Other Parts Discussed in Thread: MMWAVE-SDK
Hi,
I am trying to use an IWR1443 as a spi slave connected to an MSP430 which is serving as the master. I have gotten it working with the IWR1443 sending 64 byte packets at a time but I would like to be able to read out a longer list of objects all at once. Currently reading all the detected objects requires reading out 20 separate 64 byte packets.
The mmwave sdk documentation for v 2.01.00.04 for the spi module has a mention of a MIBSPI_RAM_MAX_ELEM which is 64 but it also gives some vague information about transmitting amounts larger than the RAM buffer size as a compile time option.
1. How can I tell if this was enabled as a compile time option in the mmwave SDK and if it is not is there a way I can enable it?
2. Is there a timing diagram that describes how long the SPI master must deactivate the CS/CLK signal to allow transfers?
3. Why can the driver not load the ram buffer as the transaction progresses? Since I am only running my spi bus at 2MHz I would think the IWR processor would be able to keep the SPI module continuously fed with data to transmit?
SPI Code to send 64 bytes
#include <ti/drivers/dma/dma.h>
#include <ti/drivers/gpio/gpio.h>
#include <ti/drivers/pinmux/pinmux.h>
#include <ti/drivers/spi/SPI.h>
#include <ti/sysbios/BIOS.h>
#include <ti/sysbios/gates/GateMutex.h>
#include <xdc/runtime/System.h>
// clang-format off
#include <ti/control/mmwavelink/mmwavelink.h>
#include <ti/control/mmwavelink/include/rl_datatypes.h>
#include <ti/control/mmwavelink/include/rl_sensor.h>
// clang-format on
#include "mmw.h"
#include "mmw_spi.h"
uint32_t numberOfDetectedObjects;
MmwDemo_detectedObj objectsToSend[MMW_MAX_OBJ_OUT];
Semaphore_Handle spiOutputDataBufferReady;
uint32_t qformat;
rlRfTempData_t tempData = {0};
typedef struct dssCalibrationData {
float rangeBias;
int16_t comps[24];
} dssCalibrationData_t;
dssCalibrationData_t calibrationData;
// Packet format definitions
// 4 byte header
// 5 - 12 byte objects
// 100 objects total -> 20 packets
#define SPI_DATA_PACKET_SIZE 64
#define SPI_PACKETS_PER_FRAME 20
#define SPI_OBJ_PER_PACKET 5
#define PACKET_OBJ_SIZE 60
uint8_t txPlaceholder[1344] = {0x5A};
uint8_t rxPlaceholder[1344] = {0x5A};
void setCalibrationData(MmwDemo_DataPathObj* obj)
{
calibrationData.rangeBias = obj->cliCommonCfg->compRxChanCfg.rangeBias;
int32_t i;
for (i = 0; i < 12; i++)
{
calibrationData.comps[(i * 2)] = obj->cliCommonCfg->compRxChanCfg.rxChPhaseComp[i].real;
calibrationData.comps[(i * 2) + 1] = obj->cliCommonCfg->compRxChanCfg.rxChPhaseComp[i].imag;
}
// Semaphore_post(spiOutputDataBufferReady);
}
/**
* @b Description
* @n
* This method copies the detected objects to the buffer used by the SPI
* task and then notifies the SPI task that the data is ready to be sent
*
* @retval
