Hi AWR Team,
This is Khai from Metawave. I am creating a ticket here after our call with your team on 5/26/2020, The purpose is that Normal Frame Configuration of the AWR took too long of a latency. During the call, it was suggested to use Advanced Frame Config which we heard of but is a new concept to us. I would like to provide our radar mode configuration here from the Processor SDK perspective and hopefully someone on the AWR team can help translate that into Advance Frame Config. If a Call is needed to get to the bottom of this issue, We will set that up then. I will attached the source code that I have for AWR configuration here.
Thanks,
--Khai
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/**
* \file chains_common_cascade_ar12xx.c
*
* \brief Cascade Radar sample application AR12xx configuration.
*/
/*******************************************************************************
* INCLUDE FILES
*******************************************************************************
*/
#include <include/common/chains_radar.h>
/* ========================================================================== */
/* Macros & Typedefs */
/* ========================================================================== */
#define APP_NAME "CHAINS_COMMON_CASCADE"
/* Maximum Number of profiles which is possible from the AR device */
#define CHAINS_CASCADE_RADAR_MAX_PROFILES (4U)
#define CHAINS_CASCADE_RADAR_MAX_MODES CHAINS_CASCADE_RADAR_MAX_PROFILES
/* Name of the configuration used */
#define CHAINS_CASCADE_RADAR_CONFIG_NAME "CASCADE_CONFIG"
#define CHAINS_CASCADE_RADAR_NUM_RX_ANTENNA (4U) // Khai: used to enable all 4 RX in a sensor
/* Total number of Txs across sensors that are chirped as part of TDM-MIMO */
#define CHAINS_CASCADE_RADAR_NUM_TX_ANTENNA (1U) // Khai: use in Advanced Frame Config only
/** \brief Radar Sensor Height or Number of Chirps */
#define CHAINS_CASCADE_RADAR_RADAR_HEIGHT_64 (64U) // Khai: use 128 doppler
#define CHAINS_CASCADE_RADAR_RADAR_HEIGHT_128 (128U) // Khai: use 128 doppler
#define CHAINS_CASCADE_RADAR_NUM_FRAMES (0U) // 0 = infinity Frames
#define CHAINS_CASCADE_RADAR_FRAME_PERIODICITY_MS (10U) // Khai: rel - 10ms, dbg - 20ms
#define CHAINS_CASCADE_RADAR_WIDTH_128 (128U) // Khai: set range bin to 256
#define CHAINS_CASCADE_RADAR_WIDTH_256 (256U) // Khai: set range bin to 256
// Khai: LRR Profile Config same as FUJI
//#define CHAINS_CASCADE_RADAR_SAMPLING_RATE_KSPS (18750U)
//#define CHAINS_CASCADE_RADAR_ADC_START_TIME_IN_US (4U)
//#define CHAINS_CASCADE_RADAR_IDLE_TIME_IN_US (2U)
//#define CHAINS_CASCADE_RADAR_RAMP_END_TIME_IN_US (30U)
//#define CHAINS_CASCADE_RADAR_SLOPE_MHZ_PER_US (8.52)
//#define CHAINS_CASCADE_RADAR_TX_START_TIME (1U)
// Khai: MRR Profile Config same as FUJI
//#define CHAINS_CASCADE_RADAR_SAMPLING_RATE_KSPS (15000U)
//#define CHAINS_CASCADE_RADAR_ADC_START_TIME_IN_US (5U)
//#define CHAINS_CASCADE_RADAR_IDLE_TIME_IN_US (4U)
//#define CHAINS_CASCADE_RADAR_RAMP_END_TIME_IN_US (23U)
//#define CHAINS_CASCADE_RADAR_SLOPE_MHZ_PER_US (15U)
//#define CHAINS_CASCADE_RADAR_TX_START_TIME (1U)
// Khai: SRR Profile Config same as FUJI
#define CHAINS_CASCADE_RADAR_SAMPLING_RATE_KSPS (8000U)
#define CHAINS_CASCADE_RADAR_ADC_START_TIME_IN_US (6U)
#define CHAINS_CASCADE_RADAR_IDLE_TIME_IN_US (5U)
#define CHAINS_CASCADE_RADAR_RAMP_END_TIME_IN_US (40U)
#define CHAINS_CASCADE_RADAR_SLOPE_MHZ_PER_US (79U)
#define CHAINS_CASCADE_RADAR_TX_START_TIME (1U)
/* check if frame periodicity too low with 2 ms margin */
#define TOTAL_CHIRP_TIME_US ( /* number of chirps */ \
(CHAINS_CASCADE_RADAR_NUM_TX_ANTENNA * \
CHAINS_CASCADE_RADAR_RADAR_HEIGHT_128) * \
/* time of one chirp */ \
(CHAINS_CASCADE_RADAR_RAMP_END_TIME_IN_US + \
CHAINS_CASCADE_RADAR_IDLE_TIME_IN_US) \
)
#if ((CHAINS_CASCADE_RADAR_FRAME_PERIODICITY_MS * 1000) < (TOTAL_CHIRP_TIME_US + 2000U))
#error frame periodicity too low
#endif
/** \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 (600U)
#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_CASCADE_RADAR_DDR_HSI_CLK (0xB) /* 150 Mbps */
/** \brief ISS CSI clock paramter set */
#define CHAINS_CASCADE_RADAR_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_CASCADE_RADAR_DDR_HSI_CLK (0xA) /* 300 Mbps */
/** \brief ISS CSI clock paramter set */
#define CHAINS_CASCADE_RADAR_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_CASCADE_RADAR_DDR_HSI_CLK (0x1) /* 400 Mbps */
/** \brief ISS CSI clock paramter set */
#define CHAINS_CASCADE_RADAR_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_CASCADE_RADAR_DDR_HSI_CLK (0x5) /* 450 Mbps */
/** \brief ISS CSI clock paramter set */
#define CHAINS_CASCADE_RADAR_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_CASCADE_RADAR_DDR_HSI_CLK (0x9) /* 600 Mbps */
/** \brief ISS CSI clock paramter set */
#define CHAINS_CASCADE_RADAR_ISS_CSI_CLK (300U) /* 600 Mbps */
#else
#warn "CHAINS_CASCADE_RADAR: 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_CASCADE_RADAR_ADC_DATA_FORMAT (16U)
#if (CHAINS_CASCADE_RADAR_ADC_DATA_FORMAT == (12U))
/** \brief AR12 data format value set in the configuration */
#define CHAINS_CASCADE_RADAR_DATA_FORMAT_CONFIG (RL_ADC_DATA_12_BIT) /* 12 bit */
#elif (CHAINS_CASCADE_RADAR_ADC_DATA_FORMAT == (14U))
/** \brief AR12 data format value set in the configuration */
#define CHAINS_CASCADE_RADAR_DATA_FORMAT_CONFIG (RL_ADC_DATA_14_BIT) /* 14 bit */
#elif (CHAINS_CASCADE_RADAR_ADC_DATA_FORMAT == (16U))
/** \brief AR12 data format value set in the configuration */
#define CHAINS_CASCADE_RADAR_DATA_FORMAT_CONFIG (RL_ADC_DATA_16_BIT) /* 16 bit */
#else
#warn "CHAINS_CASCADE_RADAR: No valid ADC data format specified!!"
