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File size: 88,193 Bytes
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Ticket Name: CCS/TDA2PXEVM: Custom cascade board usecase development
Query Text:
Part Number: TDA2PXEVM Other Parts Discussed in Thread: AWR1243, TDA2 Tool/software: Code Composer Studio Hi, I'm currently developing on the TDA2PXEVM with fusion application board and a custom cascade radar board with four AWR1243 chips. I am using CCS studio version 8.1.0.00011 and Vision SDK version 3.04. With some modifications to the radar chip control logic, I was able to run the camera radar capture display usecase with a single radar chip on my custom board and a D3 IMX390 camera. However, when I try to run the radar capture only usecase, I get an "i2c4 transfer to slave address 0x74 failed" error, and I can't run the cascade radar capture usecase because I don't have access to the TDA2xx processing board and cascade radar board required. Currently, I am creating a custom usecase for interfacing with the radar chips on my custom radar board, based on the existing radar capture only, camera radar capture display, cascade radar capture usecases. However, when I try to run this usecase, I get the i2c4 transfer error for the addresses of the 4 serializers, 0x74, 0x76, 0x78, and 0x7a. The custom radar board is set up the same way as for running the camera radar capture display usecase, except with the 4 radar chips connected instead of 1 radar and 1 camera. How do I need to modify my usecase code and/or the underlying configuration code in order for the SDK to recognize the 4 serializers and sensors on my custom board? Attached are the files for my custom usecase. radar_board_capture_only.zip Thanks, Richard
Responses:
Hi Stanley, Attached is the output from the cascade object detect usecase with networking on the A15. print.txt [IPU1-0] 6059.331665 s:
[IPU1-0] 6059.331726 s: CPU [IPU1-0 ] Statistics,
[IPU1-0] 6059.331787 s: *************************
[IPU1-0] 6059.331848 s:
[IPU1-0] 6059.331879 s: LOAD: CPU: 4.6% HWI: 0.5%, SWI:0.5%, Low Power: 92.4%
[IPU1-0] 6059.332031 s:
[IPU1-0] 6059.332153 s: LOAD: TSK: SYNC0 : 0.1%
[IPU1-0] 6059.332275 s: LOAD: TSK: STAT_COLL : 2.6%
[IPU1-0] 6059.332367 s: LOAD: TSK: MISC : 0.9%
[IPU1-0] 6059.332458 s:
[IPU1-0] 6059.332489 s: SYSTEM: SW Message Box Msg Pool, Free Msg Count = 1023
[IPU1-0] 6059.332580 s:
[IPU1-0] 6059.332611 s: SYSTEM: Sempahores Objects, 49 of 1050 free
[IPU1-0] 6059.332794 s: SYSTEM: Task Objects , 5 of 100 free
[IPU1-0] 6059.332916 s: SYSTEM: Clock Objects , 96 of 100 free
[IPU1-0] 6059.332977 s: SYSTEM: Hwi Objects , 86 of 100 free
[IPU1-0] 6059.333068 s:
[IPU1-0] 6059.333129 s: SYSTEM: Heap = LOCAL_DDR @ 0x00000000, Total size = 262144 B (256 KB), Free size = 156560 B (152 KB)
[IPU1-0] 6059.333282 s: SYSTEM: Heap = SR_OCMC @ 0x00000000, Total size = 0 B (0 KB), Free size = 0 B (0 KB)
[IPU1-0] 6059.333435 s: SYSTEM: Heap = SR_DDR_CACHED @ 0x88103000, Total size = 368037888 B (350 MB), Free size = 265179136 B (252 MB)
[IPU1-0] 6059.333587 s: SYSTEM: Heap = SR_DDR_NON_CACHED @ 0xbfc00000, Total size = 128128 B (0 MB), Free size = 112000 B (0 MB)
[IPU1-0] 6059.333770 s:
[IPU1-0] 6059.333831 s:
[IPU1-0] 6059.333862 s: CPU [IPU1-1 ] Statistics,
[IPU1-0] 6059.333923 s: *************************
[IPU1-0] 6059.333984 s:
[IPU1-0] 6059.334045 s: LOAD: CPU: 1.0% HWI: 0.6%, SWI:0.3%, Low Power: 92.5%
[IPU1-0] 6059.334167 s:
[IPU1-0] 6059.334289 s: LOAD: TSK: MISC : 0.1%
[IPU1-0] 6059.334350 s:
[IPU1-0] 6059.334411 s: SYSTEM: SW Message Box Msg Pool, Free Msg Count = 1023
[IPU1-0] 6059.334502 s:
[IPU1-0] 6059.334533 s: SYSTEM: Sempahores Objects, 440 of 1050 free
[IPU1-0] 6059.334624 s: SYSTEM: Task Objects , 38 of 100 free
[IPU1-0] 6059.334868 s: SYSTEM: Clock Objects , 99 of 100 free
[IPU1-0] 6059.334960 s: SYSTEM: Hwi Objects , 99 of 100 free
[IPU1-0] 6059.335051 s:
[IPU1-0] 6059.335082 s: SYSTEM: Heap = LOCAL_DDR @ 0x00000000, Total size = 655360 B (640 KB), Free size = 646208 B (631 KB)
[IPU1-0] 6059.335265 s:
[IPU1-0] 6059.335295 s:
[IPU1-0] 6059.335326 s: CPU [HOST ] Statistics,
[IPU1-0] 6059.335387 s: *************************
[IPU1-0] 6059.335448 s:
[IPU1-0] 6059.335509 s: LOAD: CPU: 1.2% HWI: 0.0%, SWI:0.0%, Low Power: 98.0%
[IPU1-0] 6059.335661 s:
[IPU1-0] 6059.335783 s: LOAD: TSK: MISC : 1.2%
[IPU1-0] 6059.335844 s:
[IPU1-0] 6059.335905 s: SYSTEM: SW Message Box Msg Pool, Free Msg Count = 1023
[IPU1-0] 6059.335997 s:
[IPU1-0] 6059.336027 s: SYSTEM: Sempahores Objects, 439 of 1050 free
[IPU1-0] 6059.336119 s: SYSTEM: Task Objects , 37 of 100 free
[IPU1-0] 6059.336210 s: SYSTEM: Clock Objects , 98 of 100 free
[IPU1-0] 6059.336271 s: SYSTEM: Hwi Objects , 99 of 100 free
[IPU1-0] 6059.336363 s:
[IPU1-0] 6059.336424 s: SYSTEM: Heap = LOCAL_DDR @ 0x00000000, Total size = 6291456 B (6144 KB), Free size = 6248128 B (6101 KB)
[IPU1-0] 6059.336576 s:
[IPU1-0] 6059.336607 s:
[IPU1-0] 6059.336668 s: CPU [DSP1 ] Statistics,
[IPU1-0] 6059.336759 s: *************************
[IPU1-0] 6059.336820 s:
[IPU1-0] 6059.336851 s: LOAD: CPU: 0.2% HWI: 0.0%, SWI:0.0%, Low Power: 99.3%
[IPU1-0] 6059.337003 s:
[IPU1-0] 6059.337034 s: LOAD: TSK: MISC : 0.2%
[IPU1-0] 6059.337125 s:
[IPU1-0] 6059.337156 s: SYSTEM: SW Message Box Msg Pool, Free Msg Count = 1023
[IPU1-0] 6059.337247 s:
[IPU1-0] 6059.337308 s: SYSTEM: Sempahores Objects, 453 of 1050 free
[IPU1-0] 6059.337369 s: SYSTEM: Task Objects , 91 of 100 free
[IPU1-0] 6059.337461 s: SYSTEM: Clock Objects , 97 of 100 free
[IPU1-0] 6059.337552 s: SYSTEM: Hwi Objects , 100 of 100 free
[IPU1-0] 6059.337674 s:
[IPU1-0] 6059.337705 s: SYSTEM: Heap = LOCAL_L2 @ 0x00800000, Total size = 227264 B (221 KB), Free size = 148928 B (145 KB)
[IPU1-0] 6059.337888 s: SYSTEM: Heap = LOCAL_DDR @ 0x00000000, Total size = 524288 B (512 KB), Free size = 492272 B (480 KB)
[IPU1-0] 6059.338040 s:
[IPU1-0] 6059.338071 s:
[IPU1-0] 6059.338101 s: CPU [DSP2 ] Statistics,
[IPU1-0] 6059.338162 s: *************************
[IPU1-0] 6059.338223 s:
[IPU1-0] 6059.338284 s: LOAD: CPU: 0.2% HWI: 0.0%, SWI:0.0%, Low Power: 99.3%
[IPU1-0] 6059.338406 s:
[IPU1-0] 6059.338467 s: LOAD: TSK: MISC : 0.2%
[IPU1-0] 6059.338559 s:
[IPU1-0] 6059.338589 s: SYSTEM: SW Message Box Msg Pool, Free Msg Count = 1023
[IPU1-0] 6059.338711 s:
[IPU1-0] 6059.338742 s: SYSTEM: Sempahores Objects, 454 of 1050 free
[IPU1-0] 6059.338833 s: SYSTEM: Task Objects , 91 of 100 free
[IPU1-0] 6059.338925 s: SYSTEM: Clock Objects , 99 of 100 free
[IPU1-0] 6059.339016 s: SYSTEM: Hwi Objects , 100 of 100 free
[IPU1-0] 6059.339108 s:
[IPU1-0] 6059.339138 s: SYSTEM: Heap = LOCAL_L2 @ 0x00800000, Total size = 227264 B (221 KB), Free size = 227264 B (221 KB)
[IPU1-0] 6059.339291 s: SYSTEM: Heap = LOCAL_DDR @ 0x00000000, Total size = 524288 B (512 KB), Free size = 517352 B (505 KB)
[IPU1-0] 6059.339443 s:
[IPU1-0] 6059.339504 s:
[IPU1-0] 6059.339535 s: CPU [EVE1 ] Statistics,
[IPU1-0] 6059.339596 s: *************************
[IPU1-0] 6059.339809 s:
[IPU1-0] 6059.339870 s: LOAD: CPU: 0.4% HWI: 0.2%, SWI:0.1%, Low Power: 94.5%
[IPU1-0] 6059.340023 s:
[IPU1-0] 6059.340053 s: LOAD: TSK: MISC : 0.1%
[IPU1-0] 6059.340145 s:
[IPU1-0] 6059.340175 s: SYSTEM: SW Message Box Msg Pool, Free Msg Count = 1023
[IPU1-0] 6059.340267 s:
[IPU1-0] 6059.340328 s: SYSTEM: Sempahores Objects, 455 of 1050 free
[IPU1-0] 6059.340389 s: SYSTEM: Task Objects , 92 of 100 free
[IPU1-0] 6059.340480 s: SYSTEM: Clock Objects , 99 of 100 free
[IPU1-0] 6059.340572 s: SYSTEM: Hwi Objects , 99 of 100 free
[IPU1-0] 6059.340694 s:
[IPU1-0] 6059.340755 s: SYSTEM: Heap = LOCAL_L2 @ 0x40020000, Total size = 22528 B (22 KB), Free size = 18304 B (17 KB)
[IPU1-0] 6059.340907 s: SYSTEM: Heap = LOCAL_DDR @ 0x00000000, Total size = 262144 B (256 KB), Free size = 254792 B (248 KB)
[IPU1-0] 6059.341060 s:
[IPU1-0] 6059.341090 s:
[IPU1-0] 6059.341151 s: CPU [EVE2 ] Statistics,
[IPU1-0] 6059.341212 s: *************************
[IPU1-0] 6059.341273 s:
[IPU1-0] 6059.341304 s: LOAD: CPU: 0.4% HWI: 0.2%, SWI:0.1%, Low Power: 94.5%
[IPU1-0] 6059.341456 s:
[IPU1-0] 6059.341487 s: LOAD: TSK: MISC : 0.1%
[IPU1-0] 6059.341578 s:
[IPU1-0] 6059.341609 s: SYSTEM: SW Message Box Msg Pool, Free Msg Count = 1023
[IPU1-0] 6059.341731 s:
[IPU1-0] 6059.341792 s: SYSTEM: Sempahores Objects, 455 of 1050 free
[IPU1-0] 6059.341853 s: SYSTEM: Task Objects , 92 of 100 free
[IPU1-0] 6059.341944 s: SYSTEM: Clock Objects , 99 of 100 free
[IPU1-0] 6059.342036 s: SYSTEM: Hwi Objects , 99 of 100 free
[IPU1-0] 6059.342127 s:
[IPU1-0] 6059.342158 s: SYSTEM: Heap = LOCAL_L2 @ 0x40020000, Total size = 22528 B (22 KB), Free size = 18304 B (17 KB)
[IPU1-0] 6059.342310 s: SYSTEM: Heap = LOCAL_DDR @ 0x00000000, Total size = 262144 B (256 KB), Free size = 254792 B (248 KB)
[IPU1-0] 6059.342493 s:
[IPU1-0] 6059.342768 s:
[IPU1-0] 6059.342829 s: UTILS_PRCM_STATS: Current Temperature,
[IPU1-0] 6059.342890 s:
[IPU1-0] 6059.342951 s: Voltage Rail || Curr Temp Min - Max
[IPU1-0] 6059.343012 s: ---------------------------------------------------------
[IPU1-0] 6059.343103 s: PMHAL_PRCM_VD_MPU || [41.600 , 42. 0]
[IPU1-0] 6059.343225 s: PMHAL_PRCM_VD_CORE || [40.400 , 40.800]
[IPU1-0] 6059.343317 s: PMHAL_PRCM_VD_IVAHD || [42. 0 , 42.400]
[IPU1-0] 6059.343439 s: PMHAL_PRCM_VD_DSPEVE || [38.400 , 38.800]
[IPU1-0] 6059.343530 s: PMHAL_PRCM_VD_GPU || [40. 0 , 40.400]
[IPU1-0] 6059.343683 s:
[IPU1-0] 6059.343713 s: ============================================================================
[IPU1-0] 6059.343805 s: Name | Bus (mV) | Res (mOhm) | Shunt (uV) | Current (mA) | Power (mW)
[IPU1-0] 6059.343896 s: ----------------------------------------------------------------------------
[IPU1-0] 6059.345482 s: UTILS_PRCM_STATS: Reading the regulator data failed
[IPU1-0] 6059.345574 s: UTILS_PRCM_STATS: PM INA226 Power Read Failed !!
