Implements Data path processing functionality. More...

#include <stdint.h>
#include <stdlib.h>
#include <stddef.h>
#include <string.h>
#include <stdio.h>
#include <math.h>
#include <xdc/std.h>
#include <xdc/cfg/global.h>
#include <xdc/runtime/IHeap.h>
#include <xdc/runtime/System.h>
#include <xdc/runtime/Error.h>
#include <xdc/runtime/Memory.h>
#include <ti/sysbios/BIOS.h>
#include <ti/sysbios/knl/Task.h>
#include <ti/sysbios/knl/Event.h>
#include <ti/sysbios/knl/Semaphore.h>
#include <ti/sysbios/knl/Clock.h>
#include <ti/sysbios/heaps/HeapBuf.h>
#include <ti/sysbios/heaps/HeapMem.h>
#include <ti/drivers/osal/DebugP.h>
#include <assert.h>
#include <ti/common/sys_common.h>
#include <ti/drivers/osal/SemaphoreP.h>
#include <ti/drivers/edma/edma.h>
#include <ti/drivers/esm/esm.h>
#include <ti/drivers/soc/soc.h>
#include <ti/utils/cycleprofiler/cycle_profiler.h>
#include <ti/alg/mmwavelib/mmwavelib.h>
#include "gen_twiddle_fft32x32.h"
#include "gen_twiddle_fft16x16.h"
#include "DSP_fft32x32.h"
#include "DSP_fft16x16.h"
#include <ti/mathlib/mathlib.h>
#include <common/app_cfg.h>
#include "dss_data_path.h"
#include "dss_config_edma_util.h"
#include "clusteringDBscan.h"
#include "EKF_XYZ_Interface.h"
#include "common/mmWave_XSS.h"

Include dependency graph for dss_data_path.c:

Macros
#define	DebugP_ASSERT_ENABLED 1

#define	ROUND(x) ((x) < 0 ? ((x) - 0.5) : ((x) + 0.5) )

#define	SOC_XWR18XX_DSS_L3RAM_SIZE 0x100000

#define	MMW_ADCBUF_SIZE 0x4000U

#define	MMW_L2_HEAP_SIZE 0x19000U
	L2 heap used for allocating buffers in L2 SRAM, mostly scratch buffers. More...

#define	MMW_L1_HEAP_SIZE 0x4000U
	L1 heap used for allocating buffers in L1D SRAM, mostly scratch buffers. More...

#define	FFT_WINDOW_INT16 0

#define	FFT_WINDOW_INT32 1

#define	MMW_WIN_HAMMING 0

#define	MMW_WIN_BLACKMAN 1

#define	MMW_WIN_RECT 2

#define	MMW_WIN_HANNING_RECT 3

#define	ROUNDF(x) ((x) < 0 ? ((x) - 0.5f) : ((x) + 0.5f) )

#define	pingPongId(x) ((x) & 0x1U)

#define	isPong(x) (pingPongId(x))

#define	SOC_MAX_NUM_RX_ANTENNAS 4

#define	SOC_MAX_NUM_TX_ANTENNAS 3

#define	ALIGN(x, a) (((x)+((a)-1))&~((a)-1))

#define	MMW_ALLOC_BUF(name, nameType, startAddr, alignment, size)

#define	TWENTY_TWO_DB_DOPPLER_SNR ((22 *(256))/6)

#define	EIGHTEEN_DB_DOPPLER_SNR ((18 *(256))/6)

#define	ZERO_POINT_FIVE_METERS (0.5f * 128)

#define	FOUR_POINT_ZERO_METERS (4 * 128)

Functions
void	MmwDemo_genWindow (void *win, uint32_t windowDatumType, uint32_t winLen, uint32_t winGenLen, int32_t oneQformat, uint32_t winType)

uint32_t	findKLargestPeaks (uint16_t restrict cfarDetObjIndexBuf, uint16_t restrict cfarDetObjSNR, uint32_t numDetObjPerCfar, uint16_t *restrict sumAbs, uint16_t numBins, uint16_t K)

uint32_t	pruneToPeaks (uint16_t restrict cfarDetObjIndexBuf, uint16_t restrict cfarDetObjSNR, uint32_t numDetObjPerCfar, uint16_t *restrict sumAbs, uint16_t numBins)

uint32_t	pruneToPeaksOrNeighbourOfPeaks (uint16_t restrict cfarDetObjIndexBuf, uint16_t restrict cfarDetObjSNR, uint32_t numDetObjPerCfar, uint16_t *restrict sumAbs, uint16_t numBins)