#endif
/** \brief Advanced Frame Configurations */
#define CHAINS_CASCADE_RADAR_NUM_SUBFRAMES (2U)
#define CHAINS_CASCADE_RADAR_NUM_BURSTS (1U)
#define CHAINS_CASCADE_RADAR_NUM_BURST_LOOPS (1U)
#define CHAINS_CASCADE_CHIRP_START_IDX 0
#define CHAINS_CASCADE_CHIRP_END_IDX 0 // Khai: Set this to number of chirp used on all sensors
/* When Advanced frame configuration is set this is ignored */
//==============================================================//
// ASSUMPTION: THERE IS EQUAL NUMBER OF FRAME CFG AS NUMBER OF //
// OF PROFILES IN THIS CODE BASE. THIS IS BECAUSE WE ASSOCIATE //
// PROFILE TO RADAR MODE. EACH RADAR MODE HAS PARAMETER DEPEDENT//
// IN BOTH FRAME CFG AND PROFILE CFG. THEREFORE, THERE MUST BE //
// EQUAL NUMBER OF FRAME CFG AND PROFILE CFG //
//==============================================================//
rlFrameCfg_t gChains_cascadeRadarFrmArgsMaster[CHAINS_CASCADE_RADAR_MAX_MODES] =
{
{
.chirpStartIdx = (rlUInt16_t) CHAINS_CASCADE_CHIRP_START_IDX,
.chirpEndIdx = (rlUInt16_t) CHAINS_CASCADE_CHIRP_END_IDX,
.numLoops = (rlUInt16_t) CHAINS_CASCADE_RADAR_RADAR_HEIGHT_128,
.numFrames = (rlUInt16_t) CHAINS_CASCADE_RADAR_NUM_FRAMES,
.numAdcSamples = (rlUInt16_t) CHAINS_CASCADE_RADAR_WIDTH_256 * (rlUInt16_t)2,
.framePeriodicity = (rlUInt32_t) CHAINS_AR1243_TIME_MS_TO_5NS(10),
.triggerSelect = (rlUInt16_t) RL_FRAMESTRT_API_TRIGGER,
.reserved0 = (rlUInt32_t) 0,
.reserved1 = (rlUInt32_t) 0,
.frameTriggerDelay = (rlUInt32_t) 0
},
{
.chirpStartIdx = (rlUInt16_t) CHAINS_CASCADE_CHIRP_START_IDX,
.chirpEndIdx = (rlUInt16_t) CHAINS_CASCADE_CHIRP_END_IDX,
.numLoops = (rlUInt16_t) CHAINS_CASCADE_RADAR_RADAR_HEIGHT_128,
.numFrames = (rlUInt16_t) CHAINS_CASCADE_RADAR_NUM_FRAMES,
.numAdcSamples = (rlUInt16_t) CHAINS_CASCADE_RADAR_WIDTH_128 * (rlUInt16_t)2,
.framePeriodicity = (rlUInt32_t) CHAINS_AR1243_TIME_MS_TO_5NS(10),
.triggerSelect = (rlUInt16_t) RL_FRAMESTRT_API_TRIGGER,
.reserved0 = (rlUInt32_t) 0,
.reserved1 = (rlUInt32_t) 0,
.frameTriggerDelay = (rlUInt32_t) 0
},
{
.chirpStartIdx = (rlUInt16_t) CHAINS_CASCADE_CHIRP_START_IDX,
.chirpEndIdx = (rlUInt16_t) CHAINS_CASCADE_CHIRP_END_IDX,
.numLoops = (rlUInt16_t) CHAINS_CASCADE_RADAR_RADAR_HEIGHT_128,
.numFrames = (rlUInt16_t) CHAINS_CASCADE_RADAR_NUM_FRAMES,
.numAdcSamples = (rlUInt16_t) CHAINS_CASCADE_RADAR_WIDTH_128 * (rlUInt16_t)2,
.framePeriodicity = (rlUInt32_t) CHAINS_AR1243_TIME_MS_TO_5NS(10),
.triggerSelect = (rlUInt16_t) RL_FRAMESTRT_API_TRIGGER,
.reserved0 = (rlUInt32_t) 0,
.reserved1 = (rlUInt32_t) 0,
.frameTriggerDelay = (rlUInt32_t) 0
},
{
.chirpStartIdx = (rlUInt16_t) CHAINS_CASCADE_CHIRP_START_IDX,
.chirpEndIdx = (rlUInt16_t) CHAINS_CASCADE_CHIRP_END_IDX,
.numLoops = (rlUInt16_t) CHAINS_CASCADE_RADAR_RADAR_HEIGHT_128,
.numFrames = (rlUInt16_t) CHAINS_CASCADE_RADAR_NUM_FRAMES,
.numAdcSamples = (rlUInt16_t) CHAINS_CASCADE_RADAR_WIDTH_256 * (rlUInt16_t)2,
.framePeriodicity = (rlUInt32_t) CHAINS_AR1243_TIME_MS_TO_5NS(10),
.triggerSelect = (rlUInt16_t) RL_FRAMESTRT_API_TRIGGER,
.reserved0 = (rlUInt32_t) 0,
.reserved1 = (rlUInt32_t) 0,
.frameTriggerDelay = (rlUInt32_t) 0
}
};
rlFrameCfg_t gChains_cascadeRadarFrmArgsSlave[CHAINS_CASCADE_RADAR_MAX_MODES] =
{
{
.chirpStartIdx = (rlUInt16_t) CHAINS_CASCADE_CHIRP_START_IDX,
.chirpEndIdx = (rlUInt16_t) CHAINS_CASCADE_CHIRP_END_IDX,
.numLoops = (rlUInt16_t) CHAINS_CASCADE_RADAR_RADAR_HEIGHT_128,
.numFrames = (rlUInt16_t) CHAINS_CASCADE_RADAR_NUM_FRAMES,
.numAdcSamples = (rlUInt16_t) CHAINS_CASCADE_RADAR_WIDTH_256 * (rlUInt16_t)2,