* Not applicable
*/
void setSpiObjectsToSend(MmwDemo_DataPathObj* objects)
{
static int temperatureCounter = 0;
temperatureCounter++;
if (temperatureCounter == 10)
{
int32_t retVal;
retVal = rlRfGetTemperatureReport(RL_DEVICE_MAP_INTERNAL_BSS,
(rlRfTempData_t*)&tempData);
if (retVal != 0)
{
// An error occurred
System_printf("Error reading temperature\n");
}
temperatureCounter = 0;
}
memcpy(&objectsToSend, objects->objOut,
sizeof(MmwDemo_detectedObj) * MMW_MAX_OBJ_OUT);
numberOfDetectedObjects = objects->numObjOut;
qformat = objects->xyzOutputQFormat;
Semaphore_post(spiOutputDataBufferReady);
}
/**
* @b Description
* @n
* This task manages communications over the SPI bus. The IWR1443 behaves
* as a slave to transmit data to a host processor. The IWR pulls the
* SPI_HOST_INTR pin low when there is a data packet ready for transmission task
* and then notifies the SPI task that the data is ready to be sent
*
* @retval
* Not applicable
*/
void Spi_CommunicationsTask(UArg arg0, UArg arg1)
{
Semaphore_Params semParams;
Semaphore_Params_init(&semParams);
semParams.mode = Semaphore_Mode_BINARY;
spiOutputDataBufferReady = Semaphore_create(1, &semParams, NULL);
// Setup PINMUX for SPIA
// P6 - SPI_HOST_INTR_1
// P5 - MISO
// R8 - MOSI
// R9 - SPI_CLK
// R7 - SPI_CS
Pinmux_Set_OverrideCtrl(SOC_XWR14XX_PINR8_PADAD,
PINMUX_OUTEN_RETAIN_HW_CTRL,
PINMUX_INPEN_RETAIN_HW_CTRL);
Pinmux_Set_FuncSel(SOC_XWR14XX_PINR8_PADAD,
SOC_XWR14XX_PINR8_PADAD_SPIA_MOSI);
Pinmux_Set_OverrideCtrl(SOC_XWR14XX_PINP5_PADAE,
PINMUX_OUTEN_RETAIN_HW_CTRL,
PINMUX_INPEN_RETAIN_HW_CTRL);
Pinmux_Set_FuncSel(SOC_XWR14XX_PINP5_PADAE,
SOC_XWR14XX_PINP5_PADAE_SPIA_MISO);
Pinmux_Set_OverrideCtrl(SOC_XWR14XX_PINR9_PADAF,
PINMUX_OUTEN_RETAIN_HW_CTRL,
PINMUX_INPEN_RETAIN_HW_CTRL);
Pinmux_Set_FuncSel(SOC_XWR14XX_PINR9_PADAF,
SOC_XWR14XX_PINR9_PADAF_SPIA_CLK);
Pinmux_Set_OverrideCtrl(SOC_XWR14XX_PINR7_PADAG,
PINMUX_OUTEN_RETAIN_HW_CTRL,
PINMUX_INPEN_RETAIN_HW_CTRL);
Pinmux_Set_FuncSel(SOC_XWR14XX_PINR7_PADAG,
SOC_XWR14XX_PINR7_PADAG_SPIA_CS);
Pinmux_Set_OverrideCtrl(SOC_XWR14XX_PINP6_PADAA,
PINMUX_OUTEN_RETAIN_HW_CTRL,
PINMUX_INPEN_RETAIN_HW_CTRL);
Pinmux_Set_FuncSel(SOC_XWR14XX_PINP6_PADAA,
SOC_XWR14XX_PINP6_PADAA_GPIO_12);
GPIO_setConfig(SOC_XWR14XX_GPIO_12, GPIO_CFG_OUTPUT);
GPIO_write(SOC_XWR14XX_GPIO_12, 1U);
// Setup the DMA module for the SPI driver to use
DMA_Params dmaParams;
DMA_Handle dmaHandle;
int errCode;
DMA_init();
DMA_Params_init(&dmaParams);
dmaHandle = DMA_open(0, &dmaParams, &errCode);
// Setup the SPI driver
SPI_Handle spiHandle;
SPI_init();
SPI_Params spiParams;
SPI_Params_init(&spiParams);
spiParams.mode = SPI_SLAVE;
spiParams.frameFormat = SPI_POL0_PHA0;
spiParams.pinMode = SPI_PINMODE_4PIN_CS;
spiParams.shiftFormat = SPI_MSB_FIRST;
spiParams.dmaEnable = 1;
spiParams.dmaHandle = dmaHandle;
