency for beam steer initialization
.frequency = 770,
.startFreqConst = (rlUInt32_t) CHAINS_AR1243_FREQ_GHZ_CONV(77),
.idleTimeConst = (rlUInt32_t) CHAINS_AR1243_TIME_US_TO_10NS(2),
.adcStartTimeConst = (rlUInt32_t) CHAINS_AR1243_TIME_US_TO_10NS(4),
.rampEndTime = (rlUInt32_t) CHAINS_AR1243_TIME_US_TO_10NS(14.22),
.txOutPowerBackoffCode = (rlUInt32_t) 0,
.txPhaseShifter = (rlUInt32_t) 0,
.freqSlopeConst = (rlInt16_t) CHAINS_AR1243_FREQ_MHZ_PER_MICRO_S_SLOPE_CONV(8.52),
.txStartTime = (rlInt16_t) CHAINS_AR1243_TIME_US_TO_10NS(1U),
.numAdcSamples = (rlUInt16_t) AR1243_RADAR_WIDTH_128,
.digOutSampleRate = (rlUInt16_t) 18750, // Kilo Samples per second
.hpfCornerFreq1 = (rlUInt8_t) RL_RX_HPF1_175_KHz, // Khai: change this to eliminate the range wrap around
.hpfCornerFreq2 = (rlUInt8_t) RL_RX_HPF2_350_KHz, // Khai: change this to eliminate the range wrap around
.rxGain = (rlUInt16_t) 38, // Khai: This is same as 9dB VGA gain
},
// POC: radar mode 4 - Vmax = 60, Vres = .94, Rmax = 250, Rres = 1.95
{
.profileId = (rlUInt16_t) 2,
.pfVcoSelect = (rlUInt8_t) 0,
.pfCalLutUpdate = (rlUInt8_t) 0,
.frequency = 765,
.startFreqConst = (rlUInt32_t) CHAINS_AR1243_FREQ_GHZ_CONV(77),
.idleTimeConst = (rlUInt32_t) CHAINS_AR1243_TIME_US_TO_10NS(2),
.adcStartTimeConst = (rlUInt32_t) CHAINS_AR1243_TIME_US_TO_10NS(4),
.rampEndTime = (rlUInt32_t) CHAINS_AR1243_TIME_US_TO_10NS(14.22),
.txOutPowerBackoffCode = (rlUInt32_t) 0,
.txPhaseShifter = (rlUInt32_t) 0,
.freqSlopeConst = (rlInt16_t) CHAINS_AR1243_FREQ_MHZ_PER_MICRO_S_SLOPE_CONV(11.27),
.txStartTime = (rlInt16_t) CHAINS_AR1243_TIME_US_TO_10NS(1U),
.numAdcSamples = (rlUInt16_t) AR1243_RADAR_WIDTH_128,
.digOutSampleRate = (rlUInt16_t) 18750, // Kilo Samples per second
.hpfCornerFreq1 = (rlUInt8_t) RL_RX_HPF1_175_KHz, // Khai: change this to eliminate the range wrap around
.hpfCornerFreq2 = (rlUInt8_t) RL_RX_HPF2_350_KHz, // Khai: change this to eliminate the range wrap around
.rxGain = (rlUInt16_t) 38 // Khai: This is same as 9dB VGA gain
},
// POC: radar mode 5 - Vmax = 37 m/s, Vres = .6 m/s, Rmax = 100, Rres = .8 m
{
.profileId = (rlUInt16_t) 3,
.pfVcoSelect = (rlUInt8_t) 0,
.pfCalLutUpdate = (rlUInt8_t) 0,
.frequency = 765,
.startFreqConst = (rlUInt32_t) CHAINS_AR1243_FREQ_GHZ_CONV(77),
.idleTimeConst = (rlUInt32_t) CHAINS_AR1243_TIME_US_TO_10NS(2),