[IPU1-0] 6059.345818 s:
[IPU1-0] 6059.345879 s: Statistics Collector,
[IPU1-0] 6059.345940 s:
[IPU1-0] 6059.345970 s: STATISTIC Avg Data Peak Data
[IPU1-0] 6059.346062 s: COLLECTOR MB/s MB/s
[IPU1-0] 6059.346123 s: --------------------------------------------------
[IPU1-0] 6059.346214 s: SCI_EMIF1 RD+WR | 22.967652 50.239104
[IPU1-0] 6059.346336 s: SCI_EMIF2 RD+WR | 0.000000 0.000000
[IPU1-0] 6059.346428 s: SCI_EMIF1 RD ONLY | 13.864876 31.085165
[IPU1-0] 6059.346519 s: SCI_EMIF1 WR ONLY | 9.108072 19.192323
[IPU1-0] 6059.346672 s: SCI_EMIF2 RD ONLY | 0.000000 0.000000
[IPU1-0] 6059.346763 s: SCI_EMIF2 WR ONLY | 0.000000 0.000000
[IPU1-0] 6059.346885 s: SCI_MA_MPU_P1 | 0.014537 0.166333
[IPU1-0] 6059.346977 s: SCI_MA_MPU_P2 | 0.000000 0.000000
[IPU1-0] 6059.347068 s: SCI_DSS | 0.000000 0.000000
[IPU1-0] 6059.347190 s: SCI_IPU1 | 4.452944 11.108285
[IPU1-0] 6059.347282 s: SCI_VIP1_P1 | 0.000000 0.000000
[IPU1-0] 6059.347373 s: SCI_VIP1_P2 | 0.000000 0.000000
[IPU1-0] 6059.347495 s: SCI_VPE_P1 | 0.000000 0.000000
[IPU1-0] 6059.347587 s: SCI_VPE_P2 | 0.000000 0.000000
[IPU1-0] 6059.347709 s: SCI_DSP1_MDMA | 0.098532 0.850667
[IPU1-0] 6059.347831 s: SCI_DSP1_EDMA | 0.000000 0.000000
[IPU1-0] 6059.347922 s: SCI_DSP2_MDMA | 0.089791 1.018503
[IPU1-0] 6059.348044 s: SCI_DSP2_EDMA | 0.000000 0.000000
[IPU1-0] 6059.348136 s: SCI_EVE1_TC0 | 2.712402 7.309076
[IPU1-0] 6059.348227 s: SCI_EVE1_TC1 | 0.000000 0.000000
[IPU1-0] 6059.348349 s: SCI_EVE2_TC0 | 2.713741 7.421031
[IPU1-0] 6059.348441 s: SCI_EVE2_TC1 | 0.000000 0.000000
[IPU1-0] 6059.348532 s: SCI_EDMA_TC0_RD | 0.000000 0.000000
[IPU1-0] 6059.348654 s: SCI_EDMA_TC0_WR | 0.000000 0.000000
[IPU1-0] 6059.348776 s: SCI_EDMA_TC1_RD | 0.000000 0.000000
[IPU1-0] 6059.348868 s: SCI_EDMA_TC1_WR | 0.000000 0.000000
[IPU1-0] 6059.348990 s: SCI_VIP2_P1 | 0.000000 0.000000
[IPU1-0] 6059.349081 s: SCI_VIP2_P2 | 0.000000 0.000000
[IPU1-0] 6059.349173 s: SCI_IVA | 0.000000 0.000000
[IPU1-0] 6059.349356 s: SCI_GPU_P1 | 0.000000 0.000000
[IPU1-0] 6059.349447 s: SCI_GPU_P2 | 0.000000 0.000000
[IPU1-0] 6059.349569 s: SCI_GMAC_SW | 0.000444 0.086365
[IPU1-0] 6059.349844 s: SCI_OCMC_RAM1 | 0.000000 0.000000
[IPU1-0] 6059.349935 s: SCI_OCMC_RAM2 | 0.000000 0.000000
[IPU1-0] 6059.350057 s: SCI_OCMC_RAM3 | 0.000000 0.000000
[IPU1-0] 6059.350149 s: SCI_ISS_RT | 0.000000 0.000000
[IPU1-0] 6059.350240 s: SCI_ISS_NRT1 | 0.000000 0.000000
[IPU1-0] 6059.350362 s: SCI_ISS_NRT2 | 0.000000 0.000000
[IPU1-0] 6059.350454 s: SCI_CAL | 0.000000 0.000000
[IPU1-0] 6059.450649 s:
[IPU1-0] 6059.450741 s:
[IPU1-0] 6059.450832 s:
[IPU1-0] 6059.450863 s: ### CPU [IPU1-0], LinkID [ 70],
[IPU1-0] 6059.450954 s:
[IPU1-0] 6059.450985 s: [ CAPTURE ] Link Statistics,
[IPU1-0] 6059.451076 s: ******************************
[IPU1-0] 6059.451137 s:
[IPU1-0] 6059.451168 s: Elapsed time = 5252477 msec
[IPU1-0] 6059.451229 s:
[IPU1-0] 6059.451259 s:
[IPU1-0] 6059.451320 s: Input Statistics,
[IPU1-0] 6059.451381 s:
[IPU1-0] 6059.451412 s: CH | In Recv | In Drop | In User Drop | In Process
[IPU1-0] 6059.451473 s: | FPS | FPS | FPS | FPS
[IPU1-0] 6059.451564 s: --------------------------------------------------
[IPU1-0] 6059.451656 s:
[IPU1-0] 6059.451717 s: Output Statistics,
[IPU1-0] 6059.451747 s:
[IPU1-0] 6059.451808 s: CH | Out | Out | Out Drop | Out User Drop
[IPU1-0] 6059.451869 s: | ID | FPS | FPS | FPS
[IPU1-0] 6059.451961 s: ---------------------------------------------
[IPU1-0] 6059.452022 s:
[IPU1-0] 6059.452083 s: [ CAPTURE ] LATENCY,
[IPU1-0] 6059.452113 s: ********************
[IPU1-0] 6059.452174 s:
[IPU1-0] 6059.452235 s: CPU [ IPU1-0], LinkID [ 43], Link Statistics not available !
[IPU1-0] 6059.452388 s:
[IPU1-0] 6059.452418 s: ### CPU [IPU1-0], LinkID [ 52],
[IPU1-0] 6059.452510 s:
[IPU1-0] 6059.452540 s: [ ti.radar.fft ] Link Statistics,
[IPU1-0] 6059.452601 s: ******************************
[IPU1-0] 6059.452693 s:
[IPU1-0] 6059.452723 s: Elapsed time = 5251659 msec
[IPU1-0] 6059.452815 s:
[IPU1-0] 6059.452845 s:
[IPU1-0] 6059.452876 s: Input Statistics,
[IPU1-0] 6059.452937 s:
[IPU1-0] 6059.453028 s: CH | In Recv | In Drop | In User Drop | In Process
[IPU1-0] 6059.453120 s: | FPS | FPS | FPS | FPS
[IPU1-0] 6059.453181 s: --------------------------------------------------
[IPU1-0] 6059.453272 s:
[IPU1-0] 6059.453303 s: Output Statistics,
[IPU1-0] 6059.453364 s:
[IPU1-0] 6059.453394 s: CH | Out | Out | Out Drop | Out User Drop
[IPU1-0] 6059.453455 s: | ID | FPS | FPS | FPS
[IPU1-0] 6059.453547 s: ---------------------------------------------
[IPU1-0] 6059.453608 s:
[IPU1-0] 6059.453669 s: [ ti.radar.fft ] LATENCY,
[IPU1-0] 6059.453760 s: ********************
[IPU1-0] 6059.453791 s:
[IPU1-0] 6059.453913 s:
[IPU1-0] 6059.453943 s: ### CPU [IPU1-0], LinkID [ 51],
[IPU1-0] 6059.454035 s:
[IPU1-0] 6059.454065 s: [ ti.radar.fft ] Link Statistics,
[IPU1-0] 6059.454126 s: ******************************
[IPU1-0] 6059.454187 s:
[IPU1-0] 6059.454218 s: Elapsed time = 5250842 msec
[IPU1-0] 6059.454309 s:
[IPU1-0] 6059.454340 s:
[IPU1-0] 6059.454370 s: Input Statistics,
[IPU1-0] 6059.454431 s:
[IPU1-0] 6059.454462 s: CH | In Recv | In Drop | In User Drop | In Process
[IPU1-0] 6059.454553 s: | FPS | FPS | FPS | FPS
[IPU1-0] 6059.454797 s: --------------------------------------------------
[IPU1-0] 6059.454889 s:
[IPU1-0] 6059.454919 s: Output Statistics,
[IPU1-0] 6059.454980 s:
[IPU1-0] 6059.455011 s: CH | Out | Out | Out Drop | Out User Drop
[IPU1-0] 6059.455072 s: | ID | FPS | FPS | FPS
[IPU1-0] 6059.455163 s: ---------------------------------------------
[IPU1-0] 6059.455224 s:
[IPU1-0] 6059.455285 s: [ ti.radar.fft ] LATENCY,
[IPU1-0] 6059.455346 s: ********************
[IPU1-0] 6059.455377 s:
[IPU1-0] 6059.455499 s:
[IPU1-0] 6059.455529 s: ### CPU [IPU1-0], LinkID [ 50],
[IPU1-0] 6059.455621 s:
[IPU1-0] 6059.455682 s: [ ti.radar.fft ] Link Statistics,
[IPU1-0] 6059.455743 s: ******************************
[IPU1-0] 6059.455804 s:
[IPU1-0] 6059.455865 s: Elapsed time = 5250026 msec
[IPU1-0] 6059.455926 s:
[IPU1-0] 6059.455956 s:
[IPU1-0] 6059.456017 s: Input Statistics,
[IPU1-0] 6059.456048 s:
[IPU1-0] 6059.456109 s: CH | In Recv | In Drop | In User Drop | In Process
[IPU1-0] 6059.456170 s: | FPS | FPS | FPS | FPS
[IPU1-0] 6059.456261 s: --------------------------------------------------
[IPU1-0] 6059.456322 s:
[IPU1-0] 6059.456383 s: Output Statistics,
[IPU1-0] 6059.456414 s:
[IPU1-0] 6059.456475 s: CH | Out | Out | Out Drop | Out User Drop
[IPU1-0] 6059.456536 s: | ID | FPS | FPS | FPS
[IPU1-0] 6059.456597 s: ---------------------------------------------
[IPU1-0] 6059.456719 s:
[IPU1-0] 6059.456749 s: [ ti.radar.fft ] LATENCY,
[IPU1-0] 6059.456810 s: ********************
[IPU1-0] 6059.456871 s:
[IPU1-0] 6059.456963 s:
[IPU1-0] 6059.457024 s: ### CPU [IPU1-0], LinkID [ 49],
[IPU1-0] 6059.457085 s:
[IPU1-0] 6059.457115 s: [ ti.radar.fft ] Link Statistics,
[IPU1-0] 6059.457207 s: ******************************
[IPU1-0] 6059.457268 s:
[IPU1-0] 6059.457298 s: Elapsed time = 5249211 msec
[IPU1-0] 6059.457359 s:
[IPU1-0] 6059.457420 s:
[IPU1-0] 6059.457451 s: Input Statistics,
[IPU1-0] 6059.457512 s:
[IPU1-0] 6059.457542 s: CH | In Recv | In Drop | In User Drop | In Process
[IPU1-0] 6059.457603 s: | FPS | FPS | FPS | FPS
[IPU1-0] 6059.457725 s: --------------------------------------------------
[IPU1-0] 6059.457786 s:
[IPU1-0] 6059.457847 s: Output Statistics,
[IPU1-0] 6059.457939 s:
[IPU1-0] 6059.458000 s: CH | Out | Out | Out Drop | Out User Drop
[IPU1-0] 6059.458061 s: | ID | FPS | FPS | FPS
[IPU1-0] 6059.458122 s: ---------------------------------------------
[IPU1-0] 6059.458213 s:
[IPU1-0] 6059.458244 s: [ ti.radar.fft ] LATENCY,
[IPU1-0] 6059.458335 s: ********************
[IPU1-0] 6059.458366 s:
[IPU1-0] 6059.458427 s: CPU [ IPU1-0], LinkID [ 38], Link Statistics not available !