.framePeriodicity = (rlUInt32_t) CHAINS_AR1243_TIME_MS_TO_5NS(10),
.triggerSelect = (rlUInt16_t) RL_FRAMESTRT_SYNCIN_TRIGGER,
.reserved0 = (rlUInt32_t) 0,
.reserved1 = (rlUInt32_t) 0,
.frameTriggerDelay = (rlUInt32_t) 0
},
{
.chirpStartIdx = (rlUInt16_t) CHAINS_CASCADE_CHIRP_START_IDX,
.chirpEndIdx = (rlUInt16_t) CHAINS_CASCADE_CHIRP_END_IDX,
.numLoops = (rlUInt16_t) CHAINS_CASCADE_RADAR_RADAR_HEIGHT_128,
.numFrames = (rlUInt16_t) CHAINS_CASCADE_RADAR_NUM_FRAMES,
.numAdcSamples = (rlUInt16_t) CHAINS_CASCADE_RADAR_WIDTH_128 * (rlUInt16_t)2,
.framePeriodicity = (rlUInt32_t) CHAINS_AR1243_TIME_MS_TO_5NS(10),
.triggerSelect = (rlUInt16_t) RL_FRAMESTRT_SYNCIN_TRIGGER,
.reserved0 = (rlUInt32_t) 0,
.reserved1 = (rlUInt32_t) 0,
.frameTriggerDelay = (rlUInt32_t) 0
},
{
.chirpStartIdx = (rlUInt16_t) CHAINS_CASCADE_CHIRP_START_IDX,
.chirpEndIdx = (rlUInt16_t) CHAINS_CASCADE_CHIRP_END_IDX,
.numLoops = (rlUInt16_t) CHAINS_CASCADE_RADAR_RADAR_HEIGHT_128,
.numFrames = (rlUInt16_t) CHAINS_CASCADE_RADAR_NUM_FRAMES,
.numAdcSamples = (rlUInt16_t) CHAINS_CASCADE_RADAR_WIDTH_128 * (rlUInt16_t)2,
.framePeriodicity = (rlUInt32_t) CHAINS_AR1243_TIME_MS_TO_5NS(10),
.triggerSelect = (rlUInt16_t) RL_FRAMESTRT_SYNCIN_TRIGGER,
.reserved0 = (rlUInt32_t) 0,
.reserved1 = (rlUInt32_t) 0,
.frameTriggerDelay = (rlUInt32_t) 0
},
{
.chirpStartIdx = (rlUInt16_t) CHAINS_CASCADE_CHIRP_START_IDX,
.chirpEndIdx = (rlUInt16_t) CHAINS_CASCADE_CHIRP_END_IDX,
.numLoops = (rlUInt16_t) CHAINS_CASCADE_RADAR_RADAR_HEIGHT_128,
.numFrames = (rlUInt16_t) CHAINS_CASCADE_RADAR_NUM_FRAMES,
.numAdcSamples = (rlUInt16_t) CHAINS_CASCADE_RADAR_WIDTH_256 * (rlUInt16_t)2,
.framePeriodicity = (rlUInt32_t) CHAINS_AR1243_TIME_MS_TO_5NS(10),
.triggerSelect = (rlUInt16_t) RL_FRAMESTRT_SYNCIN_TRIGGER,
.reserved0 = (rlUInt32_t) 0,
.reserved1 = (rlUInt32_t) 0,
.frameTriggerDelay = (rlUInt32_t) 0
}
};
rlProfileCfg_t gChains_cascadeRadarProfileArgs[CHAINS_CASCADE_RADAR_MAX_MODES] = {
// POC: radar mode 1 - Vmax = 37, Vres = .58 m/s, Rmax = 330, Rres = 1.29 m
{
.profileId = (rlUInt16_t) 0,
.pfVcoSelect = (rlUInt8_t) 0,
.pfCalLutUpdate = (rlUInt8_t) 0,
.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(30),
.txOutPowerBackoffCode = (rlUInt32_t) 14,
.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) CHAINS_CASCADE_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) 30 // Khai: This is same as 9dB VGA gain
},
// POC: radar mode 2 - Vmax = 60, Vres = .94 m/s, Rmax = 330, Rres = 2.58 m
{
.profileId = (rlUInt16_t) 1,
.pfVcoSelect = (rlUInt8_t) 0,
.pfCalLutUpdate = (rlUInt8_t) 0,
.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) 14,
.txPhaseShifter = (rlUInt32_t) 0,
.freqSlopeConst = (rlInt16_t) CHAINS_AR1243_FREQ_MHZ_PER_MICRO_S_SLOPE_CONV(8.49),
.txStartTime = (rlInt16_t) CHAINS_AR1243_TIME_US_TO_10NS(1U),
.numAdcSamples = (rlUInt16_t) CHAINS_CASCADE_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) 30, // Khai: This is same as 9dB VGA gain
},
// POC: radar mode 4 - Vmax = 60, Vres = .94 m/s, Rmax = 250, Rres = 2 m
{
.profileId = (rlUInt16_t) 2,
.pfVcoSelect = (rlUInt8_t) 0,
.pfCalLutUpdate = (rlUInt8_t) 0,
.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) 14,
.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) CHAINS_CASCADE_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) 30 // Khai: This is same as 9dB VGA gain
},
// POC: radar mode 5 - Vmax = 37 m/s, Vres = .6 m/s, Rmax = 100, Rres = .4 m
{
.profileId = (rlUInt16_t) 3,