uint32_t	findandPopulateIntersectionOfDetectedObjects (DSS_DataPathObj restrict obj, uint32_t numDetObjPerCfar, uint16_t dopplerLine, uint32_t numDetObj2D, uint16_t restrict sumAbsRange)

uint32_t	findandPopulateDetectedObjects (DSS_DataPathObj restrict obj, uint32_t numDetObjPerCfar, uint16_t dopplerLine, uint32_t numDetObj2D, uint16_t restrict sumAbsRange)

uint32_t	MmwDemo_cfarPeakGrouping (MmwDemo_detectedObjActual objOut, uint32_t numDetectedObjects, uint16_t detMatrix, uint32_t numRangeBins, uint32_t numDopplerBins, uint32_t groupInDopplerDirection, uint32_t groupInRangeDirection)

uint32_t	secondDimFFTandLog2Computation (DSS_DataPathObj obj, uint16_t sumAbs, uint16_t checkDetMatrixTx, uint16_t rangeIdx, uint32_t *pingPongIdxPtr)

uint32_t	cfarCa_SO_dBwrap_withSNR (const uint16_t inp[restrict], uint16_t out[restrict], uint16_t outSNR[restrict], uint32_t len, uint32_t const1, uint32_t const2, uint32_t guardLen, uint32_t noiseLen)
	Function Name : cfarCa_SO_dBwrap_withSNR. More...

uint32_t	cfarCadB_SO_withSNR (const uint16_t inp[restrict], uint16_t out[restrict], uint16_t outSNR[restrict], uint32_t len, uint32_t const1, uint32_t const2, uint32_t guardLen, uint32_t noiseLen, uint32_t minIndxToIgnoreHPF)
	Function Name : cfarCadB_SO_withSNR. More...

uint32_t	aziEleProcessing (DSS_DataPathObj *obj, uint32_t subframeIndx)

uint16_t	computeSinAzimSNR (float *azimuthMagSqr, uint16_t azimIdx, uint16_t numVirtualAntAzim, uint16_t numAngleBins, uint16_t xyzOutputQFormat)

float	antilog2 (int32_t inputActual, uint16_t fracBitIn)

void	associateClustering (clusteringDBscanOutput_t restrict output, clusteringDBscanReport_t restrict state, uint16_t maxNumTrackers, int32_t epsilon2, int32_t vFactor)

uint32_t	cfarPeakGroupingAlongDoppler (MmwDemo_objRaw2D_t restrict objOut, uint32_t numDetectedObjects, uint16_t detMatrix, uint32_t numRangeBins, uint32_t numDopplerBins)

void	populateOutputs (DSS_DataPathObj *obj)

uint32_t	pruneTrackingInput (trackingInputReport_t *trackingInput, uint32_t numCluster)

float	quadraticInterpFltPeakLoc (float *restrict y, int32_t len, int32_t indx)

float	quadraticInterpLog2ShortPeakLoc (uint16_t *restrict y, int32_t len, int32_t indx, uint16_t fracBitIn)

void	MmwDemo_XYcalc (DSS_DataPathObj obj, uint32_t objIndex, uint16_t azimIdx, float azimuthMagSqr)

void	MmwDemo_addDopplerCompensation (int32_t dopplerIdx, int32_t numDopplerBins, uint32_t azimuthModCoefs, uint32_t azimuthModCoefsThirdBin, uint32_t azimuthModCoefsTwoThirdBin, int64_t azimuthIn, uint32_t numAnt, uint32_t numTxAnt, uint16_t txAntIdx)
	Function Name : MmwDemo_DopplerCompensation. More...

static void	MmwDemo_rxChanPhaseBiasCompensation (uint32_t rxChComp, int64_t input, uint32_t numAnt)
	Function Name : MmwDemo_rxChanPhaseBiasCompensation. More...

uint8_t	select_channel (uint8_t subframeIndx, uint8_t pingPongId, uint8_t option0ping, uint8_t option0pong)

void	MmwDemo_startDmaTransfer (EDMA_Handle handle, uint8_t channelId0, uint8_t subframeIndx)

void	MmwDemo_resetDopplerLines (MmwDemo_1D_DopplerLines_t *ths)

void	MmwDemo_setDopplerLine (MmwDemo_1D_DopplerLines_t *ths, uint16_t dopplerIndex)

uint32_t	MmwDemo_isSetDopplerLine (MmwDemo_1D_DopplerLines_t *ths, uint16_t index)

int32_t	MmwDemo_getDopplerLine (MmwDemo_1D_DopplerLines_t *ths)

uint32_t	MmwDemo_pow2roundup (uint32_t x)