spiParams.u.slaveParams.dmaCfg.txDmaChanNum = 1U;
spiParams.u.slaveParams.dmaCfg.rxDmaChanNum = 0U;
spiParams.u.slaveParams.chipSelect = 0U;
spiParams.dataSize = 8;
spiParams.transferTimeout = 50; // Time in system ticks
spiParams.csHold = 1;
spiParams.transferMode = SPI_MODE_BLOCKING;
spiHandle = SPI_open(0, &spiParams);
if (!spiHandle)
{
MmwDemo_debugAssert(0);
return;
}
SPI_Transaction transaction;
char transmitBuffer[SPI_DATA_PACKET_SIZE];
char receiveBuffer[SPI_DATA_PACKET_SIZE];
transaction.count = 1344;
transaction.txBuf = txPlaceholder;
transaction.rxBuf = rxPlaceholder;
transaction.slaveIndex = 0;
uint16_t frameCount = 0;
while (1)
{
uint8_t packetCount = 0;
if (Semaphore_pend(spiOutputDataBufferReady, BIOS_WAIT_FOREVER))
{
// #define RUN_CALIBRATE
#ifdef RUN_CALIBRATE
memset(transmitBuffer, 0, sizeof(transmitBuffer));
memcpy(transmitBuffer, &calibrationData, sizeof(calibrationData));
for(packetCount = 0; packetCount <= SPI_PACKETS_PER_FRAME; packetCount++)
{
memcpy(transmitBuffer + 3, &calibrationData, sizeof(calibrationData));
transmitBuffer[2] = packetCount + 1;
GPIO_write(SOC_XWR14XX_GPIO_12, 0U);
SPI_transfer(spiHandle, &transaction);
GPIO_write(SOC_XWR14XX_GPIO_12, 1U);
}
#else
// Clear the buffer since the first memcpy does not write the entire
// buffer
memset(transmitBuffer, 0, sizeof(transmitBuffer));
// Set the frame count
GPIO_write(SOC_XWR14XX_GPIO_12, 0U);
SPI_transfer(spiHandle, &transaction);
GPIO_write(SOC_XWR14XX_GPIO_12, 1U);
// for (packetCount = 0; packetCount < SPI_PACKETS_PER_FRAME;
// packetCount++)
// {
// transmitBuffer[2] = packetCount + 1;
// transmitBuffer[3] = numberOfDetectedObjects & 0xFF;
// int memIndex = SPI_OBJ_PER_PACKET * packetCount;
// memcpy(transmitBuffer + 4, &objectsToSend[memIndex], PACKET_OBJ_SIZE);
// GPIO_write(SOC_XWR14XX_GPIO_12, 0U);
// SPI_transfer(spiHandle, &transaction);
// GPIO_write(SOC_XWR14XX_GPIO_12, 1U);
// }
#endif
}
frameCount++;
}
}
SPI Code attempt to send 1344 bytes
#include <ti/drivers/dma/dma.h>
#include <ti/drivers/gpio/gpio.h>
#include <ti/drivers/pinmux/pinmux.h>
#include <ti/drivers/spi/SPI.h>
#include <ti/sysbios/BIOS.h>
#include <ti/sysbios/gates/GateMutex.h>
#include <xdc/runtime/System.h>
// clang-format off
#include <ti/control/mmwavelink/mmwavelink.h>
#include <ti/control/mmwavelink/include/rl_datatypes.h>
#include <ti/control/mmwavelink/include/rl_sensor.h>
// clang-format on
#include "mmw.h"
#include "mmw_spi.h"
uint32_t numberOfDetectedObjects;
MmwDemo_detectedObj objectsToSend[MMW_MAX_OBJ_OUT];
Semaphore_Handle spiOutputDataBufferReady;
uint32_t qformat;
rlRfTempData_t tempData = {0};
typedef struct dssCalibrationData {
float rangeBias;
int16_t comps[24];
} dssCalibrationData_t;
dssCalibrationData_t calibrationData;
// Packet format definitions