.pfVcoSelect = (rlUInt8_t) 0,
.pfCalLutUpdate = (rlUInt8_t) 0,
.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) 14,
.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) CHAINS_CASCADE_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) 30 // Khai: This is same as 9dB VGA gain
}
};
rlChirpCfg_t gChains_cascadeRadarChirpCfgArgsMaster[CHAINS_CASCADE_RADAR_MAX_MODES] = {
{
.chirpStartIdx = (rlUInt16_t) 0x0,
.chirpEndIdx = (rlUInt16_t) 0x0,
.profileId = (rlUInt16_t) 0x0,
.startFreqVar = (rlUInt32_t) 0x0,
.freqSlopeVar = (rlUInt16_t) 0x0,
.idleTimeVar = (rlUInt16_t) 0x0,
.adcStartTimeVar = (rlUInt16_t) 0x0,
.txEnable = (rlUInt16_t) 0x1, // Khai: enable transmit only on Master TX0
.reserved = (rlUInt16_t) 0x0
},
{
.chirpStartIdx = (rlUInt16_t) 0x0,
.chirpEndIdx = (rlUInt16_t) 0x0,
.profileId = (rlUInt16_t) 0x1,
.startFreqVar = (rlUInt32_t) 0x0,
.freqSlopeVar = (rlUInt16_t) 0x0,
.idleTimeVar = (rlUInt16_t) 0x0,
.adcStartTimeVar = (rlUInt16_t) 0x0,
.txEnable = (rlUInt16_t) 0x1, // Khai: enable transmit only on Master TX0
.reserved = (rlUInt16_t) 0x0
},
{
.chirpStartIdx = (rlUInt16_t) 0x0,
.chirpEndIdx = (rlUInt16_t) 0x0,
.profileId = (rlUInt16_t) 0x2,
.startFreqVar = (rlUInt32_t) 0x0,
.freqSlopeVar = (rlUInt16_t) 0x0,
.idleTimeVar = (rlUInt16_t) 0x0,
.adcStartTimeVar = (rlUInt16_t) 0x0,
.txEnable = (rlUInt16_t) 0x1, // Khai: enable transmit only on Master TX0
.reserved = (rlUInt16_t) 0x0
},
{
.chirpStartIdx = (rlUInt16_t) 0x0,
.chirpEndIdx = (rlUInt16_t) 0x0,
.profileId = (rlUInt16_t) 0x3,
.startFreqVar = (rlUInt32_t) 0x0,
.freqSlopeVar = (rlUInt16_t) 0x0,
.idleTimeVar = (rlUInt16_t) 0x0,
.adcStartTimeVar = (rlUInt16_t) 0x0,
.txEnable = (rlUInt16_t) 0x1, // Khai: enable transmit only on Master TX0
.reserved = (rlUInt16_t) 0x0
}
};
rlChirpCfg_t gChains_cascadeRadarChirpCfgArgsSlave_DevIdxMap2[CHAINS_CASCADE_RADAR_MAX_MODES] = {
{
.chirpStartIdx = (rlUInt16_t) 0x0,
.chirpEndIdx = (rlUInt16_t) 0x0,
.profileId = (rlUInt16_t) 0x0,
.startFreqVar = (rlUInt32_t) 0x0,
.freqSlopeVar = (rlUInt16_t) 0x0,
.idleTimeVar = (rlUInt16_t) 0x0,
.adcStartTimeVar = (rlUInt16_t) 0x0,
.txEnable = (rlUInt16_t) 0x0,
.reserved = (rlUInt16_t) 0x0
},
{
.chirpStartIdx = (rlUInt16_t) 0x0,
.chirpEndIdx = (rlUInt16_t) 0x0,
.profileId = (rlUInt16_t) 0x1,
.startFreqVar = (rlUInt32_t) 0x0,
.freqSlopeVar = (rlUInt16_t) 0x0,
.idleTimeVar = (rlUInt16_t) 0x0,
.adcStartTimeVar = (rlUInt16_t) 0x0,
.txEnable = (rlUInt16_t) 0x0,
.reserved = (rlUInt16_t) 0x0
},
{
.chirpStartIdx = (rlUInt16_t) 0x0,
.chirpEndIdx = (rlUInt16_t) 0x0,
.profileId = (rlUInt16_t) 0x2,
.startFreqVar = (rlUInt32_t) 0x0,
.freqSlopeVar = (rlUInt16_t) 0x0,
.idleTimeVar = (rlUInt16_t) 0x0,
.adcStartTimeVar = (rlUInt16_t) 0x0,
.txEnable = (rlUInt16_t) 0x0,
.reserved = (rlUInt16_t) 0x0
},
{
.chirpStartIdx = (rlUInt16_t) 0x0,
.chirpEndIdx = (rlUInt16_t) 0x0,
.profileId = (rlUInt16_t) 0x3,
.startFreqVar = (rlUInt32_t) 0x0,
.freqSlopeVar = (rlUInt16_t) 0x0,
.idleTimeVar = (rlUInt16_t) 0x0,
.adcStartTimeVar = (rlUInt16_t) 0x0,
.txEnable = (rlUInt16_t) 0x0,
.reserved = (rlUInt16_t) 0x0
}
};
rlChirpCfg_t gChains_cascadeRadarChirpCfgArgsSlave_DevIdxMap4[CHAINS_CASCADE_RADAR_MAX_MODES];
rlChirpCfg_t gChains_cascadeRadarChirpCfgArgsSlave_DevIdxMap8[CHAINS_CASCADE_RADAR_MAX_MODES];
//rlRfPhaseShiftCfg_t gCascade_mimo_master[CHAINS_RADAR_MAX_NUM_CHIRP_CFG];
//rlRfPhaseShiftCfg_t gCascade_mimo_slave2[CHAINS_RADAR_MAX_NUM_CHIRP_CFG];
//rlRfPhaseShiftCfg_t gCascade_mimo_slave4[CHAINS_RADAR_MAX_NUM_CHIRP_CFG];