.adcStartTimeConst = (rlUInt32_t) CHAINS_AR1243_TIME_US_TO_10NS(4),
.rampEndTime = (rlUInt32_t) CHAINS_AR1243_TIME_US_TO_10NS(24.22),
.txOutPowerBackoffCode = (rlUInt32_t) 0,
.txPhaseShifter = (rlUInt32_t) 0,
.freqSlopeConst = (rlInt16_t) CHAINS_AR1243_FREQ_MHZ_PER_MICRO_S_SLOPE_CONV(28.16),
.txStartTime = (rlInt16_t) CHAINS_AR1243_TIME_US_TO_10NS(1U),
.numAdcSamples = (rlUInt16_t) AR1243_RADAR_WIDTH_256,
.digOutSampleRate = (rlUInt16_t) 18750, // Kilo Samples per second
.hpfCornerFreq1 = (rlUInt8_t) RL_RX_HPF1_175_KHz, // Khai: change this to eliminate the range wrap around
.hpfCornerFreq2 = (rlUInt8_t) RL_RX_HPF2_350_KHz, // Khai: change this to eliminate the range wrap around
.rxGain = (rlUInt16_t) 38 // Khai: This is same as 9dB VGA gain
}
};
static rlChirpCfg_t gAr1243ChirpCfgArgs_RadarMode1[] =
{
{
.chirpStartIdx = (rlUInt16_t) 0x0,
.chirpEndIdx = (rlUInt16_t) 0x0,
.profileId = (rlUInt16_t) 0x0, /* Mode 1 profile */
.startFreqVar = (rlUInt32_t) 0x0,
.freqSlopeVar = (rlInt16_t) 0x0,
.idleTimeVar = (rlUInt16_t) 0x0,
.adcStartTimeVar = (rlUInt16_t) 0x0,
.txEnable = (rlUInt16_t) 0x1, /* TX1 */
.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,
.txEnable = (rlUInt16_t) 0x2, /* TX2 */
.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 rlChirpCfg_t gAr1243ChirpCfgArgs_RadarMode2[] =
{
{
.chirpStartIdx = (rlUInt16_t) 0x0,
.chirpEndIdx = (rlUInt16_t) 0x0,
.profileId = (rlUInt16_t) 0x1, /* Mode 2 profile */
.startFreqVar = (rlUInt32_t) 0x0,
.freqSlopeVar = (rlInt16_t) 0x0,
.idleTimeVar = (rlUInt16_t) 0x0,
.adcStartTimeVar = (rlUInt16_t) 0x0,
.txEnable = (rlUInt16_t) 0x1, /* TX1 */
.reserved = (rlUInt16_t) 0x0
}
};
static rlChirpCfg_t gAr1243ChirpCfgArgs_RadarMode4[] =
{
{
.chirpStartIdx = (rlUInt16_t) 0x0,
.chirpEndIdx = (rlUInt16_t) 0x0,
.profileId = (rlUInt16_t) 0x2, /* Mode 4 profile */
.startFreqVar = (rlUInt32_t) 0x0,
.freqSlopeVar = (rlInt16_t) 0x0,
.idleTimeVar = (rlUInt16_t) 0x0,
.adcStartTimeVar = (rlUInt16_t) 0x0,
.txEnable = (rlUInt16_t) 0x1, /* TX1 */
.reserved = (rlUInt16_t) 0x0
}
};
static rlChirpCfg_t gAr1243ChirpCfgArgs_RadarMode5[] =
{
{
.chirpStartIdx = (rlUInt16_t) 0x0,
.chirpEndIdx = (rlUInt16_t) 0x0,
.profileId = (rlUInt16_t) 0x3, /* Mode 5 profile */
.startFreqVar = (rlUInt32_t) 0x0,
.freqSlopeVar = (rlInt16_t) 0x0,
.idleTimeVar = (rlUInt16_t) 0x0,