[IPU1-0] 6059.458579 s:
[IPU1-0] 6059.458610 s: ### CPU [IPU1-0], LinkID [ 34],
[IPU1-0] 6059.458732 s:
[IPU1-0] 6059.458762 s: [ SYNC_0 ] Link Statistics,
[IPU1-0] 6059.458823 s: ******************************
[IPU1-0] 6059.458884 s:
[IPU1-0] 6059.458945 s: Elapsed time = 5248489 msec
[IPU1-0] 6059.459006 s:
[IPU1-0] 6059.459037 s: New data Recv = 30.30 fps
[IPU1-0] 6059.459128 s: Driver/Notify Cb = 30.30 fps
[IPU1-0] 6059.459189 s:
[IPU1-0] 6059.459250 s: Input Statistics,
[IPU1-0] 6059.459281 s:
[IPU1-0] 6059.459342 s: CH | In Recv | In Drop | In User Drop | In Process
[IPU1-0] 6059.459403 s: | FPS | FPS | FPS | FPS
[IPU1-0] 6059.459494 s: --------------------------------------------------
[IPU1-0] 6059.459555 s:
[IPU1-0] 6059.459616 s: Output Statistics,
[IPU1-0] 6059.459830 s:
[IPU1-0] 6059.459860 s: CH | Out | Out | Out Drop | Out User Drop
[IPU1-0] 6059.459952 s: | ID | FPS | FPS | FPS
[IPU1-0] 6059.460013 s: ---------------------------------------------
[IPU1-0] 6059.460104 s:
[IPU1-0] 6059.460135 s: [ SYNC_0 ] LATENCY,
[IPU1-0] 6059.460196 s: ********************
[IPU1-0] 6059.460257 s:
[IPU1-0] 6059.460348 s:
[IPU1-0] 6059.460409 s: ### CPU [IPU1-0], LinkID [ 0],
[IPU1-0] 6059.460470 s:
[IPU1-0] 6059.460531 s: [ IPC_OUT_0 ] Link Statistics,
[IPU1-0] 6059.460592 s: ******************************
[IPU1-0] 6059.460684 s:
[IPU1-0] 6059.460714 s: Elapsed time = 5249212 msec
[IPU1-0] 6059.460806 s:
[IPU1-0] 6059.460836 s: Driver/Notify Cb = 33.32 fps
[IPU1-0] 6059.460897 s:
[IPU1-0] 6059.460958 s: Input Statistics,
[IPU1-0] 6059.460989 s:
[IPU1-0] 6059.461050 s: CH | In Recv | In Drop | In User Drop | In Process
[IPU1-0] 6059.461111 s: | FPS | FPS | FPS | FPS
[IPU1-0] 6059.461202 s: --------------------------------------------------
[IPU1-0] 6059.461263 s:
[IPU1-0] 6059.461324 s: Output Statistics,
[IPU1-0] 6059.461355 s:
[IPU1-0] 6059.461416 s: CH | Out | Out | Out Drop | Out User Drop
[IPU1-0] 6059.461477 s: | ID | FPS | FPS | FPS
[IPU1-0] 6059.461568 s: ---------------------------------------------
[IPU1-0] 6059.461660 s:
[IPU1-0] 6059.461690 s: [ IPC_OUT_0 ] LATENCY,
[IPU1-0] 6059.461751 s: ********************
[IPU1-0] 6059.461812 s:
[IPU1-0] 6059.961751 s:
[IPU1-0] 6059.961812 s: ### CPU [ DSP1], LinkID [ 10],
[IPU1-0] 6059.961873 s:
[IPU1-0] 6059.961934 s: [ IPC_IN_0 ] Link Statistics,
[IPU1-0] 6059.961995 s: ******************************
[IPU1-0] 6059.962056 s:
[IPU1-0] 6059.962087 s: Elapsed time = 5249712 msec
[IPU1-0] 6059.962178 s:
[IPU1-0] 6059.962270 s: Driver/Notify Cb = 33.32 fps
[IPU1-0] 6059.962361 s:
[IPU1-0] 6059.962392 s: Input Statistics,
[IPU1-0] 6059.962453 s:
[IPU1-0] 6059.962483 s: CH | In Recv | In Drop | In User Drop | In Process
[IPU1-0] 6059.962544 s: | FPS | FPS | FPS | FPS
[IPU1-0] 6059.962636 s: --------------------------------------------------
[IPU1-0] 6059.962758 s:
[IPU1-0] 6059.962788 s: Output Statistics,
[IPU1-0] 6059.962849 s:
[IPU1-0] 6059.962880 s: CH | Out | Out | Out Drop | Out User Drop
[IPU1-0] 6059.962941 s: | ID | FPS | FPS | FPS
[IPU1-0] 6059.963033 s: ---------------------------------------------
[IPU1-0] 6059.963094 s:
[IPU1-0] 6059.963155 s: [ IPC_IN_0 ] LATENCY,
[IPU1-0] 6059.963216 s: ********************
[IPU1-0] 6059.963277 s:
[IPU1-0] 6059.963368 s:
[IPU1-0] 6059.963399 s: ### CPU [ DSP1], LinkID [ 49],
[IPU1-0] 6059.963490 s:
[IPU1-0] 6059.963521 s: [ ti.radar.dspprocess ] Link Statistics,
[IPU1-0] 6059.963612 s: ******************************
[IPU1-0] 6059.963673 s:
[IPU1-0] 6059.963734 s: Elapsed time = 5249680 msec
[IPU1-0] 6059.963795 s:
[IPU1-0] 6059.963826 s:
[IPU1-0] 6059.963887 s: Input Statistics,
[IPU1-0] 6059.963917 s:
[IPU1-0] 6059.963978 s: CH | In Recv | In Drop | In User Drop | In Process
[IPU1-0] 6059.964039 s: | FPS | FPS | FPS | FPS
[IPU1-0] 6059.964131 s: --------------------------------------------------
[IPU1-0] 6059.964192 s:
[IPU1-0] 6059.964222 s: Output Statistics,
[IPU1-0] 6059.964283 s:
[IPU1-0] 6059.964344 s: CH | Out | Out | Out Drop | Out User Drop
[IPU1-0] 6059.964405 s: | ID | FPS | FPS | FPS
[IPU1-0] 6059.964466 s: ---------------------------------------------
[IPU1-0] 6059.964558 s:
[IPU1-0] 6059.964588 s: [ ti.radar.dspprocess ] LATENCY,
[IPU1-0] 6059.964832 s: ********************
[IPU1-0] 6059.964893 s:
[IPU1-0] 6059.964985 s:
[IPU1-0] 6059.965046 s: ### CPU [ DSP1], LinkID [ 0],
[IPU1-0] 6059.965107 s:
[IPU1-0] 6059.965168 s: [ IPC_OUT_0 ] Link Statistics,
[IPU1-0] 6059.965229 s: ******************************
[IPU1-0] 6059.965290 s:
[IPU1-0] 6059.965320 s: Elapsed time = 5249681 msec
[IPU1-0] 6059.965381 s:
[IPU1-0] 6059.965442 s: Driver/Notify Cb = 33.32 fps
[IPU1-0] 6059.965503 s:
[IPU1-0] 6059.965564 s: Input Statistics,
[IPU1-0] 6059.965595 s:
[IPU1-0] 6059.965656 s: CH | In Recv | In Drop | In User Drop | In Process
[IPU1-0] 6059.965747 s: | FPS | FPS | FPS | FPS
[IPU1-0] 6059.965839 s: --------------------------------------------------
[IPU1-0] 6059.965900 s:
[IPU1-0] 6059.965961 s: Output Statistics,
[IPU1-0] 6059.965991 s:
[IPU1-0] 6059.966052 s: CH | Out | Out | Out Drop | Out User Drop
[IPU1-0] 6059.966113 s: | ID | FPS | FPS | FPS
[IPU1-0] 6059.966174 s: ---------------------------------------------
[IPU1-0] 6059.966266 s:
[IPU1-0] 6059.966296 s: [ IPC_OUT_0 ] LATENCY,
[IPU1-0] 6059.966357 s: ********************
[IPU1-0] 6059.966418 s:
[IPU1-0] 6060.465747 s:
[IPU1-0] 6060.465808 s: ### CPU [ HOST], LinkID [ 10],
[IPU1-0] 6060.465900 s:
[IPU1-0] 6060.465930 s: [ IPC_IN_0 ] Link Statistics,
[IPU1-0] 6060.466022 s: ******************************
[IPU1-0] 6060.466083 s:
[IPU1-0] 6060.466113 s: Elapsed time = 5250181 msec
[IPU1-0] 6060.466174 s:
[IPU1-0] 6060.466235 s: Driver/Notify Cb = 33.32 fps
[IPU1-0] 6060.466296 s:
[IPU1-0] 6060.466327 s: Input Statistics,
[IPU1-0] 6060.466388 s:
[IPU1-0] 6060.466418 s: CH | In Recv | In Drop | In User Drop | In Process
[IPU1-0] 6060.466510 s: | FPS | FPS | FPS | FPS
[IPU1-0] 6060.466571 s: --------------------------------------------------
[IPU1-0] 6060.466693 s:
[IPU1-0] 6060.466723 s: Output Statistics,
[IPU1-0] 6060.466784 s:
[IPU1-0] 6060.466815 s: CH | Out | Out | Out Drop | Out User Drop
[IPU1-0] 6060.466906 s: | ID | FPS | FPS | FPS
[IPU1-0] 6060.466967 s: ---------------------------------------------
[IPU1-0] 6060.467059 s:
[IPU1-0] 6060.467089 s: [ IPC_IN_0 ] LATENCY,
[IPU1-0] 6060.467150 s: ********************
[IPU1-0] 6060.467211 s:
[IPU1-0] 6060.467303 s:
[IPU1-0] 6060.467364 s: ### CPU [ HOST], LinkID [ 63],
[IPU1-0] 6060.467425 s:
[IPU1-0] 6060.467455 s: [ NETWORK TX ] Link Statistics,
[IPU1-0] 6060.467547 s: ******************************
[IPU1-0] 6060.467608 s:
[IPU1-0] 6060.467638 s: Elapsed time = 5250183 msec
[IPU1-0] 6060.467730 s:
[IPU1-0] 6060.467791 s:
[IPU1-0] 6060.467821 s: Input Statistics,
[IPU1-0] 6060.467882 s:
[IPU1-0] 6060.467913 s: CH | In Recv | In Drop | In User Drop | In Process
[IPU1-0] 6060.467974 s: | FPS | FPS | FPS | FPS
[IPU1-0] 6060.468065 s: --------------------------------------------------
[IPU1-0] 6060.468126 s:
[IPU1-0] 6060.468187 s: Output Statistics,
[IPU1-0] 6060.468218 s:
[IPU1-0] 6060.468279 s: CH | Out | Out | Out Drop | Out User Drop
[IPU1-0] 6060.468340 s: | ID | FPS | FPS | FPS
[IPU1-0] 6060.468401 s: ---------------------------------------------
[IPU1-0] 6060.468492 s:
[IPU1-0] 6060.468523 s: [ NETWORK TX ] LATENCY,
[IPU1-0] 6060.468584 s: ********************
[IPU1-0] 6060.468645 s:
[IPU1-0] 6060.968706 s: Thanks, Richard
Hi Richard, The use case doesn't look like it is working. If it is working, you should see frame rate printed. Can you connect the JTAG debugger to the EVM to check if you are getting data from radar? Regards, Stanley
Hi Stanley, I now have the cascade object detect usecase running after loading from CCS via the JTAG debugger (networking on IPU1_1). How can I check whether I am getting radar data back? Thanks, Richard
Hi Richard, issCaptDrvCallback() function will be called every time a frame captured by the driver. You can set a breakpoint at this function to see if it is getting hit constantly. Regards, Stanley
Hi Stanley, I set breakpoints at issCaptDrvCallback() and IssCaptureLink_drvSetDrvCfg(), and neither of them are called when I run the cascade object detect usecase. However, both of them are called multiple times when I run the single radar object detect usecase, which also displays the real-time radar data. Might I need to use the IssCapture link instead of the out-of-the-box Capture link on the cascade object detect usecase? On a related note, through a combination of looking at the serial output and probing the I2C-SPI bridges to the AWR1243 chips, I've noticed that in the cascade object detect usecase, firmware is only downloaded to the master AWR1243 and slave 1. Is this normal, or should there be separate firmware downloads to slaves 2 and 3 as well? Attached is the serial output from running the cascade object detect usecase for reference. cascade serial 2.txt [IPU1-0] 2230.572439 s: CHAINS: UB960 is configured for 2Gbps Mode
[IPU1-0] 2230.572622 s: Using gUb960Cfg_D3AR1243 and gUB953SerCfg
[IPU1-0] 2230.572713 s: Using AR12xx
[IPU1-0] 2230.572988 s: Detected UB960 !!!