void	MmwDemo_XYestimation (DSS_DataPathObj *obj, uint32_t objIndex)

void	MmwDemo_XYZestimation (DSS_DataPathObj *obj, uint32_t objIndex)

void	MmwDemo_dataPathWait1DInputData (DSS_DataPathObj *obj, uint32_t pingPongId, uint32_t subframeIndx)

void	MmwDemo_dataPathWait1DOutputData (DSS_DataPathObj *obj, uint32_t pingPongId, uint32_t subframeIndx)

void	MmwDemo_dataPathWait2DInputData (DSS_DataPathObj *obj, uint32_t pingPongId, uint32_t subframeIndx)

void	MmwDemo_dataPathWait3DInputData (DSS_DataPathObj *obj, uint32_t pingPongId, uint32_t subframeIndx)

void	MmwDemo_dataPathWaitTransDetMatrix (DSS_DataPathObj *obj, uint8_t subframeIndx)

void	MmwDemo_dataPathWaitTransDetMatrix2 (DSS_DataPathObj *obj, uint32_t subframeIndx)

int32_t	MmwDemo_dataPathConfigEdma (DSS_DataPathObj *obj)

uint32_t	rangeBasedPruning (MmwDemo_detectedObjActual restrict objOut, MmwDemo_objRaw2D_t restrict objRaw, RangeDependantThresh_t restrict SNRThresh, RangeDependantThresh_t restrict peakValThresh, uint32_t numDetectedObjects, uint32_t numDopplerBins, uint32_t maxRange, uint32_t minRange)

void	MmwDemo_magnitudeSquared (cmplx32ReIm_t restrict inpBuff, float restrict magSqrdBuff, uint32_t numSamples)

void	MmwDemo_dcRangeSignatureCompensation (DSS_DataPathObj *obj, uint8_t chirpPingPongId)

void	MmwDemo_interChirpProcessing (DSS_DataPathObj *obj, uint32_t chirpPingPongId, uint8_t subframeIndx)

void	MmwDemo_interFrameProcessing (DSS_DataPathObj *obj, uint8_t subframeIndx)

void	MmwDemo_processChirp (DSS_DataPathObj *obj, uint8_t subframeIndx)

void	MmwDemo_waitEndOfChirps (DSS_DataPathObj *obj, uint8_t subframeIndx)

void	calc_cmplx_exp (cmplx16ImRe_t *dftSinCos, float i, uint32_t dftLen)

void	MmwDemo_genDftSinCosTable (cmplx16ImRe_t dftSinCosTable, cmplx16ImRe_t dftHalfBinVal, cmplx16ImRe_t dftThirdBinVal, cmplx16ImRe_t dftTwoThirdBinVal, uint32_t dftLen)

void	MmwDemo_edmaErrorCallbackFxn (EDMA_Handle handle, EDMA_errorInfo_t *errorInfo)

void	MmwDemo_edmaTransferControllerErrorCallbackFxn (EDMA_Handle handle, EDMA_transferControllerErrorInfo_t *errorInfo)

void	MmwDemo_dataPathInit1Dstate (DSS_DataPathObj *obj)

int32_t	MmwDemo_dataPathInitEdma (DSS_DataPathObj *obj)

int32_t	MmwDemo_dataPathCopyEdmaHandle (DSS_DataPathObj objOutput, DSS_DataPathObj objInput)

void	MmwDemo_printHeapStats (char *name, uint32_t heapUsed, uint32_t heapSize)

void	MmwDemo_dataPathConfigBuffers (DSS_DataPathObj *objIn, uint32_t adcBufAddress)

void	MmwDemo_dataPathConfigFFTs (DSS_DataPathObj *obj)

uint32_t	secondDimFFTandLog2Computation (DSS_DataPathObj restrict obj, uint16_t restrict sumAbs, uint16_t checkDetMatrixTx, uint16_t rangeIdx, uint32_t *pingPongIdxPtr)

uint32_t	cfarPeakGroupingAlongDoppler (MmwDemo_objRaw2D_t restrict objOut, uint32_t numDetectedObjects, uint16_t restrict detMatrix, uint32_t numRangeBins, uint32_t numDopplerBins)

float	convertSNRdBToVar (uint16_t SNRdB, uint16_t bitW, uint16_t n_samples, float resolution)

float	convertSNRLinToVar (uint16_t SNRLin, uint16_t bitW, uint16_t n_samples, float resolution)

void	MmwDemo_XYZcalc (DSS_DataPathObj obj, uint32_t objIndex, uint16_t azimIdx, float azimuthMagSqr)

void	parkingAssistInit (DSS_DataPathObj *obj)

Variables
uint8_t	gMmwL3 [SOC_XWR18XX_DSS_L3RAM_SIZE]

uint8_t	gMmwL2 [MMW_L2_HEAP_SIZE]

uint8_t	gMmwL1 [MMW_L1_HEAP_SIZE]

MCB	gMCB
	Global Variable for tracking information required by the design. More...

volatile cycleLog_t	gCycleLog

Detailed Description

Implements Data path processing functionality.