// 4 byte header
// 5 - 12 byte objects
// 100 objects total -> 20 packets
#define SPI_DATA_PACKET_SIZE 64
#define SPI_PACKETS_PER_FRAME 20
#define SPI_OBJ_PER_PACKET 5
#define PACKET_OBJ_SIZE 60
uint8_t txPlaceholder[1344] = {0x5A};
uint8_t rxPlaceholder[1344] = {0x5A};
void setCalibrationData(MmwDemo_DataPathObj* obj)
{
calibrationData.rangeBias = obj->cliCommonCfg->compRxChanCfg.rangeBias;
int32_t i;
for (i = 0; i < 12; i++)
{
calibrationData.comps[(i * 2)] = obj->cliCommonCfg->compRxChanCfg.rxChPhaseComp[i].real;
calibrationData.comps[(i * 2) + 1] = obj->cliCommonCfg->compRxChanCfg.rxChPhaseComp[i].imag;
}
// Semaphore_post(spiOutputDataBufferReady);
}
/**
* @b Description
* @n
* This method copies the detected objects to the buffer used by the SPI
* task and then notifies the SPI task that the data is ready to be sent
*
* @retval
* Not applicable
*/
void setSpiObjectsToSend(MmwDemo_DataPathObj* objects)
{
static int temperatureCounter = 0;
temperatureCounter++;
if (temperatureCounter == 10)
{
int32_t retVal;
retVal = rlRfGetTemperatureReport(RL_DEVICE_MAP_INTERNAL_BSS,
(rlRfTempData_t*)&tempData);
if (retVal != 0)
{
// An error occurred
System_printf("Error reading temperature\n");
}
temperatureCounter = 0;
}
memcpy(&objectsToSend, objects->objOut,
sizeof(MmwDemo_detectedObj) * MMW_MAX_OBJ_OUT);
numberOfDetectedObjects = objects->numObjOut;
qformat = objects->xyzOutputQFormat;
Semaphore_post(spiOutputDataBufferReady);
}
/**
* @b Description
* @n
* This task manages communications over the SPI bus. The IWR1443 behaves
* as a slave to transmit data to a host processor. The IWR pulls the
* SPI_HOST_INTR pin low when there is a data packet ready for transmission task
* and then notifies the SPI task that the data is ready to be sent
*
* @retval
* Not applicable
*/
void Spi_CommunicationsTask(UArg arg0, UArg arg1)
{
Semaphore_Params semParams;
Semaphore_Params_init(&semParams);
semParams.mode = Semaphore_Mode_BINARY;
spiOutputDataBufferReady = Semaphore_create(1, &semParams, NULL);
// Setup PINMUX for SPIA
// P6 - SPI_HOST_INTR_1
// P5 - MISO
// R8 - MOSI
// R9 - SPI_CLK
// R7 - SPI_CS
Pinmux_Set_OverrideCtrl(SOC_XWR14XX_PINR8_PADAD,
PINMUX_OUTEN_RETAIN_HW_CTRL,
PINMUX_INPEN_RETAIN_HW_CTRL);
Pinmux_Set_FuncSel(SOC_XWR14XX_PINR8_PADAD,
SOC_XWR14XX_PINR8_PADAD_SPIA_MOSI);
Pinmux_Set_OverrideCtrl(SOC_XWR14XX_PINP5_PADAE,
PINMUX_OUTEN_RETAIN_HW_CTRL,
PINMUX_INPEN_RETAIN_HW_CTRL);
Pinmux_Set_FuncSel(SOC_XWR14XX_PINP5_PADAE,
SOC_XWR14XX_PINP5_PADAE_SPIA_MISO);
Pinmux_Set_OverrideCtrl(SOC_XWR14XX_PINR9_PADAF,
PINMUX_OUTEN_RETAIN_HW_CTRL,
PINMUX_INPEN_RETAIN_HW_CTRL);
Pinmux_Set_FuncSel(SOC_XWR14XX_PINR9_PADAF,
SOC_XWR14XX_PINR9_PADAF_SPIA_CLK);
Pinmux_Set_OverrideCtrl(SOC_XWR14XX_PINR7_PADAG,
PINMUX_OUTEN_RETAIN_HW_CTRL,
PINMUX_INPEN_RETAIN_HW_CTRL);