[IPU1-0] 2235.627279 s: Port 0 done
[IPU1-0] 2235.684468 s: AR12XX: ES2.0 Device detected!!
[IPU1-0] 2235.684590 s: AR12XX: Firmware Download Started : Ftype: MSS_BUILD
[IPU1-0] 2300.551180 s: AR12XX: Firmware Download Successful : Ftype: MSS_BUILD
[IPU1-0] 2300.551332 s: AR12XX: Firmware Download Started : Ftype: BSS_BUILD
[IPU1-0] 2430.293570 s: AR12XX: Firmware Download Successful : Ftype: BSS_BUILD
[IPU1-0] 2430.293692 s: AR12XX: Firmware Download Started : Ftype: CONFIG_INFO
[IPU1-0] 2430.390563 s: AR12XX: Firmware Download Successful : Ftype: CONFIG_INFO
[IPU1-0] 2430.602574 s: AR12XX: ES2.0 Device detected!!
[IPU1-0] 2430.716616 s: AWR12XX: Version Master : 1.10.0.23
[IPU1-0] 2430.716708 s: AWR12XX: Version RF:2.0.0.15
[IPU1-0] 2430.716830 s: AWR12XX: Version mmWaveLink:1.2.0.0
[IPU1-0] 2430.716921 s: AWR12XX: Version Master Patch[dd.mm.yy]:78.224.4
[IPU1-0] 2430.717043 s: AWR12XX: Version RF Patch[dd.mm.yy]:0.0.0
[IPU1-0] 2430.760568 s: CHAINS: Config AR12xx ...
[IPU1-0] 2430.760629 s: CHAINS: Configuring the parameters for Normal Frame for Radar Number 1
[IPU1-0] 2431.150613 s: AWR12XX: RF Boot Status = 0xb
[IPU1-0] 2431.150704 s: AWR12XX: RF Boot Time = 4486 us
[IPU1-0] 2431.821661 s: CHAINS: Init AR12xx ... DONE !!!
[IPU1-0] 2431.875983 s: ISSCAPTURE: Create in progress !!!
[IPU1-0] 2463.623863 s: ISSCAPTURE: Create Done !!!
[IPU1-0] 2463.624717 s: IPC_OUT_0 : Create in progress !!!
[IPU1-0] 2463.625053 s: IPC_OUT_0 : Create Done !!!
[DSP1 ] 2463.625236 s: IPC_IN_0 : Create in progress !!!
[DSP1 ] 2463.625663 s: IPC_IN_0 : Create Done !!!
[DSP1 ] 2463.625968 s: ALGORITHM: Create in progress (algId = 11) !!!
[DSP1 ] 2465.146800 s: ALG: ti.radar.fft: CH0 BUF0: 0x88914000 ( 2097152 B )
[DSP1 ] 2465.151375 s: ALG: ti.radar.fft: CH0 BUF1: 0x88b14200 ( 2097152 B )
[DSP1 ] 2465.151436 s: ALGORITHM: Create Done (algId = 11) !!!
[DSP1 ] 2465.151680 s: ALGORITHM: Create in progress (algId = 11) !!!
[DSP1 ] 2465.200786 s: ALG: ti.radar.pkDetect: CH0 BUF0: 0x8901ac00 ( 6340616 B )
[DSP1 ] 2465.213810 s: ALG: ti.radar.pkDetect: CH0 BUF1: 0x89626e00 ( 6340616 B )
[DSP1 ] 2465.213871 s: ALGORITHM: Create Done (algId = 11) !!!
[DSP1 ] 2465.214115 s: ALGORITHM: Create in progress (algId = 11) !!!
[DSP1 ] 2465.218294 s: ALG: ti.radar.beamForm: CH0 BUF0: 0x89c35800 ( 16392 B )
[DSP1 ] 2465.218568 s: ALG: ti.radar.beamForm: CH0 BUF1: 0x89c39a00 ( 16392 B )
[DSP1 ] 2465.218629 s: ALGORITHM: Create Done (algId = 11) !!!
[DSP1 ] 2465.218812 s: ALGORITHM: Create in progress (algId = 11) !!!
[DSP1 ] 2465.236106 s: UTILS: DMA: Allocated CH (TCC) = 24 (24)
[DSP1 ] 2465.236137 s: UTILS: DMA: 0 of 1: Allocated PaRAM = 24 (0x43305200)
[DSP1 ] 2465.256359 s: ALG: ti.radar.draw: CH0 BUF0: 0x8a426c00 ( 4147200 B )
[DSP1 ] 2465.264991 s: ALG: ti.radar.draw: CH0 BUF1: 0x8a81b400 ( 4147200 B )
[DSP1 ] 2465.273622 s: ALG: ti.radar.draw: CH0 BUF2: 0x8ac0fc00 ( 4147200 B )
[DSP1 ] 2465.273683 s: ALGORITHM: Create Done (algId = 11) !!!
[DSP1 ] 2465.273897 s: IPC_OUT_0 : Create in progress !!!
[DSP1 ] 2465.273988 s: IPC_OUT_0 : Create Done !!!
[DSP1 ] 2466.955194 s: SYSTEM: SW Message Box Msg Pool, Free Msg Count = 1023
[DSP1 ] 2466.955224 s: SYSTEM: Heap = LOCAL_L2 @ 0x00800000, Total size = 227264 B (221 KB), Free size = 227264 B (221 KB)
[DSP1 ] 2466.955285 s: SYSTEM: Heap = LOCAL_DDR @ 0x00000000, Total size = 524288 B (512 KB), Free size = 428768 B (418 KB)
[DSP2 ] 2466.955712 s: SYSTEM: SW Message Box Msg Pool, Free Msg Count = 1023
[DSP2 ] 2466.955743 s: SYSTEM: Heap = LOCAL_L2 @ 0x00800000, Total size = 227264 B (221 KB), Free size = 227264 B (221 KB)
[DSP2 ] 2466.955804 s: SYSTEM: Heap = LOCAL_DDR @ 0x00000000, Total size = 524288 B (512 KB), Free size = 517352 B (505 KB)
[EVE1 ] 2466.956444 s: SYSTEM: SW Message Box Msg Pool, Free Msg Count = 1023
[EVE1 ] 2466.956749 s: SYSTEM: Heap = LOCAL_L2 @ 0x40020000, Total size = 22528 B (22 KB), Free size = 10432 B (10 KB)
[EVE1 ] 2466.957298 s: SYSTEM: Heap = LOCAL_DDR @ 0x00000000, Total size = 262144 B (256 KB), Free size = 254192 B (248 KB)
[EVE2 ] 2466.958793 s: SYSTEM: SW Message Box Msg Pool, Free Msg Count = 1023
[EVE2 ] 2466.959098 s: SYSTEM: Heap = LOCAL_L2 @ 0x40020000, Total size = 22528 B (22 KB), Free size = 22528 B (22 KB)
[EVE2 ] 2466.959647 s: SYSTEM: Heap = LOCAL_DDR @ 0x00000000, Total size = 262144 B (256 KB), Free size = 255176 B (249 KB)
[IPU1-0] 2465.274141 s: IPC_IN_0 : Create in progress !!!
[IPU1-0] 2465.275178 s: IPC_IN_0 : Create Done !!!
[IPU1-0] 2465.275757 s: DISPLAY: Create in progress !!!
[IPU1-0] 2465.276215 s: DISPLAY: Create Done !!!
[IPU1-0] 2465.276367 s: GRPXSRC: Create in progress !!!
[IPU1-0] 2466.951900 s: GRPXSRC: Create Done !!!
[IPU1-0] 2466.952327 s: DISPLAY: Create in progress !!!
[IPU1-0] 2466.952845 s: DISPLAY: Create Done !!!
[IPU1-0] 2466.953059 s: SYSTEM: SW Message Box Msg Pool, Free Msg Count = 1022
[IPU1-0] 2466.953181 s: SYSTEM: Heap = LOCAL_DDR @ 0x00000000, Total size = 262144 B (256 KB), Free size = 249144 B (243 KB)
[IPU1-0] 2466.953333 s: SYSTEM: Heap = SR_OCMC @ 0x00000000, Total size = 0 B (0 KB), Free size = 0 B (0 KB)
[IPU1-0] 2466.953547 s: SYSTEM: Heap = SR_DDR_CACHED @ 0x88103000, Total size = 368037888 B (350 MB), Free size = 314602496 B (300 MB)
[IPU1-0] 2466.953730 s: SYSTEM: Heap = SR_DDR_NON_CACHED @ 0xbfc00000, Total size = 128128 B (0 MB), Free size = 112000 B (0 MB)
[IPU1-0] 2466.960409 s: DISPLAY: Start in progress !!!
[IPU1-0] 2466.960531 s: DISPLAY: Start Done !!!
[IPU1-0] 2466.961904 s: *** UTILS: CPU KHz = 20000 Khz ***
[IPU1-0] 2466.971817 s: DISPLAY: Start in progress !!!
[IPU1-0] 2466.971878 s: DISPLAY: Start Done !!!
[IPU1-0] 2466.972610 s: ISSCAPTURE: Start in progress !!!
[IPU1-0] 2466.972762 s: ISSCAPTURE: Start Done !!!
[IPU1-0] 2466.972854 s: CHAINS: AR12xx Starting Radar Sensor ...
[IPU1-0] 2467.043494 s: CHAINS: AR12xx Starting Radar Sensor ... DONE !!!