: NOTE: (C) Copyright 2018 Texas Instruments, Inc.

Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:

Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.

Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.

Neither the name of Texas Instruments Incorporated nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

Definition in file dss_data_path.c.

Macro Definition Documentation

◆ ALIGN

#define ALIGN	(	x,
		a
	)	(((x)+((a)-1))&~((a)-1))

◆ DebugP_ASSERT_ENABLED

#define DebugP_ASSERT_ENABLED 1

Definition at line 70 of file dss_data_path.c.

◆ EIGHTEEN_DB_DOPPLER_SNR

#define EIGHTEEN_DB_DOPPLER_SNR ((18 *(256))/6)

Definition at line 4449 of file dss_data_path.c.

◆ FFT_WINDOW_INT16

#define FFT_WINDOW_INT16 0

Types of FFT window

FFT window 16 - samples format is int16_t

Definition at line 140 of file dss_data_path.c.

◆ FFT_WINDOW_INT32

#define FFT_WINDOW_INT32 1

FFT window 32 - samples format is int32_t

Definition at line 142 of file dss_data_path.c.

◆ FOUR_POINT_ZERO_METERS

#define FOUR_POINT_ZERO_METERS (4 * 128)

Definition at line 4451 of file dss_data_path.c.

◆ isPong

#define isPong ( x ) (pingPongId(x))

Definition at line 159 of file dss_data_path.c.

◆ MMW_ADCBUF_SIZE

#define MMW_ADCBUF_SIZE 0x4000U

Definition at line 113 of file dss_data_path.c.

◆ MMW_ALLOC_BUF

#define MMW_ALLOC_BUF	(	name,
		nameType,
		startAddr,
		alignment,
		size
	)

Value:

obj->name = (nameType *) ALIGN(startAddr, alignment); \

uint32_t name##_end = (uint32_t)obj->name + (size) * sizeof(nameType);

◆ MMW_L1_HEAP_SIZE

#define MMW_L1_HEAP_SIZE 0x4000U

L1 heap used for allocating buffers in L1D SRAM, mostly scratch buffers.

Definition at line 121 of file dss_data_path.c.

◆ MMW_L2_HEAP_SIZE

#define MMW_L2_HEAP_SIZE 0x19000U

L2 heap used for allocating buffers in L2 SRAM, mostly scratch buffers.

Definition at line 117 of file dss_data_path.c.

◆ MMW_WIN_BLACKMAN

#define MMW_WIN_BLACKMAN 1

Blackman window

Definition at line 148 of file dss_data_path.c.

◆ MMW_WIN_HAMMING

#define MMW_WIN_HAMMING 0

Hamming window

Definition at line 146 of file dss_data_path.c.

◆ MMW_WIN_HANNING_RECT

#define MMW_WIN_HANNING_RECT 3

rectangularized Hanning window

Definition at line 152 of file dss_data_path.c.

◆ MMW_WIN_RECT

#define MMW_WIN_RECT 2

Rectangular window

Definition at line 150 of file dss_data_path.c.

◆ pingPongId

#define pingPongId ( x ) ((x) & 0x1U)

Definition at line 158 of file dss_data_path.c.

◆ ROUND

#define ROUND ( x ) ((x) < 0 ? ((x) - 0.5) : ((x) + 0.5) )

Definition at line 109 of file dss_data_path.c.

◆ ROUNDF

#define ROUNDF ( x ) ((x) < 0 ? ((x) - 0.5f) : ((x) + 0.5f) )

simple rounding function for float

Definition at line 154 of file dss_data_path.c.

◆ SOC_MAX_NUM_RX_ANTENNAS

#define SOC_MAX_NUM_RX_ANTENNAS 4

Description
This function assigns memory locations to the different data buffers used in the MRR design.

Processing radar signals require a large number of scratch buffers for each step each of the processing stages (be it 1D-FFT, 2D-FFT, 3D-FFT, detection, angle estimation etc. However, since these stages occur serially, the memory assigned to a scratch buffer used in a previous stage can be re-used in the current stage. The Macro MMW_ALLOC_BUF in the following code allows specifying the start addresses such that the memory locations can be overlaid for efficient memory utilization.