.adcStartTimeVar = (rlUInt16_t) 0x0,
.txEnable = (rlUInt16_t) 0x1, /* TX1 */
.reserved = (rlUInt16_t) 0x0
}
};
static rlBpmChirpCfg_t gAr1243BpmChirpCfgArgs[] =
{
{
.chirpStartIdx = (rlUInt16_t) 0x0,
.chirpEndIdx = (rlUInt16_t) 0x0,
.constBpmVal = (rlUInt16_t) 0x0,
.reserved = (rlUInt16_t) 0x0
},
#if (CHAINS_RADAR_NUM_TX_ANTENNA > 1)
{
.chirpStartIdx = (rlUInt16_t) 0x1,
.chirpEndIdx = (rlUInt16_t) 0x1,
.constBpmVal = (rlUInt16_t) 0x0,
.reserved = (rlUInt16_t) 0x0
},
#endif
#if (CHAINS_RADAR_NUM_TX_ANTENNA > 2)
{
.chirpStartIdx = (rlUInt16_t) 0x2,
.chirpEndIdx = (rlUInt16_t) 0x2,
.constBpmVal = (rlUInt16_t) 0x0,
.reserved = (rlUInt16_t) 0x0
}
#endif
};
#define CHAINS_AR1243_CHIRPROW_SIZE (sizeof(gAr1243ChirpCfgArgs_RadarMode1)/sizeof(rlChirpCfg_t)) * \
(sizeof(gAr1243ProfileArgs_RadarMode1)/sizeof(rlProfileCfg_t)) * 16U
rlChirpRow_t gAr1243ChirpRowArgs[CHAINS_MAX_NUM_RADARS][CHAINS_AR1243_CHIRPROW_SIZE] = {0};
/**< \brief Sensor configuration for the AR1243 Radar Sensor */
Bsp_Ar12xxConfigObj gAr12xx_config_RadarMode1 =
{
.rfChanCfgArgs = {
.rxChannelEn = (rlUInt16_t) (1<<CHAINS_RADAR_NUM_RX_ANTENNA) -1,
.txChannelEn = (rlUInt16_t) (1<<CHAINS_RADAR_NUM_TX_ANTENNA) - 1,
.cascading = (rlUInt16_t) 0x0,
.bReserved = (rlUInt16_t) 0x0
},
.adcOutCfgArgs = {
.fmt = {
.b2AdcBits = CHAINS_AR1243_DATA_FORMAT_CONFIG,
.b6Reserved1 = (rlUInt32_t) 0x0,
.b8FullScaleReducFctr = (rlUInt32_t) 0x0,
.b2AdcOutFmt = RL_ADC_FORMAT_COMPLEX_1X,
.b14Reserved2 = (rlUInt32_t) 0x0
},
.reserved = (rlUInt16_t) 0x0
},
.dataFmtCfgArgs = {
.rxChannelEn = (rlUInt16_t) (1<<CHAINS_RADAR_NUM_RX_ANTENNA) - 1,
.adcBits = (rlUInt16_t) CHAINS_AR1243_DATA_FORMAT_CONFIG,
.adcFmt = (rlUInt16_t) RL_ADC_FORMAT_COMPLEX_1X,
.iqSwapSel = (rlUInt8_t) RL_DEV_I_FIRST,
.chInterleave = (rlUInt8_t) RL_DEV_CH_NON_INTERLEAVED,
.reserved = (rlUInt32_t) 0x0
},
.rfLpModeCfgArgs = {
.reserved0 = (rlUInt16_t) 0,
.lpAdcMode = (rlUInt16_t) RL_ADC_MODE_REGULAR
},
.chirpCfgArgs = gAr1243ChirpCfgArgs_RadarMode1,
.numChirpCfgArgs = sizeof(gAr1243ChirpCfgArgs_RadarMode1)/sizeof(rlChirpCfg_t),
.profileCfgArgs = gAr1243ProfileArgs_RadarMode1,
.numProfileCfgArgs = sizeof(gAr1243ProfileArgs_RadarMode1)/sizeof(rlProfileCfg_t),
.frameCfgArgs = &gAr1243FrmArgs_RadarMode1,
.numFrameCfgArgs = sizeof(gAr1243FrmArgs_RadarMode1)/sizeof(rlFrameCfg_t),