[IPU1-1] 2466.954401 s: SYSTEM: SW Message Box Msg Pool, Free Msg Count = 1023
[IPU1-1] 2466.954584 s: SYSTEM: Heap = LOCAL_DDR @ 0x00000000, Total size = 655360 B (640 KB), Free size = 622968 B (608 KB)
[HOST ] 2466.954980 s: SYSTEM: SW Message Box Msg Pool, Free Msg Count = 1023
[HOST ] 2466.955011 s: SYSTEM: Heap = LOCAL_DDR @ 0x00000000, Total size = 6291456 B (6144 KB), Free size = 6279920 B (6132 KB)
[IPU1-0] 2483.166381 s:
[IPU1-0]
[IPU1-0] ====================
[IPU1-0] Chains Run-time Menu
[IPU1-0] ====================
[IPU1-0]
[IPU1-0] 0: Stop Chain
[IPU1-0]
[IPU1-0] c: Read-back and Check AR params
[IPU1-0]
[IPU1-0] d: Dynamically change params
[IPU1-0]
[IPU1-0] p: Print Performance Statistics
[IPU1-0]
[IPU1-0] Enter Choice:
[IPU1-0] Thanks, Richard
Hi Richard, When data comes to TDA2P thru CSI2 port, you have to use IssCapture Link. If the data comes to TDA2P thru VIP ports, you have to use Capture Link. On your board, I think you connect the Radar via FPD-Link to UB960 and UB960 connects to CSI2 port. On TI Cascade Radar EVM, the radar data goes to FPGAs and FPGAs connect to VIP ports. Please make sure you use IssCapture Link in your use case. The firmware should be downloaded to all 4 radars. I think the traces only show once for all slaves. Can you share your source file for cascade radar use case so I can review it? Regards, Stanley
Hi Stanley, I have modified the use case to use the IssCapture Link. When I run it, I get a new error: I probed the I2C-SPI bridges again and the firmware is downloaded to all 4 radars. Attached are my source files for the cascade use case. cascade_radar_object_detect.zip Thanks, Richard
Hi Richard, I don't see anything obviously wrong from the configuration in the source file. Could you build "debug" version by using "gmake -s -j PROFILE=debug depend && gmake -s -j PROFILE=debug"? With the debug build, you can step thru the code in CCS to see what causes the assertion. The assertion is in the vcoreCaptAllocCalRes() under ~/ti_components/drivers/pdk_xx_xx_xx_xx/packages/ti/drv/vps/src/vpslib/calcore/src/vpscore_calapi.c. You can set a breakpoint at that function and step thru it. Regards, Stanley
Hi Stanley, I stepped through vcoreCaptAllocCalRes() and found that when Irm_allocResource() returns 4, the if "FVID2_SOK == rtnVal" check fails and the program drops down into the else block, where vcoreCaptDeAllocCalRes() also returns 4, causing the GT_assert() to fail. I'm not sure what to make of this return value? Thanks, Richard
Hi Stanley, I realized stepping through the release build wasn't working correctly so I rebuilt the SDK in debug mode and traced through again. Now I can see that in vcoreCaptAllocCalRes(), the for loop executes 5 times, and on the 5th iteration, Irm_allocResource() returns -2 instead of 0, which causes the assertion error. Is it possible that the for loop is simply executing one too many times, since there should only be 4 streams of radar data and not 5? Thanks, Richard
Hi Richard, Could you double check, in the use case chains_cascadeRadarOd_SetAppPrms(),if pObj->ar12xxCfg.fusionEnabled is equal to 0? If not, you need to set it to 0. If it is 0, check if numRadars is 4? Regards, Stanley
Hi Stanley, After setting pObj->ar12xxCfg.fusionEnabled to 0 and verifying that numRadars is 4, the for loop now only executes 4 times and the use case gets to the runtime menu. However, now neither the Matlab script nor the Network_Rx tool are able to connect, because the board is no longer getting an IP address? Thanks, Richard
Richard, From the run-time menu, could you type 'p' option and share the log? You can check the output frame rate of IssCapture Link. Please make sure the network stack is running on IPU1_1. If you have the debugger connected in CCS, you should see some log from CCS console showing MAC address and DHCP service status. Regards, Stanley
Hi Stanley, I have resolved the IP address problem, by connecting the PC and EVM to a dedicated network router. I have set the network stack to run on IPU1_1. However, now I am facing a new i2c error, one I haven't run into before: "Bus busy detected recover I2C bus !!!" This error occurs when I try to run the cascade use case, in addition to the "Failed to probe sensor" and 'Radar Device Power On Failed" errors that I have seen before, on the initial bring-up of the use case. Attached is the full serial log for reference. bus busy.txt [IPU1-0] 34.649515 s: CHAINS: UB960 is configured for 2Gbps Mode
[IPU1-0] 34.649759 s: Using gUb960Cfg_D3AR1243 and gUB953SerCfg
[IPU1-0] 34.649850 s: Using AR12xx
[IPU1-0] 34.650186 s: Detected UB960 !!!
[IPU1-0] 37.612304 s: src/bsputils_ub960.c @ Line 1358:
[IPU1-0] 37.612426 s: Failed to probe sensor at alias: 40 | status: -1
[IPU1-0] 37.617245 s:
[IPU1-0] 37.617580 s: i2cMdSubmitChan: i2c4 transfer to slave address 0x76 failed
[IPU1-0] 37.617733 s: src/bsp_deviceI2c.c @ Line 1567:
[IPU1-0] 37.617824 s: Bus busy detected recover I2C bus !!!
[IPU1-0] 37.617916 s: src/bsp_deviceI2c.c @ Line 580:
[IPU1-0] 37.618007 s: I2C4: DEV 0x76: WR 0x01 = 0x01 ... ERROR !!!
[IPU1-0] 37.618160 s: src/bsp_deviceI2c.c @ Line 602:
[IPU1-0] 37.618251 s: I2C4: Error timeout 6 ms!!!
[IPU1-0] 37.618343 s: src/bsputils_ub960.c @ Line 1541:
[IPU1-0] 37.618404 s: Could not configure UB913 Ser !!!
[IPU1-0] 37.619410 s: src/bsputils_ub960.c @ Line 1349:
[IPU1-0] 37.619502 s: Failed to probe serializer at alias: 76 | status: -1
[IPU1-0] 37.620478 s: src/bsputils_ub960.c @ Line 1358:
[IPU1-0] 37.620600 s: Failed to probe sensor at alias: 42 | status: -1
[IPU1-0] 42.620203 s:
[IPU1-0] 42.620539 s: i2cMdSubmitChan: i2c transfer Timeout IRQ not received
[IPU1-0] 42.621606 s: src/bsp_deviceI2c.c @ Line 580:
[IPU1-0] 42.621698 s: I2C4: DEV 0x78: WR 0x01 = 0x01 ... ERROR !!!
[IPU1-0] 42.621820 s: src/bsp_deviceI2c.c @ Line 602:
[IPU1-0] 42.621911 s: I2C4: Error timeout 5001 ms!!!
[IPU1-0] 42.622003 s: src/bsputils_ub960.c @ Line 1541:
[IPU1-0] 42.622094 s: Could not configure UB913 Ser !!!
[IPU1-0] 43.920484 s:
[IPU1-0] 43.920850 s: i2cMdSubmitChan: i2c4 transfer to slave address 0x40 failed
[IPU1-0] 43.920972 s: src/bsp_deviceI2c.c @ Line 667:
[IPU1-0] 43.921063 s: I2C4: DEV 0x40: ERROR !!!
[IPU1-0] 43.921155 s: src/bsp_deviceI2c.c @ Line 689:
[IPU1-0] 43.921277 s: I2C4: Error timeout 255 ms!!!
[IPU1-0] 43.921368 s: radar_ar12xx/src/bspdrv_ar12xxPriv.c @ Line 120:
[IPU1-0] 43.921460 s: AR12XX: Radar Device Power On failed!!
[IPU1-0] 43.921551 s: Assertion @ Line: 273 in C:/PROCESSOR_SDK_VISION_03_05_00_00/vision_sdk/apps/src/rtos/radar/src/common/chains_common_ar12xx.c: SYSTEM_LINK_STATUS_SOK == retVal : failed !!!
[IPU1-0] 43.922741 s: Assertion @ Line: 273 in C:/PROCESSOR_SDK_VISION_03_05_00_00/vision_sdk/apps/src/rtos/radar/src/common/chains_common_ar12xx.c: SYSTEM_LINK_STATUS_SOK == retVal : failed !!! Thanks, Richard
Richard, Is the single radar use case still working? Maybe something is broken in HW between UB960 -> UB953 -> AWR1243 so I2C command is not getting thru. Regards, Stanley
Hi Stanley, The cascade use case runs now, turns out there was a HW mod failure on the master AWR1243. However, now we're back to the situation before switching to the IssCapture link from the Capture link, namely, I can connect to the EVM via the Matlab script, Network_Rx tool, or PuTTy, but no data comes back through any of these? Below is the output from Matlab: Should there be additional status messages, or is some action required on the host side to begin data transmission? Edit: IssCaptureLink_drvSetDrvCfg() is called, but issCaptDrvCallback() never is. Thanks, Richard
Richard, If issCaptDrvCallback() is not called, the radar data is not received at the CSI2 port on TDA2P. It is not a network issue. There is just no data to be sent. You need to check if UB960 is receiving any data from radar. Regards, Stanley
Hi Stanley, Below is the scope output when probing the FPD links, where the yellow waveform is the cascade use case and the white waveform is the single use case. Is there some way to tell whether the cascade radar data is valid? In addition, I tried to inspect the UB960 registers via CCS, but it seems like I can only access the TDA2 registers? Thanks, Richard
Hi Richard, You can verify the radar data by using test mode from Radar. This can be enabled by using ChainsCommon_ar12xxEnableTestSource() API. This can be enabled by uncommenting "#define ENABLE_TEST_SOURCE" in ~/vision_sdk/apps/src/rtos/radar/src/common/chains_common_ar12xx.c. You can refer to ~/ti_components/drivers/pdk_xx_xx_xx/packages/ti/drv/vps/unit_test/cascadeRadarUt/src/CascadeRadar_main.c to see how the data is verified in CascadeRadar_vipCbFxn(). However, this method can only be used if the data is actually received by TDA2P. Based on the discussion earlier, it sounds like TDA2P didn't even receive the data from CSI-2 port. As for UB960 registers, you have to access via I2C commands. Regards, Stanley
Hi Stanley, When I read the line registers from the UB960 (0x73-0x76), they are all zeros. I would assume this means the UB960 isn't getting any radar data? Why might this be the case? Attached are the corresponding code modifications: chains_cascadeRadarOd.c /******************************************************************************
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* No reverse engineering, decompilation, or disassembly of this software
is permitted with respect to any software provided in binary form.
* Any redistribution and use are licensed by TI for use only with TI Devices.
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If software source code is provided to you, modification and redistribution of
the source code are permitted provided that the following conditions are met:
* Any redistribution and use of the source code, including any resulting
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ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
******************************************************************************/
/*******************************************************************************
* INCLUDE FILES
*******************************************************************************
*/
#include "chains_cascadeRadarOd_priv.h"
#include <include/common/chains_radar.h>
#include <ti/drv/vps/include/vps.h>
#include <ti/drv/vps/include/vps_capture.h>
#define RADAR_CASCADE_NUM_TX_AZIMUTH_ANT (5U)
#define RADAR_CASCADE_NUM_TX_ELEVATION_ANT (3U)
#define CHAINS_CASCADE_RADAR_MAX_INPUT_ARGS (16U)
#define CHAINS_CASCADE_RADAR_MAX_INPUT_ARGS_LENGTH (8U)
/**
*******************************************************************************
* \brief Channels with timestamp difference <= SYNC_DELTA_IN_MSEC
* are synced together by sync link
*******************************************************************************
*/
#define SYNC_DELTA_IN_MSEC (50)
/**
*******************************************************************************
* \brief Channels with timestamp older than SYNC_DROP_THRESHOLD_IN_MSEC
* are dropped by sync link
*******************************************************************************
*/
#define SYNC_DROP_THRESHOLD_IN_MSEC (100)
char Chains_cascadeRadarOd_runTimeMenu();
static Void Chains_parseCmd(char* inputStr, UInt16 *argc, char **argv);
static Void Chains_readString(char* inputString, UInt8 maxNumChar);
/**
*******************************************************************************
*
* \brief Chains_cascadeRadarOdObj
*
* This structure contains all the LinksId's and create Params.
* The same is passed to all create, start, stop functions.