//rlRfPhaseShiftCfg_t gCascade_mimo_slave8[CHAINS_RADAR_MAX_NUM_CHIRP_CFG];
rlBpmChirpCfg_t gChains_cascadeRadarBpmChirpCfgArgs[] =
{
{
.chirpStartIdx = (rlUInt16_t) 0x0,
.chirpEndIdx = (rlUInt16_t) 0x0,
.constBpmVal = (rlUInt16_t) 0x0,
.reserved = (rlUInt16_t) 0x0
}
};
/**< \brief Sensor configuration for the CHAINS_CASCADE_RADAR Radar Sensor */
Bsp_Ar12xxConfigObj gAr12xx_config_master =
{
.rfChanCfgArgs = {
.rxChannelEn = (rlUInt16_t) ((1U << CHAINS_CASCADE_RADAR_NUM_RX_ANTENNA) - 1), // This dictates nRX/sensor
.txChannelEn = (rlUInt16_t) ((1U << RL_TX_CNT) - 1), // This does not dictate nTx/sensor
.cascading = (rlUInt16_t) RL_FRAME_SYNC_MODE_MULT_CHIP_MASTER,
.cascadingPinoutCfg = (rlUInt16_t) 0x0
},
.adcOutCfgArgs = {
.fmt = {
.b2AdcBits = CHAINS_CASCADE_RADAR_DATA_FORMAT_CONFIG,
.b6Reserved0 = (rlUInt32_t) 0x0,
.b8FullScaleReducFctr = (rlUInt32_t) 0x0,
.b2AdcOutFmt = RL_ADC_FORMAT_COMPLEX_1X,
.b14Reserved1 = (rlUInt32_t) 0x0
},
.reserved0 = (rlUInt16_t) 0x0
},
.dataFmtCfgArgs = {
.rxChannelEn = (rlUInt16_t) (1<<CHAINS_CASCADE_RADAR_NUM_RX_ANTENNA) - 1,
.adcBits = (rlUInt16_t) CHAINS_CASCADE_RADAR_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 = {
.reserved = (rlUInt16_t) 0,
.lpAdcMode = (rlUInt16_t) RL_ADC_MODE_REGULAR
},
.chirpCfgArgs = &gChains_cascadeRadarChirpCfgArgsMaster[0],
.numChirpCfgArgs = (CHAINS_CASCADE_CHIRP_END_IDX+1U),
.profileCfgArgs = gChains_cascadeRadarProfileArgs,
.numProfileCfgArgs = sizeof(gChains_cascadeRadarProfileArgs)/sizeof(rlProfileCfg_t),
.frameCfgArgs = &gChains_cascadeRadarFrmArgsMaster[0],
.dataPathCfgArgs = {
.intfSel = (rlUInt8_t) 0,
.transferFmtPkt0 = (rlUInt8_t) 1, /**< 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,
.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_CASCADE_RADAR_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
},
.ldoBypassCfgArgs = {3, 0},
.bpmCommnCfgArgs = {
.mode.b2SrcSel = 0,
.mode.b1Reserved0 = 0,
.mode.b13Reserved1 = 0,
.reserved0 = (rlUInt16_t) 0,
.reserved1 = (rlUInt16_t) 0,
.reserved2 = (rlUInt16_t) 0,
.reserved3 = (rlUInt32_t) 0,
.reserved4 = (rlUInt32_t) 0
},
.bpmChirpCfgArgs = gChains_cascadeRadarBpmChirpCfgArgs,
.numBpmChirpCfgArgs = sizeof(gChains_cascadeRadarBpmChirpCfgArgs)/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: MIMO use case does NOT use Advanced Frame at the moment
.advFrameCfgArgs = {
.frameSeq = {
.numOfSubFrames = (rlUInt8_t) CHAINS_CASCADE_RADAR_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_CASCADE_RADAR_NUM_TX_ANTENNA,
.numLoops = (rlUInt16_t) CHAINS_CASCADE_RADAR_RADAR_HEIGHT_128,
.burstPeriodicity = (rlUInt32_t) CHAINS_AR1243_TIME_MS_TO_5NS(33U),
/* 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_CASCADE_RADAR_NUM_BURSTS,
.numOfBurstLoops = (rlUInt16_t) CHAINS_CASCADE_RADAR_NUM_BURST_LOOPS,
.reserved0 = (rlUInt16_t) 0,
.subFramePeriodicity = (rlUInt32_t) CHAINS_AR1243_TIME_MS_TO_5NS(66U),
.reserved1 = (rlUInt32_t) 0,
.reserved2 = (rlUInt32_t) 0
},
{
.forceProfileIdx = (rlUInt16_t) 1,
.chirpStartIdx = (rlUInt16_t) 0,
.numOfChirps = (rlUInt16_t) CHAINS_CASCADE_RADAR_NUM_TX_ANTENNA,
.numLoops = (rlUInt16_t) CHAINS_CASCADE_RADAR_RADAR_HEIGHT_128,
.burstPeriodicity = (rlUInt32_t) CHAINS_AR1243_TIME_MS_TO_5NS(33U),
.chirpStartIdxOffset = (rlUInt16_t) 0,
.numOfBurst = (rlUInt16_t) CHAINS_CASCADE_RADAR_NUM_BURSTS,
.numOfBurstLoops = (rlUInt16_t) CHAINS_CASCADE_RADAR_NUM_BURST_LOOPS,
.reserved0 = (rlUInt16_t) 0,
.subFramePeriodicity = (rlUInt32_t) CHAINS_AR1243_TIME_MS_TO_5NS(66U),