.dataPathCfgArgs = {
.intfSel = (rlUInt8_t) 0,
.transferFmtPkt0 = (rlUInt8_t) 6, /**< Data out Format, \n
b5:0 Packet 0 content selection\n
000001 - ADC_DATA_ONLY \n
000110 - CP_ADC_DATA \n
001001 - ADC_CP_DATA \n
110110 - CP_ADC_CQ_DATA
b7:6 Packet 0 virtual channel number (valid only for CSI2)\n
00 Virtual channel number 0 (Default)\n
01 Virtual channel number 1\n
02 Virtual channel number 2\n
03 Virtual channel number 3 \n*/
.transferFmtPkt1 = (rlUInt8_t) 0,/**< Data out Format, \n
b5:0 Packet 0 content selection\n
000000 - Suppress Packet 1 \n
001110 - CP_CQ_DATA \n
001011 - CQ_CP_DATA \n
b7:6 Packet 1 virtual channel number (valid only for CSI2)\n
00 Virtual channel number 0 (Default)\n
01 Virtual channel number 1\n
02 Virtual channel number 2\n
03 Virtual channel number 3\n*/
.cqConfig = (rlUInt8_t) 2,
/* Armin: not sure whether we need to change these numbers??? */
.cq0TransSize = (rlUInt8_t) 64,
.cq1TransSize = (rlUInt8_t) 64,
.cq2TransSize = (rlUInt8_t) 64,
.reserved = (rlUInt8_t) 0
},
.dataPathClkCfgArgs = {
.laneClkCfg = (rlUInt8_t) 1,
.dataRate = (rlUInt8_t) CHAINS_AR1243_CSI_DATA_RATE_VALUE,
.reserved = (rlUInt16_t) 0
},
.hsiClkgs = {
.hsiClk = (rlUInt16_t) CHAINS_AR1243_DDR_HSI_CLK,
.reserved = (rlUInt16_t) 0x0
},
.laneEnCfgArgs = {
.laneEn = (rlUInt16_t)
#if CHAINS_AR1243_CSI_DATA1LANE_POS
((rlUInt16_t) 0x1) |
#endif
#if CHAINS_AR1243_CSI_DATA2LANE_POS
((rlUInt16_t) 0x2) |
#endif
#if CHAINS_AR1243_CSI_DATA3LANE_POS
((rlUInt16_t) 0x4) |
#endif
#if CHAINS_AR1243_CSI_DATA4LANE_POS
((rlUInt16_t) 0x8) |
#endif
((rlUInt16_t) 0x0),
.reserved = (rlUInt16_t) 0x0
},
.bpmCommnCfgArgs = {
.mode.b2SrcSel = 0,
.mode.b1Reserved1 = 0,
.mode.b13Reserved2 = 0,
.reserved0 = (rlUInt16_t) 0,
.reserved1 = (rlUInt16_t) 0,
.reserved2 = (rlUInt16_t) 0,
.reserved3 = (rlUInt32_t) 0,
.reserved4 = (rlUInt32_t) 0
},
.bpmChirpCfgArgs = gAr1243BpmChirpCfgArgs,
.numBpmChirpCfgArgs = sizeof(gAr1243BpmChirpCfgArgs)/sizeof(rlBpmChirpCfg_t),
.csiConfigArgs = {
.lanePosPolSel = ((CHAINS_AR1243_CSI_CLOCKLANE_POS << 16U) | /* Polarity Always */
(CHAINS_AR1243_CSI_DATA4LANE_POS << 12U) | /* assumed to be 0 */
(CHAINS_AR1243_CSI_DATA3LANE_POS << 8U) |
(CHAINS_AR1243_CSI_DATA2LANE_POS << 4U) |
(CHAINS_AR1243_CSI_DATA1LANE_POS)),
.reserved1 = (rlUInt32_t) 0U,
},
// Khai: Do we want to use Advanced Cfg Frame?