*
*******************************************************************************
*/
typedef struct {
//Added members for SD card
chains_cascadeRadarOdObj ucObj;
ChainsCommon_Ar12xxConfigOut ar12xxCfg;
Chains_Ctrl *chainsCfg;
/* Algorithm */
AlgorithmFxn_RadarFftCreateParams radarFftParams1;
AlgorithmFxn_RadarFftCreateParams radarFftParams2;
AlgorithmFxn_RadarFftCreateParams radarFftParams3;
AlgorithmFxn_RadarFftCreateParams radarFftParams4;
AlgorithmFxn_RadarDspProcessCreateParams radarDspOdParams;
Chains_DataRdWrType linkType;
} Chains_cascadeRadarOdAppObj;
typedef struct
{
UInt16 antAzimOffs[RADAR_CASCADE_NUM_TX_AZIMUTH_ANT + RADAR_CASCADE_NUM_TX_ELEVATION_ANT];
UInt16 antElevOffs[RADAR_CASCADE_NUM_TX_AZIMUTH_ANT + RADAR_CASCADE_NUM_TX_ELEVATION_ANT];
UInt16 antRowOffs[RADAR_CASCADE_NUM_TX_AZIMUTH_ANT + RADAR_CASCADE_NUM_TX_ELEVATION_ANT];
} aoa_txAntOffset_t;
typedef struct
{
UInt16 sensorInd;
UInt16 txAntInd;
UInt16 rxAntInd;
UInt16 pad;
} aoa_overlap_antenna;
typedef struct
{
aoa_overlap_antenna previous;
aoa_overlap_antenna current;
} aoa_overlapAntennaPairs;
typedef struct
{
UInt16 sensorAzimOffs;
UInt16 antAzimOffs[4U];
UInt16 antElevOffs[4U];
UInt16 antRowOffs[4U];
} aoa_rxAntOffset_t;
aoa_txAntOffset_t gAoa_txAntOffset =
{
.antAzimOffs = {0, 8, 16, 24, 32, 9, 10, 11},
.antElevOffs = {0, 0, 0, 0, 0, 1, 4, 6},
.antRowOffs = {0, 0, 0, 0, 0, 1, 2, 3}
};
aoa_rxAntOffset_t gAoa_sensorRxOffset[] =
{
{
.sensorAzimOffs = 0,
.antAzimOffs = {0, 1, 2, 3},
.antElevOffs = {0, 0, 0, 0},
.antRowOffs = {0, 0, 0, 0}
},
{
.sensorAzimOffs = 11,
.antAzimOffs = {0, 1, 2, 3},
.antElevOffs = {0, 0, 0, 0},
.antRowOffs = {0, 0, 0, 0}
},
{
.sensorAzimOffs = 50,
.antAzimOffs = {0, 1, 2, 3},
.antElevOffs = {0, 0, 0, 0},
.antRowOffs = {0, 0, 0, 0}
},
{
.sensorAzimOffs = 46,
.antAzimOffs = {0, 1, 2, 3},
.antElevOffs = {0, 0, 0, 0},
.antRowOffs = {0, 0, 0, 0}
},
};
UInt8 gAoa_rowToElevationIdx[] = {0, 1, 4, 6};
aoa_overlapAntennaPairs gAoa_overlapAntennaPairs[] =
{
{.previous = {1,0,0}, .current = {0,1,3}},
{.previous = {1,1,0}, .current = {0,2,3}},
{.previous = {1,2,0}, .current = {0,3,3}},
{.previous = {1,3,0}, .current = {0,4,3}}
};
/* For TI RF calibration coefficients. The values are stored as: real value is
* in odd memory position, negative imaginary value is in even position */
AlgorithmFxn_RadarDspProcessComplexNum gChanCompCoefs [] =
{
{0.5493532, -0.5382177},
{0.5768175, -0.5527835},
{0.5161927, -0.5520395},
{0.6684260, -0.4948089},
{0.8705083, -0.0142706},
{0.9357420, -0.0385306},
{0.8456463, -0.0404831},
{0.8996814, 0.0715656},
{0.8015795, 0.4135538},
{0.8284975, 0.4534344},
{0.7886266, 0.3798872},
{0.7884426, 0.4827199},
{0.9043464, -0.5787817},
{0.9169999, -0.4995597},
{0.7730544, -0.6039488},
{0.8425182, -0.5128371},
{0.6421999, -0.6221311},
{0.7653940, -0.5754842},
{0.5956402, -0.5352713},
{0.6980371, -0.5140949},
{-0.9440165, -0.4547817},
{-0.9657323, -0.4828662},
{-0.8692111, -0.3945761},
{-0.9100713, -0.5279803},
{-1.0462480, -0.3236595},
{-1.0991201, -0.4520575},
{-1.0783755, -0.3171692},
{-1.0389148, -0.6105903},
{-0.9620396, -0.5932578},
{-0.9969274, -0.8560573},
{-0.9548815, -0.5968009},
{-0.8344880, -0.6344868},
{-0.2610382, 0.8056180},
{-0.0744242, 0.7477865},
{0.0357804, 0.7951190},
{-0.0672695, 0.9055505},
{-0.7162539, 0.7644633},
{-0.4306506, 0.7946529},
{-0.3173126, 0.9336312},
{-0.4023159, 0.9914214},
{-0.7082964, 0.5728868},
{-0.4729874, 0.5966918},
{-0.3494343, 0.6950704},
{-0.4710852, 0.7765141},
{0.1380861, 0.9279386},
{0.2620542, 0.7777091},
{0.3737004, 0.7224874},
{0.3094909, 0.8602797},
{0.0152542, 0.9000005},
{0.1287354, 0.7438046},
{0.1883689, 0.7285966},
{0.0906799, 0.9174668},
{0.9756498, -0.1790750},
{0.8663723, -0.3665421},
{0.8054178, -0.4799407},
{0.8859414, -0.5562888},
{0.7894852, -0.2141689},
{0.6803175, -0.2256978},
{0.7058089, -0.3263418},
{0.7997218, -0.4023758},
{0.7420773, -0.1433966},
{0.6557204, -0.1798879},
{0.6311873, -0.2957738},
{0.7367190, -0.3197846},
{0.9505693, 0.5551325},
{1.0414761, 0.2603690},
{1.0285757, 0.2223947},
{0.9209221, 0.4473050},
{0.5513432, 0.9571931},
{0.6988582, 0.7050428},
{0.6979669, 0.6630686},
{0.5570068, 0.8025689},
{0.0603978, 0.9334203},
{0.1390159, 0.8628576},
{0.1593458, 0.8764020},
{0.0672695, 0.9055505},
{0.7194937, 0.8075950},
{0.7881971, 0.8207001},
{0.9099478, 0.7524568},
{0.8386164, 0.8298808},
{0.6049777, 1.3151687},
{0.6597368, 1.6299380},
{0.9598035, 1.4212475},
{0.8693603, 1.3277503},
{-0.0969632, -1.1811885},
{-0.1869433, -1.0982921},
{-0.0996534, -1.1460146},
{-0.0559669, -1.1273338},
{0.1046557, -1.5399344},
{-0.2260024, -1.4831409},
{-0.1675737, -1.6254649},
{0.0268146, -1.4613965},
{0.5782658, -1.3448040},
{0.3903018, -1.7666292},
{0.4525752, -1.7119149},
{0.4306256, -1.4497730},
{0.7551180, -0.5264555},
{0.8770092, -0.6521350},
{0.5232915, -0.9318889},
{0.8842050, -0.6499285},
{0.9872881, -0.0490578},
{1.2393565, -0.1770509},
{0.9860778, -0.4277838},
{1.1080856, -0.1248547},
{0.7946622, 0.3169462},
{0.9816368, 0.2814026},
{0.9127659, 0.0524578},
{0.9422511, 0.3161500},
{0.8290837, -0.3437664},
{0.9458543, -0.4355012},
{0.8430626, -0.6393225},
{1.0346645, -0.3523857},
{1.0268174, -0.1486183},
{1.1788297, -0.1506775},
{1.1617876, -0.4094825},
{1.3399067, -0.1717829},
{-1.0016693, -0.4021300},
{-1.2705544, -0.4578574},
{-1.2365324, -0.1864612},
{-1.1850164, -0.3788167},
{-1.2087471, -0.5384420},
{-1.5229037, -0.8674768},
{-1.7853301, -0.2872945},
{-1.5511544, -0.6345631},
{-0.9038273, -0.9582747},
{-0.9570825, -1.3264828},
{-1.2853311, -1.0740438},
{-1.1545604, -1.1380666}
};
Void Chains_aoAReadCascadeCoeffs(
AlgorithmFxn_RadarDspProcessComplexNum *rxChPhaseComp)
{
Int32 fpReadDataStream;
char filename[64];
size_t coffFileSize;
UInt32 bytesRead = 0;
AlgorithmFxn_RadarDspProcessComplexNum *pCalibrationTable;
pCalibrationTable = gChanCompCoefs;
UTILS_assert(pCalibrationTable != NULL);
/* read coeff from a file */
sprintf(filename, "calib_coef.bin");
/* Open file */
fpReadDataStream = File_open((Char *)filename, "r");
if(fpReadDataStream == -1)
{
memcpy((Uint8 *) rxChPhaseComp,
pCalibrationTable,
sizeof(AlgorithmFxn_RadarDspProcessComplexNum) *
ALGORITHMFXN_RADAR_DSP_PROCESS_MAX_VIRT_ANTENNA);
Vps_printf("FILE_IO: Calibration file(%s) is NOT present in sd card! Used built-in coefficients!\n", filename);
}
else
{
coffFileSize = File_size(fpReadDataStream);
if(coffFileSize <=
(sizeof(AlgorithmFxn_RadarDspProcessComplexNum) *
ALGORITHMFXN_RADAR_DSP_PROCESS_MAX_VIRT_ANTENNA))
{
File_read(fpReadDataStream, (Uint8 *) rxChPhaseComp,
coffFileSize, &bytesRead);
Vps_printf(
"FILE_IO: Calibration file(%s) is present in sd card \n",
filename);
}
else
{
memcpy((Uint8 *) rxChPhaseComp, pCalibrationTable,
sizeof(AlgorithmFxn_RadarDspProcessComplexNum) *
ALGORITHMFXN_RADAR_DSP_PROCESS_MAX_VIRT_ANTENNA);
Vps_printf(
"FILE_IO: Calibration file(%s) size is NOT compatible (expected %d Bytes). Used built-in coefficients!\n",
filename,
(sizeof(AlgorithmFxn_RadarDspProcessComplexNum) *
ALGORITHMFXN_RADAR_DSP_PROCESS_MAX_VIRT_ANTENNA));
}
}
}
// static Void Chains_MultiVip_SetCapturePrms(
// CaptureLink_CreateParams *pPrm,
// ChainsCommon_Ar12xxConfigOut *ar12xxCfg,
// UInt32 portId[]
// )
// {
// UInt32 i, streamId;
// UInt32 numCh = ar12xxCfg->numRadars;
// CaptureLink_VipInstParams *pInstPrm;
// CaptureLink_InParams *pInprms;
// CaptureLink_OutParams *pOutprms;
// CaptureLink_VipScParams *pScPrm;
// CaptureLink_VipPortConfig *pPortCfg;
// memset(pPrm, 0, sizeof(*pPrm));
// pPrm->numVipInst = numCh;
// pPrm->numDssWbInst = 0;
// for (i=0; i<numCh; i++)
// {
// pInstPrm = &pPrm->vipInst[i];
// UTILS_assert(portId != NULL);
// pInstPrm->vipInstId = portId[i];
// pInstPrm->videoIfMode = SYSTEM_VIFM_SCH_DS_AVID_VSYNC;
// pInstPrm->videoIfWidth = SYSTEM_VIFW_16BIT;
// pInstPrm->bufCaptMode = SYSTEM_CAPT_BCM_FRM_DROP;
// pInstPrm->numStream = 1;
// pInprms = &pInstPrm->inParams;
// if (i < numCh)
// {
// pInprms->width = ar12xxCfg->radarParams[i].csi2OutWidth;
// pInprms->height = ar12xxCfg->radarParams[i].csi2OutHeight;
// }
// else
// {
// pInprms->width = 0;
// pInprms->height = 0;
// }
// pInprms->dataFormat = SYSTEM_DF_YUV422I_YUYV;
// pInprms->scanFormat = SYSTEM_SF_PROGRESSIVE;
// for (streamId = 0; streamId < CAPTURE_LINK_MAX_OUTPUT_PER_INST;
// streamId++)
// {
// pOutprms = &pInstPrm->outParams[streamId];
// pOutprms->width = pInprms->width;
// pOutprms->height = pInprms->height;
// pOutprms->dataFormat = SYSTEM_DF_YUV422I_YUYV;
// pOutprms->maxWidth = pOutprms->width;
// pOutprms->maxHeight = pOutprms->height;
// pOutprms->scEnable = FALSE;
// /* sub-frame not supported, set to FALSE */
// pOutprms->subFrmPrms.subFrameEnable = FALSE;
// pOutprms->subFrmPrms.numLinesPerSubFrame = 0;
// }
// pScPrm = &pInstPrm->scPrms;
// pScPrm->inCropCfg.cropStartX = 0;
// pScPrm->inCropCfg.cropStartY = 0;
// pScPrm->inCropCfg.cropWidth = pInprms->width;