Pinmux_Set_FuncSel(SOC_XWR14XX_PINR7_PADAG,
SOC_XWR14XX_PINR7_PADAG_SPIA_CS);
Pinmux_Set_OverrideCtrl(SOC_XWR14XX_PINP6_PADAA,
PINMUX_OUTEN_RETAIN_HW_CTRL,
PINMUX_INPEN_RETAIN_HW_CTRL);
Pinmux_Set_FuncSel(SOC_XWR14XX_PINP6_PADAA,
SOC_XWR14XX_PINP6_PADAA_GPIO_12);
GPIO_setConfig(SOC_XWR14XX_GPIO_12, GPIO_CFG_OUTPUT);
GPIO_write(SOC_XWR14XX_GPIO_12, 1U);
// Setup the DMA module for the SPI driver to use
DMA_Params dmaParams;
DMA_Handle dmaHandle;
int errCode;
DMA_init();
DMA_Params_init(&dmaParams);
dmaHandle = DMA_open(0, &dmaParams, &errCode);
// Setup the SPI driver
SPI_Handle spiHandle;
SPI_init();
SPI_Params spiParams;
SPI_Params_init(&spiParams);
spiParams.mode = SPI_SLAVE;
spiParams.frameFormat = SPI_POL0_PHA0;
spiParams.pinMode = SPI_PINMODE_4PIN_CS;
spiParams.shiftFormat = SPI_MSB_FIRST;
spiParams.dmaEnable = 1;
spiParams.dmaHandle = dmaHandle;
spiParams.u.slaveParams.dmaCfg.txDmaChanNum = 1U;
spiParams.u.slaveParams.dmaCfg.rxDmaChanNum = 0U;
spiParams.u.slaveParams.chipSelect = 0U;
spiParams.dataSize = 8;
spiParams.transferTimeout = 50; // Time in system ticks
spiParams.csHold = 1;
spiParams.transferMode = SPI_MODE_BLOCKING;
spiHandle = SPI_open(0, &spiParams);
if (!spiHandle)
{
MmwDemo_debugAssert(0);
return;
}
SPI_Transaction transaction;
char transmitBuffer[SPI_DATA_PACKET_SIZE];
char receiveBuffer[SPI_DATA_PACKET_SIZE];
transaction.count = 1344;
transaction.txBuf = txPlaceholder;
transaction.rxBuf = rxPlaceholder;
transaction.slaveIndex = 0;
uint16_t frameCount = 0;
while (1)
{
uint8_t packetCount = 0;
if (Semaphore_pend(spiOutputDataBufferReady, BIOS_WAIT_FOREVER))
{
// #define RUN_CALIBRATE
#ifdef RUN_CALIBRATE
memset(transmitBuffer, 0, sizeof(transmitBuffer));
memcpy(transmitBuffer, &calibrationData, sizeof(calibrationData));
for(packetCount = 0; packetCount <= SPI_PACKETS_PER_FRAME; packetCount++)
{
memcpy(transmitBuffer + 3, &calibrationData, sizeof(calibrationData));
transmitBuffer[2] = packetCount + 1;
GPIO_write(SOC_XWR14XX_GPIO_12, 0U);
SPI_transfer(spiHandle, &transaction);
GPIO_write(SOC_XWR14XX_GPIO_12, 1U);
}
#else
// Clear the buffer since the first memcpy does not write the entire
// buffer
memset(transmitBuffer, 0, sizeof(transmitBuffer));
// Set the frame count
GPIO_write(SOC_XWR14XX_GPIO_12, 0U);
SPI_transfer(spiHandle, &transaction);
GPIO_write(SOC_XWR14XX_GPIO_12, 1U);
// for (packetCount = 0; packetCount < SPI_PACKETS_PER_FRAME;
// packetCount++)
// {
// transmitBuffer[2] = packetCount + 1;
// transmitBuffer[3] = numberOfDetectedObjects & 0xFF;
// int memIndex = SPI_OBJ_PER_PACKET * packetCount;
// memcpy(transmitBuffer + 4, &objectsToSend[memIndex], PACKET_OBJ_SIZE);
// GPIO_write(SOC_XWR14XX_GPIO_12, 0U);
// SPI_transfer(spiHandle, &transaction);
// GPIO_write(SOC_XWR14XX_GPIO_12, 1U);
// }
#endif
}
frameCount++;
}
}