.reserved1 = (rlUInt32_t) 0,
.reserved2 = (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,
.reserved0 = (rlUInt16_t) 0,
.subFramePeriodicity = (rlUInt32_t) 0,
.reserved1 = (rlUInt32_t) 0,
.reserved2 = (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,
.reserved0 = (rlUInt16_t) 0,
.subFramePeriodicity = (rlUInt32_t) 0,
.reserved1 = (rlUInt32_t) 0,
.reserved2 = (rlUInt32_t) 0
}
},
.numFrames = (rlUInt16_t) 0,
.triggerSelect = (rlUInt16_t) RL_FRAMESTRT_API_TRIGGER,
.frameTrigDelay = (rlUInt32_t) 0,
.reserved0 = (rlUInt32_t) 0,
.reserved1 = (rlUInt32_t) 0
},
.frameData = {
.numSubFrames = (rlUInt8_t) CHAINS_CASCADE_RADAR_NUM_SUBFRAMES,
.reserved0 = (rlUInt8_t) 0,
.reserved1 = (rlUInt16_t) 0,
.subframeDataCfg = {
{
.totalChirps =
(rlUInt32_t) CHAINS_CASCADE_RADAR_NUM_TX_ANTENNA * CHAINS_CASCADE_RADAR_RADAR_HEIGHT_128 * CHAINS_CASCADE_RADAR_NUM_BURSTS,
/* Number of Chirps in Sub-Frame =
* numOfChirps * numLoops * numOfBurst
*/
.numAdcSamples = (rlUInt16_t) CHAINS_CASCADE_RADAR_WIDTH_256 * (rlUInt16_t) 2,
.numChirpsInDataPacket = (rlUInt8_t) 1,
/* In AR12xx: Program this as 1 */
.reserved = (rlUInt8_t) 0,
},
{
.totalChirps = (rlUInt32_t) 0,
.numAdcSamples = (rlUInt16_t) 0,
.numChirpsInDataPacket = (rlUInt8_t) 1,
.reserved = (rlUInt8_t) 0,
},
{
.totalChirps = (rlUInt32_t) 0,
.numAdcSamples = (rlUInt16_t) 0,
.numChirpsInDataPacket = (rlUInt8_t) 1,
.reserved = (rlUInt8_t) 0,
},
{
.totalChirps = (rlUInt32_t) 0,
.numAdcSamples = (rlUInt16_t) 0,
.numChirpsInDataPacket = (rlUInt8_t) 1,
.reserved = (rlUInt8_t) 0,
}
}
}
},
// Khai: Here is where to specify Normal or Advanced Frame COnfig
.frameType = BSP_AR12XX_FRAME_TYPE_NORMAL,
.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
}
};
/**< \brief Sensor configuration for the CHAINS_CASCADE_RADAR Radar Sensor */
Bsp_Ar12xxConfigObj gAr12xx_config_slave_DevIdxMap2 =
{
.rfChanCfgArgs = {
.rxChannelEn = (rlUInt16_t) (1 << CHAINS_CASCADE_RADAR_NUM_RX_ANTENNA) - 1, // This dictates nRX/sensor
.txChannelEn = (rlUInt16_t) (1 << RL_TX_CNT) - 1, // This does not dictate nTx/sensor
.cascading = (rlUInt16_t) RL_FRAME_SYNC_MODE_MULT_CHIP_SLAVE,
.cascadingPinoutCfg = (rlUInt16_t) 0x0
},
.adcOutCfgArgs = {
.fmt = {
.b2AdcBits = CHAINS_CASCADE_RADAR_DATA_FORMAT_CONFIG,
.b6Reserved0 = (rlUInt32_t) 0x0,
.b8FullScaleReducFctr = (rlUInt32_t) 0x0,
.b2AdcOutFmt = RL_ADC_FORMAT_COMPLEX_1X,
.b14Reserved1 = (rlUInt32_t) 0x0
},
.reserved0 = (rlUInt16_t) 0x0
},
.dataFmtCfgArgs = {
.rxChannelEn = (rlUInt16_t) (1<<CHAINS_CASCADE_RADAR_NUM_RX_ANTENNA) - 1,
.adcBits = (rlUInt16_t) CHAINS_CASCADE_RADAR_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 = {
.reserved = (rlUInt16_t) 0,
.lpAdcMode = (rlUInt16_t) RL_ADC_MODE_REGULAR
},
.chirpCfgArgs = &gChains_cascadeRadarChirpCfgArgsSlave_DevIdxMap2[0],
.numChirpCfgArgs = (CHAINS_CASCADE_CHIRP_END_IDX+1U),
.profileCfgArgs = gChains_cascadeRadarProfileArgs,
.numProfileCfgArgs = sizeof(gChains_cascadeRadarProfileArgs)/sizeof(rlProfileCfg_t),
.frameCfgArgs = &gChains_cascadeRadarFrmArgsSlave[0],
.dataPathCfgArgs = {
.intfSel = (rlUInt8_t) 0,
.transferFmtPkt0 = (rlUInt8_t) 1, /**< 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,
.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_CASCADE_RADAR_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
},
.ldoBypassCfgArgs = {3, 0},
.bpmCommnCfgArgs = {
.mode.b2SrcSel = 0,
.mode.b1Reserved0 = 0,
.mode.b13Reserved1 = 0,
.reserved0 = (rlUInt16_t) 0,
.reserved1 = (rlUInt16_t) 0,
.reserved2 = (rlUInt16_t) 0,