// pScPrm->inCropCfg.cropHeight = pInprms->height;
// pScPrm->scCfg.bypass = FALSE;
// pScPrm->scCfg.nonLinear = FALSE;
// pScPrm->scCfg.stripSize = 0;
// pScPrm->userCoeff = FALSE;
// pPortCfg = &pInstPrm->vipPortCfg;
// pPortCfg->syncType = SYSTEM_VIP_SYNC_TYPE_DIS_SINGLE_YUV;
// pPortCfg->ancCropEnable = FALSE;
// pPortCfg->intfCfg.clipActive = FALSE;
// pPortCfg->intfCfg.clipBlank = FALSE;
// pPortCfg->intfCfg.intfWidth = SYSTEM_VIFW_16BIT;
// pPortCfg->disCfg.fidSkewPostCnt = 0;
// pPortCfg->disCfg.fidSkewPreCnt = 0;
// pPortCfg->disCfg.lineCaptureStyle =
// SYSTEM_VIP_LINE_CAPTURE_STYLE_ACTVID;
// pPortCfg->disCfg.fidDetectMode = SYSTEM_VIP_FID_DETECT_MODE_PIN;
// pPortCfg->disCfg.actvidPol = SYSTEM_POL_HIGH;
// pPortCfg->disCfg.vsyncPol = SYSTEM_POL_HIGH;
// pPortCfg->disCfg.hsyncPol = SYSTEM_POL_LOW;
// pPortCfg->disCfg.discreteBasicMode = TRUE;
// pPortCfg->comCfg.ctrlChanSel = SYSTEM_VIP_CTRL_CHAN_SEL_7_0;
// pPortCfg->comCfg.ancChSel8b =
// SYSTEM_VIP_ANC_CH_SEL_8B_LUMA_SIDE;
// if (portId[i] == VPS_CAPT_VIP_MAKE_INST_ID(VPS_VIP2, VPS_VIP_S0, VPS_VIP_PORTA))
// {
// pPortCfg->comCfg.pixClkEdgePol = SYSTEM_EDGE_POL_RISING;
// }
// else
// {
// pPortCfg->comCfg.pixClkEdgePol = SYSTEM_EDGE_POL_FALLING;
// Bsp_platformSetVipClkInversion(pInstPrm->vipInstId, TRUE);
// }
// pPortCfg->comCfg.invertFidPol = FALSE;
// pPortCfg->comCfg.enablePort = FALSE;
// pPortCfg->comCfg.expectedNumLines = pInprms->height;
// pPortCfg->comCfg.expectedNumPix = pInprms->width;
// pPortCfg->comCfg.repackerMode = SYSTEM_VIP_REPACK_CBA_TO_CBA;
// pPortCfg->actCropEnable = FALSE;
// pPortCfg->ancCropCfg.srcNum = 0;
// pPortCfg->ancCropCfg.cropCfg.cropStartX = 0;
// pPortCfg->ancCropCfg.cropCfg.cropStartY = 0;
// pPortCfg->ancCropCfg.cropCfg.cropWidth = 0;
// pPortCfg->ancCropCfg.cropCfg.cropHeight = 0;
// pInstPrm->numBufs = CAPTURE_LINK_NUM_BUFS_PER_CH_DEFAULT + 2;
// }
// }
void Chains_RadarDspProcess_SetPrms (AlgorithmFxn_RadarDspProcessCreateParams *pPrms,
ChainsCommon_Ar12xxConfigOut *pAr12xxCfg)
{
AlgorithmFxn_RadarDspProcChCreateParams *chCreateParams;
AlgorithmFxn_RadarDspProcCfarCreateParams *cfarCreateParams;
AlgorithmFxn_RadarDspProcAoaCreateParams *aoaCreateParams;
UInt16 *rxAngleIndxLUT, *rxRowIndxLUT;
UInt32 i, j, numTx, numChirps;
AlgorithmFxn_RadarDspProcessOpBlobControlParams *opControlParams;
AlgorithmFxn_RadarDspProcess_Init(pPrms);
pPrms->inputBufferType = SYSTEM_BUFFER_TYPE_VIDEO_FRAME_CONTAINER;
pPrms->numChannels = 1U; /* cascade configuration */
pPrms->enableClutterRemoval = 0U;
chCreateParams = &pPrms->chCreateParams[0];
chCreateParams->numSensorDevPerChannel = pAr12xxCfg->numRadars;
chCreateParams->numProfiles = pAr12xxCfg->radarParams[0].numProfiles;
for (i = 0U; i < pAr12xxCfg->radarParams[0].numProfiles; i++)
{
chCreateParams->numAdcSamples[i] = pAr12xxCfg->radarParams[0].radarWidth[i];
chCreateParams->numChirpLoops[i] = pAr12xxCfg->radarParams[0].radarHeight[i];
chCreateParams->rangeRes[i] = pAr12xxCfg->radarParams[0].rangeRes[i];
chCreateParams->dopplerRes[i] = pAr12xxCfg->radarParams[0].velocityRes[i];
for (j = 0U; j < pAr12xxCfg->numRadars; j++)
{
numTx = 0U;
for (numChirps = 0U; numChirps < pAr12xxCfg->radarParams[j].ar12xxConfig.numChirpCfgArgs;
numChirps++)
{
numTx = numTx | pAr12xxCfg->radarParams[j].ar12xxConfig.chirpCfgArgs[numChirps].txEnable;
}
chCreateParams->numTxAnt[j][i] = Chains_ar12xxCountOnes(numTx);
chCreateParams->numRxAnt[j][i] = pAr12xxCfg->radarParams[j].numRxAntenna[i];
}
/* Board Specific Parameters */
chCreateParams->numTxAzimuthAnt[i] = RADAR_CASCADE_NUM_TX_AZIMUTH_ANT;
chCreateParams->numTxElevationAnt[i] = RADAR_CASCADE_NUM_TX_ELEVATION_ANT;
}
cfarCreateParams = &pPrms->cfarCreateParams;
cfarCreateParams->cfarType = ALG_FXN_RADAR_DSP_PROCESS_CFAR_CASO;
cfarCreateParams->pfa = (float)1e-6;
cfarCreateParams->K0 = 6.3;
cfarCreateParams->dopplerSearchRelThr = 6.3;
cfarCreateParams->enableSecondPassSearch= 1U;
cfarCreateParams->searchWinSizeRange = 16;
cfarCreateParams->guardSizeRange = 4;
cfarCreateParams->searchWinSizeDoppler = 8;
cfarCreateParams->guardSizeDoppler = 0;
cfarCreateParams->maxNumDetObj = ALGORITHMFXN_RADAR_DSP_PROCESS_MAX_OBJECTS >> 1U;
cfarCreateParams->leftSkipSize = 1;
cfarCreateParams->rightSkipSize = 18;
cfarCreateParams->leftSkipSizeAzimuth = 0;
cfarCreateParams->rightSkipSizeAzimuth = 0;
cfarCreateParams->log2MagFlag = 0U;
aoaCreateParams = &pPrms->aoaCreateParams;
aoaCreateParams->rxMainRowIndex = 0;
aoaCreateParams->azimuthFFTsize = 128;
aoaCreateParams->numAzimuthFFTs = 4;
aoaCreateParams->elevationFFTsize = 64;
aoaCreateParams->multiPeakThresholdScale= 0.95;
aoaCreateParams->enableClutterRemoval = 0U;
aoaCreateParams->enableExtendedMaxVelocity = 0U;
aoaCreateParams->numOverlapAntennaPairs = 4; /* Board Specific */
rxAngleIndxLUT = aoaCreateParams->rxAngleIndxLUT;
rxRowIndxLUT = aoaCreateParams->rxRowIndxLUT;
j = 0; /* Single Profile Assumed */
numTx = chCreateParams->numTxAzimuthAnt[j] + chCreateParams->numTxElevationAnt[j];
for (i = 0; i < pAr12xxCfg->numRadars; i++)
{
UInt32 txInd, rxInd, ind;
for (txInd = 0; txInd < numTx; txInd++)
{
for (rxInd = 0; rxInd < pAr12xxCfg->radarParams[i].numRxAntenna[j]; rxInd++)
{
ind = i * (numTx * pAr12xxCfg->radarParams[i].numRxAntenna[j]) +
txInd * pAr12xxCfg->radarParams[i].numRxAntenna[j] + rxInd;
rxAngleIndxLUT[ind] = gAoa_txAntOffset.antAzimOffs[txInd] +
gAoa_sensorRxOffset[i].sensorAzimOffs +
gAoa_sensorRxOffset[i].antAzimOffs[rxInd];
rxRowIndxLUT[ind] = gAoa_txAntOffset.antRowOffs[txInd] +
gAoa_sensorRxOffset[i].antRowOffs[rxInd];
}
}
}
for (i = 0; i < aoaCreateParams->numAzimuthFFTs; i++)
{
aoaCreateParams->rxRowToElevIdxLUT[i] = gAoa_rowToElevationIdx[i];
}
for (i = 0; i < aoaCreateParams->numOverlapAntennaPairs; i++)
{
aoaCreateParams->overlapAntennaPairs[i] =
(Uint32) (gAoa_overlapAntennaPairs[i].previous.sensorInd * numTx *
pAr12xxCfg->radarParams[0].numRxAntenna[0] +
gAoa_overlapAntennaPairs[i].previous.txAntInd *
pAr12xxCfg->radarParams[0].numRxAntenna[0] +
gAoa_overlapAntennaPairs[i].previous.rxAntInd) |
(((Uint32) (gAoa_overlapAntennaPairs[i].current.sensorInd * numTx *
pAr12xxCfg->radarParams[0].numRxAntenna[0] +
gAoa_overlapAntennaPairs[i].current.txAntInd *
pAr12xxCfg->radarParams[0].numRxAntenna[0] +
gAoa_overlapAntennaPairs[i].current.rxAntInd)) << 16);
}
Chains_aoAReadCascadeCoeffs(aoaCreateParams->rxChPhaseComp);
aoaCreateParams->calibParams.state =
ALGORITHMFXN_RADAR_DSP_PROCESS_NORMAL_RUNNING;
opControlParams = &pPrms->opControlParams;
opControlParams->pointCloud = 1U;
opControlParams->rangeProfile = 1U;
opControlParams->noiseProfile = 0U;
opControlParams->rangeDopHeatMap = 0U;
opControlParams->azimuthHeatMap = 0U;
}
static Void Chains_setSelectParams(SelectLink_CreateParams *pPrm)
{
pPrm->numOutQue = 4;
pPrm->outQueChInfo[0].outQueId = 0;
pPrm->outQueChInfo[0].numOutCh = 1;
pPrm->outQueChInfo[0].inChNum[0] = 0;
pPrm->outQueChInfo[1].outQueId = 1;
pPrm->outQueChInfo[1].numOutCh = 1;
pPrm->outQueChInfo[1].inChNum[0] = 1;
pPrm->outQueChInfo[2].outQueId = 2;
pPrm->outQueChInfo[2].numOutCh = 1;
pPrm->outQueChInfo[2].inChNum[0] = 2;
pPrm->outQueChInfo[3].outQueId = 3;
pPrm->outQueChInfo[3].numOutCh = 1;
pPrm->outQueChInfo[3].inChNum[0] = 3;
}
/**
*******************************************************************************
*
* \brief Set Sync Create Parameters
*
* This function is used to set the sync params.
* It is called in Create function.
*
* \param pPrm [OUT] SyncLink_CreateParams
*
*******************************************************************************
*/
static Void Chains_SetSyncParams(SyncLink_CreateParams *pPrm)
{
pPrm->syncDelta = SYNC_DELTA_IN_MSEC;
pPrm->syncThreshold = SYNC_DROP_THRESHOLD_IN_MSEC;
}
/**
*******************************************************************************
*
* \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_cascadeRadarOdAppObj
*
* /return SYSTEM_LINK_STATUS_SOK on success
*
*******************************************************************************
*/
Void chains_cascadeRadarOd_StartApp(Chains_cascadeRadarOdAppObj *pObj)
{
Chains_memPrintHeapStatus();
ChainsCommon_ar12xxStart();
chains_cascadeRadarOd_Start(&pObj->ucObj);
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_cascadeRadarOdAppObj
*
*******************************************************************************
*/
Void chains_cascadeRadarOd_StopAndDeleteApp(Chains_cascadeRadarOdAppObj *pObj)
{
chains_cascadeRadarOd_Stop(&pObj->ucObj);
chains_cascadeRadarOd_Delete(&pObj->ucObj);
ChainsCommon_ar12xxStop(&pObj->ar12xxCfg);
/* Print the HWI, SWI and all tasks load */
/* Reset the accumulated timer ticks */
Chains_prfLoadCalcEnable(FALSE, FALSE, FALSE);
}
/**
*******************************************************************************
*
* \brief Set link Parameters
*
* It is called in Create function of the auto generated use-case file.