.advFrameCfgArgs = {
.frameSeq = {
.numOfSubFrames = (rlUInt8_t) CHAINS_AR1243_NUM_SUBFRAMES,
.forceProfile = (rlUInt8_t) 1,
.loopBackCfg = (rlUInt8_t) 0,
.subFrameTrigger = (rlUInt8_t) 0,
.subFrameCfg = {
{
.forceProfileIdx = (rlUInt16_t) 0,
.chirpStartIdx = (rlUInt16_t) 0,
.numOfChirps = (rlUInt16_t) CHAINS_RADAR_NUM_TX_ANTENNA,
.numLoops = (rlUInt16_t) AR1243_RADAR_HEIGHT_128,
.burstPeriodicity = (rlUInt32_t) CHAINS_AR1243_TIME_MS_TO_5NS(66U),
/* burstPeriodicity >=
* (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
},
/* Armin: replaced subFrameCfg[2] with empty place holder */
/*
{
.forceProfileIdx = (rlUInt16_t) 1,
.chirpStartIdx = (rlUInt16_t) 0,
.numOfChirps = (rlUInt16_t) 1,
.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
},
/* Armin: end replacement */
{
.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_128 * CHAINS_AR1243_NUM_BURSTS,
/* Number of Chirps in Sub-Frame =
* numOfChirps * numLoops * numOfBurst
*/
.numAdcSamples = (rlUInt16_t) AR1243_RADAR_WIDTH_256 * (rlUInt16_t) 2,
.numChirpsInDataPacket = (rlUInt8_t) 1,
/* In AR12xx: Program this as 1 */
.reserved1 = (rlUInt8_t) 0,
},
// {
// .totalChirps =
// (rlUInt32_t) AR1243_RADAR_HEIGHT * CHAINS_AR1243_NUM_BURSTS,
// .numAdcSamples = (rlUInt16_t) AR1243_PROFILE1_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,
}
}
}
},
// Khai: enable TX Power Backoff and RX Gain Calibration bits
.calibEnArgs = {
.calibEnMask = (rlUInt32_t) 0x17f0, // 600 - enable tx rx, //200 - enable tx bk only, //0x17f0,
.reserved0 = (rlUInt8_t) 0x0,
.reserved1 = (rlUInt8_t) 0x0,
.reserved2 = (rlUInt16_t) 0x0,
.reserved3 = (rlUInt32_t) 0x0
}
};
// POC: Radar Mode Configurations
Bsp_Ar12xxConfigObj gAr12xx_config_RadarMode2;
Bsp_Ar12xxConfigObj gAr12xx_config_RadarMode4;
Bsp_Ar12xxConfigObj gAr12xx_config_RadarMode5;
// POC: There will be equal number of chirp config objects as radar modes.
// When a radar is selected, this function will be called and return the
// corresponding chirp config for that radar mode.
Bsp_Ar12xxConfigObj *getChirpConfig(UInt32 radarMode) {
Bsp_Ar12xxConfigObj *ptr = NULL;
if(radarMode == 1) {
ptr = &gAr12xx_config_RadarMode1;
}
else if (radarMode == 2) {
gAr12xx_config_RadarMode2 = gAr12xx_config_RadarMode1;
ptr = &gAr12xx_config_RadarMode2;
ptr->chirpCfgArgs = gAr1243ChirpCfgArgs_RadarMode2;
ptr->numChirpCfgArgs = sizeof(gAr1243ChirpCfgArgs_RadarMode2)/sizeof(rlChirpCfg_t);
ptr->frameCfgArgs = &gAr1243FrmArgs_RadarMode2;
ptr->numFrameCfgArgs = sizeof(gAr1243FrmArgs_RadarMode2)/sizeof(rlFrameCfg_t);
}
else if (radarMode == 4) {
gAr12xx_config_RadarMode4 = gAr12xx_config_RadarMode1;
ptr = &gAr12xx_config_RadarMode4;
ptr->chirpCfgArgs = gAr1243ChirpCfgArgs_RadarMode4;
ptr->numChirpCfgArgs = sizeof(gAr1243ChirpCfgArgs_RadarMode4)/sizeof(rlChirpCfg_t);