.reserved3 = (rlUInt32_t) 0,
.reserved4 = (rlUInt32_t) 0
},
.bpmChirpCfgArgs = gChains_cascadeRadarBpmChirpCfgArgs,
.numBpmChirpCfgArgs = sizeof(gChains_cascadeRadarBpmChirpCfgArgs)/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,
},
.advFrameCfgArgs = {
.frameSeq = {
.numOfSubFrames = (rlUInt8_t) CHAINS_CASCADE_RADAR_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_CASCADE_RADAR_NUM_TX_ANTENNA,
.numLoops = (rlUInt16_t) CHAINS_CASCADE_RADAR_RADAR_HEIGHT_128,
.burstPeriodicity = (rlUInt32_t) CHAINS_AR1243_TIME_MS_TO_5NS(33U),
/* 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_CASCADE_RADAR_NUM_BURSTS,
.numOfBurstLoops = (rlUInt16_t) CHAINS_CASCADE_RADAR_NUM_BURST_LOOPS,
.reserved0 = (rlUInt16_t) 0,
.subFramePeriodicity = (rlUInt32_t) CHAINS_AR1243_TIME_MS_TO_5NS(66U),
.reserved1 = (rlUInt32_t) 0,
.reserved2 = (rlUInt32_t) 0
},
{
.forceProfileIdx = (rlUInt16_t) 1,
.chirpStartIdx = (rlUInt16_t) 0,
.numOfChirps = (rlUInt16_t) CHAINS_CASCADE_RADAR_NUM_TX_ANTENNA,
.numLoops = (rlUInt16_t) CHAINS_CASCADE_RADAR_RADAR_HEIGHT_128,
.burstPeriodicity = (rlUInt32_t) CHAINS_AR1243_TIME_MS_TO_5NS(33U),
.chirpStartIdxOffset = (rlUInt16_t) 0,
.numOfBurst = (rlUInt16_t) CHAINS_CASCADE_RADAR_NUM_BURSTS,
.numOfBurstLoops = (rlUInt16_t) CHAINS_CASCADE_RADAR_NUM_BURST_LOOPS,
.reserved0 = (rlUInt16_t) 0,
.subFramePeriodicity = (rlUInt32_t) CHAINS_AR1243_TIME_MS_TO_5NS(66U),
.reserved1 = (rlUInt32_t) 0,
.reserved2 = (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,
.reserved0 = (rlUInt16_t) 0,
.subFramePeriodicity = (rlUInt32_t) 0,
.reserved1 = (rlUInt32_t) 0,
.reserved2 = (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,
.reserved0 = (rlUInt16_t) 0,
.subFramePeriodicity = (rlUInt32_t) 0,
.reserved1 = (rlUInt32_t) 0,
.reserved2 = (rlUInt32_t) 0
}
},
.numFrames = (rlUInt16_t) 0,
.triggerSelect = (rlUInt16_t) RL_FRAMESTRT_API_TRIGGER,
.frameTrigDelay = (rlUInt32_t) 0,
.reserved0 = (rlUInt32_t) 0,
.reserved1 = (rlUInt32_t) 0
},
.frameData = {
.numSubFrames = (rlUInt8_t) CHAINS_CASCADE_RADAR_NUM_SUBFRAMES,
.reserved0 = (rlUInt8_t) 0,
.reserved1 = (rlUInt16_t) 0,
.subframeDataCfg = {
{
.totalChirps =
(rlUInt32_t) CHAINS_CASCADE_RADAR_NUM_TX_ANTENNA * CHAINS_CASCADE_RADAR_RADAR_HEIGHT_128 * CHAINS_CASCADE_RADAR_NUM_BURSTS,
/* Number of Chirps in Sub-Frame =
* numOfChirps * numLoops * numOfBurst
*/
.numAdcSamples = (rlUInt16_t) CHAINS_CASCADE_RADAR_WIDTH_256 * (rlUInt16_t) 2,
.numChirpsInDataPacket = (rlUInt8_t) 1,
/* In AR12xx: Program this as 1 */
.reserved = (rlUInt8_t) 0,
},
{
.totalChirps = (rlUInt32_t) 0,
.numAdcSamples = (rlUInt16_t) 0,
.numChirpsInDataPacket = (rlUInt8_t) 1,
.reserved = (rlUInt8_t) 0,
},
{
.totalChirps = (rlUInt32_t) 0,
.numAdcSamples = (rlUInt16_t) 0,
.numChirpsInDataPacket = (rlUInt8_t) 1,
.reserved = (rlUInt8_t) 0,
},
{
.totalChirps = (rlUInt32_t) 0,
.numAdcSamples = (rlUInt16_t) 0,
.numChirpsInDataPacket = (rlUInt8_t) 1,
.reserved = (rlUInt8_t) 0,
}
}
}
},
.frameType = BSP_AR12XX_FRAME_TYPE_NORMAL,
.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
}
};
/* These two will be filled at run-time using DevIdxMap2 as base, because all parameters except
* chirp configurations are same.
*/
Bsp_Ar12xxConfigObj gAr12xx_config_slave_DevIdxMap4;
Bsp_Ar12xxConfigObj gAr12xx_config_slave_DevIdxMap8;
// POC: There will be equal number of AWR config objects as radar modes.
// Upon radar mode change, this function will be called and return the
// corresponding AWR config param for that radar mode.