*
* \param pUcObj [IN] Auto-generated usecase object
* \param appObj [IN] Application specific object
*
*******************************************************************************
*/
Void chains_cascadeRadarOd_SetAppPrms(chains_cascadeRadarOdObj *pUcObj, Void *appObj)
{
Chains_cascadeRadarOdAppObj *pObj
= (Chains_cascadeRadarOdAppObj*)appObj;
// UInt32 portId[SYSTEM_CAPTURE_VIP_INST_MAX] = {
// VPS_CAPT_VIP_MAKE_INST_ID(VPS_VIP1, VPS_VIP_S1, VPS_VIP_PORTA), /* Master - VIN2A */
// VPS_CAPT_VIP_MAKE_INST_ID(VPS_VIP2, VPS_VIP_S0, VPS_VIP_PORTA),
// VPS_CAPT_VIP_MAKE_INST_ID(VPS_VIP2, VPS_VIP_S1, VPS_VIP_PORTA),
// VPS_CAPT_VIP_MAKE_INST_ID(VPS_VIP1, VPS_VIP_S0, VPS_VIP_PORTA),
// };
/* Fill params for cascade, params are used in cascade Algo */
pObj->ar12xxCfg.fusionEnabled = 0;
Chains_ar12xxGetSampleCascadeConfig(&pObj->ar12xxCfg);
ChainsCommon_ar12xxConfig(&pObj->ar12xxCfg);
ChainsCommon_ar12xxSetIssCaptureParams(&pUcObj->IssCapturePrm, &pObj->ar12xxCfg);
// Chains_MultiVip_SetCapturePrms(&pUcObj->CapturePrm,
// &pObj->ar12xxCfg,
// portId);
Chains_setSelectParams(&pUcObj->SelectPrm);
ChainsCommon_ar12xxSetFFTParams(&pObj->radarFftParams1,
&pObj->ar12xxCfg);
/* EVE only does 1D FFT */
pObj->radarFftParams1.algFFTMode = RADAR_FFT_MODE_HORIZONTAL;
pObj->radarFftParams1.baseClassCreateParams.numOutputBuffers = 4;
pObj->radarFftParams1.workQcpuId = SYSTEM_PROC_EVE1;
ChainsCommon_ar12xxSetFFTParams(&pObj->radarFftParams2,
&pObj->ar12xxCfg);
/* EVE only does 1D FFT */
pObj->radarFftParams2.algFFTMode = RADAR_FFT_MODE_HORIZONTAL;
pObj->radarFftParams2.baseClassCreateParams.numOutputBuffers = 4;
pObj->radarFftParams2.workQcpuId = SYSTEM_PROC_EVE1;
ChainsCommon_ar12xxSetFFTParams(&pObj->radarFftParams3,
&pObj->ar12xxCfg);
/* EVE only does 1D FFT */
pObj->radarFftParams3.algFFTMode = RADAR_FFT_MODE_HORIZONTAL;
pObj->radarFftParams3.baseClassCreateParams.numOutputBuffers = 4;
pObj->radarFftParams3.workQcpuId = SYSTEM_PROC_EVE2;
ChainsCommon_ar12xxSetFFTParams(&pObj->radarFftParams4,
&pObj->ar12xxCfg);
/* EVE only does 1D FFT */
pObj->radarFftParams4.algFFTMode = RADAR_FFT_MODE_HORIZONTAL;
pObj->radarFftParams4.baseClassCreateParams.numOutputBuffers = 4;
pObj->radarFftParams4.workQcpuId = SYSTEM_PROC_EVE2;
Chains_SetSyncParams(&pUcObj->SyncPrm);
Chains_RadarDspProcess_SetPrms(&pObj->radarDspOdParams,
&pObj->ar12xxCfg);
/* Select network mode */
#if !defined(NSP_TFDTP_INCLUDE)
Vps_printf("Chains: Using TCP/IP\n");
pUcObj->NetworkTxPrm.transmitDataType = NETWORK_TX_LINK_TRANSMIT_TYPE_TCPIP;
#else
Vps_printf("Chains: Using TFDTP. Ensure using â-usetfdtp with network tools..\n");
pUcObj->NetworkTxPrm.transmitDataType = NETWORK_TX_LINK_TRANSMIT_TYPE_TFDTP;
/* no. of retry count */
pUcObj->NetworkTxPrm.retryCount = NETWORK_TFDTP_RETRANSMIT_COUNT;
#endif
return;
}
/**
*******************************************************************************
*
* \brief Cascade 4 channel radar sensor (AWR1243) capture, object detection
* and network output
*
* 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_cascadeRadarOd(Chains_Ctrl *chainsCfg)
{
char ch;
UInt32 done = FALSE;
UInt32 localDone = FALSE;
Chains_cascadeRadarOdAppObj chainsObj;
char inputStr[100];
UInt16 argc;
char *argv[CHAINS_CASCADE_RADAR_MAX_INPUT_ARGS];
AlgorithmFxn_RadarDspProcessControlParams ctrlPrms;
// Variables for print UB960 register values
Int32 status;
UInt8 tempAddr = 0x4C;
UInt8 tempData = 0x01;
UInt8 lineAddr[4] = {0x73, 0x74, 0x75, 0x76};
UInt8 lineData[4];
chainsObj.chainsCfg = chainsCfg;
chainsObj.ucObj.Alg_RadarProcess_fft1Prm =
(AlgorithmLink_RadarProcessCreateParams *)&chainsObj.radarFftParams1;
chainsObj.ucObj.Alg_RadarProcess_fft2Prm =
(AlgorithmLink_RadarProcessCreateParams *)&chainsObj.radarFftParams2;
chainsObj.ucObj.Alg_RadarProcess_fft3Prm =
(AlgorithmLink_RadarProcessCreateParams *)&chainsObj.radarFftParams3;
chainsObj.ucObj.Alg_RadarProcess_fft4Prm =
(AlgorithmLink_RadarProcessCreateParams *)&chainsObj.radarFftParams4;
chainsObj.ucObj.Alg_RadarProcess_objectDetectPrm =
(AlgorithmLink_RadarProcessCreateParams *)&chainsObj.radarDspOdParams;
chains_cascadeRadarOd_Create(&chainsObj.ucObj, &chainsObj);
chains_cascadeRadarOd_StartApp(&chainsObj);
while(!done)
{
ch = Chains_cascadeRadarOd_runTimeMenu();
switch(ch)
{
case '0':
done = TRUE;
break;
case 'p':
case 'P':
ChainsCommon_PrintStatistics();
chains_cascadeRadarOd_printStatistics(&chainsObj.ucObj);
/* Also print UB960 register values for debug */
// Select RX port 0 on UB960
status = Bsp_deviceWrite8( UB960_ACCESSIBLE_FROM_I2C_INST,
UB960_SLAVE_ADDR,
&tempAddr,
&tempData,
(UInt32) 1U);
if (status != BSP_SOK) {
Vps_printf("\nFailed to select RX port for reading!\n");
}
// Read line count and line length
status = Bsp_deviceRead8( UB960_ACCESSIBLE_FROM_I2C_INST,
UB960_SLAVE_ADDR,
lineAddr,
lineData,
(UInt32) 4U);
if (status != BSP_SOK) {
Vps_printf("\nFailed to read line registers!\n");
}
Vps_printf("\nHigh byte of line count is: %x\n", lineData[0]);
Vps_printf("\nLow byte of line count is: %x\n", lineData[1]);
Vps_printf("\nHigh byte of line length is: %x\n", lineData[2]);
Vps_printf("\nLow byte of line length is: %x\n", lineData[3]);
break;
case 'g':
case 'G':
#ifdef ENABLE_NETWORK_LOG
Chains_readChar();
#endif
localDone = FALSE;
while(!localDone)
{
Vps_printf("GUI Monitor (0/1) (<pointCloud> <rangeProfile> <noiseProfile> <rangeDopHeatMap> <azimuthHeatMap>):");
Chains_readString(inputStr, CHAINS_CASCADE_RADAR_MAX_INPUT_ARGS * (CHAINS_CASCADE_RADAR_MAX_INPUT_ARGS_LENGTH +1));
Chains_parseCmd(inputStr, &argc, (char **) &argv);
if(argc != 5)
{
Vps_printf("\nIncorrect number of arguments(%d)'. Please try again\n", argc);
}
else
{
ctrlPrms.baseClassControl.baseClassControl.size = sizeof(ctrlPrms);
ctrlPrms.baseClassControl.controlCmd = ALGORITHM_LINK_RADAR_PROCESS_CONTROL_CMD;
ctrlPrms.opControlParams.pointCloud = atoi(argv[0]);
ctrlPrms.opControlParams.rangeProfile = atoi(argv[1]);
ctrlPrms.opControlParams.noiseProfile = atoi(argv[2]);
ctrlPrms.opControlParams.rangeDopHeatMap= atoi(argv[3]);
ctrlPrms.opControlParams.azimuthHeatMap = atoi(argv[4]);
ctrlPrms.dspControlCmd = ALGORITHM_FXN_RADAR_DSP_PROCESS_CMD_CHANGE_GUI;
System_linkControl(
chainsObj.ucObj.Alg_RadarProcess_objectDetectLinkID,
ALGORITHM_LINK_CMD_CONFIG,
&ctrlPrms,
sizeof(ctrlPrms),
TRUE
);
localDone = TRUE;
}
}
break;
case 'c':
case 'C':
#ifdef ENABLE_NETWORK_LOG
Chains_readChar();
#endif
localDone = FALSE;
while(!localDone)
{
Vps_printf("Calibration setting (<numFrames> <rangeStart> <rangeEnd>):");
Chains_readString(inputStr, CHAINS_CASCADE_RADAR_MAX_INPUT_ARGS * (CHAINS_CASCADE_RADAR_MAX_INPUT_ARGS_LENGTH +1));
Chains_parseCmd(inputStr, &argc, (char **) &argv);
if(argc != 3)
{
Vps_printf("\nIncorrect number of arguments(%d)'. Please try again\n", argc);
}
else
{
ctrlPrms.baseClassControl.baseClassControl.size = sizeof(ctrlPrms);
ctrlPrms.baseClassControl.controlCmd = ALGORITHM_LINK_RADAR_PROCESS_CONTROL_CMD;
ctrlPrms.calibParams.state = ALGORITHMFXN_RADAR_DSP_PROCESS_CALIBRATION;
ctrlPrms.calibParams.numFrames = atoi(argv[0]);
ctrlPrms.calibParams.refTargetRangeWindowStart = atoi(argv[1]);
ctrlPrms.calibParams.refTargetRangeWindowEnd = atoi(argv[2]);
ctrlPrms.dspControlCmd = ALGORITHM_FXN_RADAR_DSP_PROCESS_CMD_RUN_CALIBRATION;
System_linkControl(
chainsObj.ucObj.Alg_RadarProcess_objectDetectLinkID,
ALGORITHM_LINK_CMD_CONFIG,
&ctrlPrms,
sizeof(ctrlPrms),
TRUE
);
localDone = TRUE;
}
}
break;
default:
Vps_printf("\nUnsupported option '%c'. Please try again\n", ch);
break;
}
}
chains_cascadeRadarOd_StopAndDeleteApp(&chainsObj);
}
/**
*******************************************************************************
* \brief Run Time Menu string.
*******************************************************************************
*/
char gChains_cascadeRadarOd_customRunTimeMenu[] = {
"\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 g: Control GUI output "
"\r\n "
"\r\n c: Control Calibration "
"\r\n "
"\r\n Enter Choice: "
"\r\n "
};
char Chains_cascadeRadarOd_runTimeMenu()
{
Vps_printf(gChains_cascadeRadarOd_customRunTimeMenu);
return Chains_readChar();
}
static Void Chains_readString(char* inputString, UInt8 maxNumChar)
{
char ch;
UInt8 numChar = 0;
while ( numChar < maxNumChar)
{
ch = Chains_readChar();
#ifdef ENABLE_UART_LOG
Vps_printf("%c",ch);
#endif
if((ch == 0x0d) || (ch==0x0a))
break;
inputString[numChar++] = ch;
}
inputString[numChar] = 0;
}
static Void Chains_parseCmd(char* inputStr, UInt16 *argc, char **argv)
{
UInt16 argIndex = 0;
while (1)
{
/* Tokenize the arguments: */
argv[argIndex] = strtok(inputStr, " ");
if (argv[argIndex] == NULL)
break;
/* Increment the argument index: */
argIndex++;
if (argIndex >= CHAINS_CASCADE_RADAR_MAX_INPUT_ARGS)
break;
/* Reset the command string */
inputStr = NULL;
}
*argc = argIndex;
}
Thanks, Richard
Hi Richard, If I remember correctly, the single radar use case is working on your board. Could you run Cascade use case with number of radar set to 1 and see if you are getting data from master radar? The cascade radar algorithm link may not work but at least you should get the data from master. Regards, Stanley
Hi Stanley, When I run the cascade use case with number of radars set to 1, the line registers still all read 0. I will try to read the line registers from the single radar use case to verify that I'm doing it correctly. Thanks, Richard
Hi Stanley, I have verified that I can read the line registers from the single radar use case (line count = 0x0100, line length = 0x0810). Thanks, Richard
Hi Richard, Could you compare the UB960, UB953, and ISSCapture configurations between the 2 use cases? Regards, Stanley
Hi Stanley, Both the cascade and single use cases use gUb960Cfg_D3AR1243 and gUB953SerCfg. I'm not sure how to compare their ISSCapture configurations? Thanks, Richard
Hi Stanley, I set a breakpoint at ChainsCommon_ar12xxSetIssCaptureParams() and compared the values of the arguments pPrm and pCfgOut. The values for both were similar, but contained a number of differences. I'm not sure how to tell which values are different intentionally, and which could be preventing the cascade use case from working. Attached are screenshots of the values for both use cases. Cascade_pCfgOut (2).zip Cascade_pPrm (2).zip Single_pCfgOut (2).zip Single_pPrm (2).zip Thanks, Richard
Hi Richard, Let me try this out on my TDA2P EVM. I will see if the cascade radar use case with single radar will work on my EVM. Regards, Stanley
Hi Richard, After reviewing the use case, there is one change required in ChainsCommon_ar12xxConfig() for cascade use case. In ChainsCommon_ar12xxConfig(), please change Bsp_ar12xxBoot(0U); to Bsp_ar12xxBoot(1U); This will enable downloading some firmware patch to AWR1243 RAM. Regards, Stanley
Hi Richard, Please let me know if you have any further question. Regards, Stanley
Hi Stanley, I am in contact with D3 now, and they have been able to give us more dedicated help to supplement your assistance on the E2E forum. Thanks for supporting this thread for the past several months, I'm sure we'll be in touch in the future! Richard
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