ptr->frameCfgArgs = &gAr1243FrmArgs_RadarMode4;
ptr->numFrameCfgArgs = sizeof(gAr1243FrmArgs_RadarMode4)/sizeof(rlFrameCfg_t);
}
else if (radarMode == 5) {
gAr12xx_config_RadarMode5 = gAr12xx_config_RadarMode1;
ptr = &gAr12xx_config_RadarMode5;
ptr->chirpCfgArgs = gAr1243ChirpCfgArgs_RadarMode5;
ptr->numChirpCfgArgs = sizeof(gAr1243ChirpCfgArgs_RadarMode5)/sizeof(rlChirpCfg_t);
ptr->frameCfgArgs = &gAr1243FrmArgs_RadarMode5;
ptr->numFrameCfgArgs = sizeof(gAr1243FrmArgs_RadarMode5)/sizeof(rlFrameCfg_t);
}
else {
Vps_printf("\nRadar Mode '%d' - Unsupported\n", radarMode);
}
return ptr;
}
// Khai: Selecting number of Radars menu (1 -4)
Int32 Chains_ar12xxGetSampleConfig(ChainsCommon_Ar12xxConfigOut *pCfgOut, UInt32 fusionEnabled)
{
UInt32 i = 0U;
UInt32 done = FALSE;
char ch;
if (Bsp_ar12xxGetConnType() == BSP_AR12XX_CONN_TYPE_FPDLINK)
{
if (fusionEnabled == 0U)
{
// If network control specifies radar mode
if(pCfgOut->radarMode != 0)
pCfgOut->numRadars = 1;
else {
while(!done)
{
ch = ChainsCommon_ar12xxRunTimeMenu(gChains_numRadarsMenu);
switch(ch)
{
case '1':
pCfgOut->numRadars = 1;
done = TRUE;
break;
case '2':
pCfgOut->numRadars = 2;
done = TRUE;
break;
case '3':
pCfgOut->numRadars = 3;
done = TRUE;
break;
case '4':
pCfgOut->numRadars = 4;
done = TRUE;
break;
default:
Vps_printf("\nUnsupported option '%c'. Please try again\n", ch);
break;
}
}
}
}
else
{
pCfgOut->numRadars = 1;
}
Vps_printf(" CHAINS: %d AR12xx connected via FPD-Link... \n\r", pCfgOut->numRadars);
done = FALSE;
}
else
{
pCfgOut->numRadars = 1;
}
pCfgOut->fusionEnabled = fusionEnabled;
/* Check for certain size limitations. This will show up as compile time
* issues.
*/
COMPILE_TIME_ASSERT(sizeof(gAr1243ChirpCfgArgs_RadarMode1)/sizeof(rlChirpCfg_t) > 512);
COMPILE_TIME_ASSERT(
sizeof(gAr1243ProfileArgs_RadarMode1)/sizeof(rlProfileCfg_t) >
CHAINS_AR1243_MAX_PROFILES);
for (i = 0; i < pCfgOut->numRadars; i++)
{
/* Defaulting to macro as this not captured in the ar12xxConfig parameter */
pCfgOut->radarParams[i].numValidBits = CHAINS_AR1243_ADC_DATA_FORMAT;
pCfgOut->radarParams[i].bpmEnabled = 0U;
pCfgOut->radarParams[i].numProfiles = sizeof(gAr1243ProfileArgs_RadarMode1)/sizeof(rlProfileCfg_t);
}
for (i=0; i<CHAINS_MAX_NUM_RADARS; i++)
{
// Khai: This is where we provide the different chirp config based on the radar mode
// request from external controller in getChirpConfig(1)
memcpy(&pCfgOut->radarParams[i].ar12xxConfig, getChirpConfig(pCfgOut->radarMode), sizeof (gAr12xx_config_RadarMode1));
sprintf(pCfgOut->radarParams[i].configName, "%s_%d", CHAINS_AR1243_CONFIG_NAME, i);
pCfgOut->radarParams[i].chirpRow = &gAr1243ChirpRowArgs[i][0];
pCfgOut->radarParams[i].numChirpRow = CHAINS_AR1243_CHIRPROW_SIZE;
}
/* Default to normal frame */
pCfgOut->frameType = 0U;
return SYSTEM_LINK_STATUS_SOK;
}