Void Chains_ar12xxGetNewCascadeConfig(ChainsCommon_Ar12xxConfigOut *pCfgOut) {
int id = pCfgOut->radarParams[0].currProfileId;
// Change to Master Profile and Frame Config
// pCfgOut->radarParams[0].ar12xxConfig.profileCfgArgs = gAr12xx_config_master.profileCfgArgs =
// &gChains_cascadeRadarProfileArgs [id];
pCfgOut->radarParams[0].ar12xxConfig.frameCfgArgs = &gChains_cascadeRadarFrmArgsMaster[id];
pCfgOut->radarParams[0].ar12xxConfig.chirpCfgArgs = &gChains_cascadeRadarChirpCfgArgsMaster[id];
// Change to Slave2 Profile and Frame Config
// pCfgOut->radarParams[1].ar12xxConfig.profileCfgArgs = gAr12xx_config_slave_DevIdxMap2.profileCfgArgs =
// &gChains_cascadeRadarProfileArgs [id];
pCfgOut->radarParams[1].ar12xxConfig.frameCfgArgs = &gChains_cascadeRadarFrmArgsSlave[id];
pCfgOut->radarParams[1].ar12xxConfig.chirpCfgArgs = &gChains_cascadeRadarChirpCfgArgsSlave_DevIdxMap2[id];
// Change to Slave4 Profile and Frame Config
// pCfgOut->radarParams[2].ar12xxConfig.profileCfgArgs = gAr12xx_config_slave_DevIdxMap4.profileCfgArgs =
// &gChains_cascadeRadarProfileArgs [id];
pCfgOut->radarParams[2].ar12xxConfig.frameCfgArgs = &gChains_cascadeRadarFrmArgsSlave[id];
pCfgOut->radarParams[2].ar12xxConfig.chirpCfgArgs = &gChains_cascadeRadarChirpCfgArgsSlave_DevIdxMap4[id];
// Change to Slave8 Profile and Frame Config
// pCfgOut->radarParams[3].ar12xxConfig.profileCfgArgs = gAr12xx_config_slave_DevIdxMap8.profileCfgArgs =
// &gChains_cascadeRadarProfileArgs [id];
pCfgOut->radarParams[3].ar12xxConfig.frameCfgArgs = &gChains_cascadeRadarFrmArgsSlave[id];
pCfgOut->radarParams[3].ar12xxConfig.chirpCfgArgs = &gChains_cascadeRadarChirpCfgArgsSlave_DevIdxMap8[id];
}
Int32 Chains_ar12xxGetSampleCascadeConfig(ChainsCommon_Ar12xxConfigOut *pCfgOut)
{
Int32 retVal = BSP_SOK;
UInt32 i = 0;
memset(pCfgOut, 0, sizeof(ChainsCommon_Ar12xxConfigOut));
/* 4 Chip Cascade Configuration */
pCfgOut->numRadars = CHAINS_RADAR_CASCADE_NUMSENSORS;
Vps_printf(
APP_NAME " AR12xx Initializing FPGA ...\n\r");
if (Bsp_boardGetBaseBoardRev() < BSP_BOARD_REV_E)
{
/* On Rev A, only one GPIO to lift the CRESET and power on ALL FPGA */
retVal = ChainsCommon_fpgaPowerUp(0);
UTILS_assert(BSP_SOK == retVal);
}
// Khai: number of radar counter loops from 0->3
for (i = 0; i < pCfgOut->numRadars; i++)
{
/* Lift the CRESET and power on each FPGA */
if (Bsp_boardGetBaseBoardRev() >= BSP_BOARD_REV_E)
{
retVal = ChainsCommon_fpgaPowerUp(i);
UTILS_assert(BSP_SOK == retVal);
}
/* Lift the Logic reset for each FPGA. FPGA will now be ready to accept
* CSI Data.
*/
// Khai: There is a problem in this routine if we use numRadars < 4.
// The switch case statement for 3 - initializes FPGA0 and for 0 - init 1
// and so on... If we use numRadars = 4, we are OK. anything else will
// need code revision or talk to TI first
retVal = ChainsCommon_fpgaStart(i);
UTILS_assert(BSP_SOK == retVal);
}
Vps_printf(
APP_NAME " AR12xx Initializing FPGA Done...\n\r");
/* Check for certain size limitations. This will show up as compile time
* issues.
*/
COMPILE_TIME_ASSERT(
sizeof(gChains_cascadeRadarProfileArgs)/sizeof(rlProfileCfg_t) >
CHAINS_CASCADE_RADAR_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_CASCADE_RADAR_ADC_DATA_FORMAT;
pCfgOut->radarParams[i].bpmEnabled = 0U;
pCfgOut->radarParams[i].numProfiles = sizeof(gChains_cascadeRadarProfileArgs)/sizeof(rlProfileCfg_t);
sprintf(pCfgOut->radarParams[i].configName, "%s_%d", CHAINS_CASCADE_RADAR_CONFIG_NAME, i);
pCfgOut->radarParams[i].chirpRow = NULL;
pCfgOut->radarParams[i].numChirpRow = 0;
// Khai: This indicates we are not using AWR TX phase shift
pCfgOut->radarParams[i].numTxPhaseShifterCfg = 0;
}
// pCfgOut->radarParams[0].txPhaseShifterCfg = gCascade_mimo_master;
// pCfgOut->radarParams[1].txPhaseShifterCfg = gCascade_mimo_slave2;
// pCfgOut->radarParams[2].txPhaseShifterCfg = gCascade_mimo_slave4;
// pCfgOut->radarParams[3].txPhaseShifterCfg = gCascade_mimo_slave8;
/* Use DevIdxMap2 config as reference, everything is same except chirp configs */
memcpy((void*)&gAr12xx_config_slave_DevIdxMap4, (const void *)&gAr12xx_config_slave_DevIdxMap2,
sizeof(gAr12xx_config_slave_DevIdxMap2));
// gAr12xx_config_slave_DevIdxMap4.chirpCfgArgs = gChains_cascadeRadarChirpCfgArgsSlave_DevIdxMap4;
// gAr12xx_config_slave_DevIdxMap4.numChirpCfgArgs = (CHAINS_CASCADE_CHIRP_END_IDX+1U);
// gAr12xx_config_slave_DevIdxMap4.rfChanCfgArgs.rxChannelEn = 0;
// gAr12xx_config_slave_DevIdxMap4.dataFmtCfgArgs.rxChannelEn = 0;
memcpy((void*)&gAr12xx_config_slave_DevIdxMap8, (const void *)&gAr12xx_config_slave_DevIdxMap2,
sizeof(gAr12xx_config_slave_DevIdxMap2));
// gAr12xx_config_slave_DevIdxMap8.chirpCfgArgs = gChains_cascadeRadarChirpCfgArgsSlave_DevIdxMap8;
// gAr12xx_config_slave_DevIdxMap8.numChirpCfgArgs = (CHAINS_CASCADE_CHIRP_END_IDX+1U);
memcpy(&pCfgOut->radarParams[0].ar12xxConfig, &gAr12xx_config_master,
sizeof (gAr12xx_config_master));
memcpy(&pCfgOut->radarParams[1].ar12xxConfig, &gAr12xx_config_slave_DevIdxMap2,
sizeof(gAr12xx_config_slave_DevIdxMap2));
memcpy(&pCfgOut->radarParams[2].ar12xxConfig, &gAr12xx_config_slave_DevIdxMap4,
sizeof(gAr12xx_config_slave_DevIdxMap4));
memcpy(&pCfgOut->radarParams[3].ar12xxConfig, &gAr12xx_config_slave_DevIdxMap8,
sizeof(gAr12xx_config_slave_DevIdxMap8));
/* Default to normal frame */
pCfgOut->frameType = 0U;
return retVal;
}