In the MRR TI Design, there are two sub-frames per frame, and both sub-frames are processed separately. Therefore, nearly every scratch buffer memory location can be overlaid between the two. The allocation code is called twice to allocate memory for both sub-frames.

Certain memory locations are only necessary for a given processing path and are left unassigned for different programming paths.

Memory locations that correspond to the windowing functions, and twiddle factors, and estimated mean chirp need to be saved between sub-frames and as such cannot be overlaid.

Parameters

[in,out] obj data path object.

Return values

na.

Definition at line 2329 of file dss_data_path.c.

◆ SOC_MAX_NUM_TX_ANTENNAS

#define SOC_MAX_NUM_TX_ANTENNAS 3

Definition at line 2330 of file dss_data_path.c.

◆ SOC_XWR18XX_DSS_L3RAM_SIZE

#define SOC_XWR18XX_DSS_L3RAM_SIZE 0x100000

Definition at line 111 of file dss_data_path.c.

◆ TWENTY_TWO_DB_DOPPLER_SNR

#define TWENTY_TWO_DB_DOPPLER_SNR ((22 *(256))/6)

Description
The function populates the object location arrays for transmission to MSS. The reason we do this additional step is to minimize the size of the the transmission because it shouldn't saturate the hold only the minimum information necessary for the external GUI are populated.

Parameters

[in] obj data path object.

Return values

none

Definition at line 4448 of file dss_data_path.c.

◆ ZERO_POINT_FIVE_METERS

#define ZERO_POINT_FIVE_METERS (0.5f * 128)

Definition at line 4450 of file dss_data_path.c.

Function Documentation

◆ antilog2()

float antilog2	(	int32_t	inputActual,
		uint16_t	fracBitIn
	)

Description
The function computes an antilog2 on the input which has a0 specified bitwidth.

Parameters

[in]	input	16 bit input with specified bitwidth.
[in]	fracBitIn	input fractional bitwidth.

Return values

2^(input/(2^fracBitIn))

Definition at line 4037 of file dss_data_path.c.

◆ associateClustering()

void associateClustering	(	clusteringDBscanOutput_t *restrict	output,
		clusteringDBscanReport_t *restrict	state,
		uint16_t	maxNumClusters,
		int32_t	epsilon2,
		int32_t	vFactor
	)

Description
The function performs an association between the pre-existing clusters and the new clusters, with the intent that the cluster sizes are filtered.

Parameters

[in]	output	The output of the clustering algorithm.
[in]	state	The previous clustering output.
[in]	maxNumTrackers	The maximum number of trackers.
[in]	epsilon2	distance metric param for association.

Return values

none

Definition at line 4322 of file dss_data_path.c.

◆ aziEleProcessing()

uint32_t aziEleProcessing	(	DSS_DataPathObj *	obj,
		uint32_t	subframeIndx
	)

Description
The function performs the third dimension processing, including the computation of the azimuth, and the x and y co-ordinate.

Parameters

[in] input data path object.

Return values

none

Azimuth calculation

Definition at line 4059 of file dss_data_path.c.

◆ calc_cmplx_exp()

void calc_cmplx_exp	(	cmplx16ImRe_t *	dftSinCos,
		float	i,
		uint32_t	dftLen
	)

Definition at line 2090 of file dss_data_path.c.

◆ cfarCa_SO_dBwrap_withSNR()

uint32_t cfarCa_SO_dBwrap_withSNR	(	const uint16_t	inp[restrict],
		uint16_t	out[restrict],
		uint16_t	outSNR[restrict],
		uint32_t	len,
		uint32_t	const1,
		uint32_t	const2,
		uint32_t	guardLen,
		uint32_t	noiseLen
	)

Function Name : cfarCa_SO_dBwrap_withSNR.

: Description : Performs a CFAR on an 16-bit unsigned input vector (CFAR-CA). The input values are assumed to be in logarithmic scale. So the comparison between the CUT and the noise samples is additive rather than multiplicative. Comparison is two-sided (wrap around when needed) for all CUTs.

Parameters

[in]	inp	: input array (16 bit unsigned numbers)
[in]	out	: output array (indices of detected peaks (zero based counting))
[in]	outSNR	: SNR array (SNR of detected peaks)
[in]	len	: number of elements in input array
[in]	const1,const2	: used to compare the Cell Under Test (CUT) to the sum of the noise cells: [noise sum /(2^(const2))] +const1 for two sided comparison.
[in]	guardLen	: one sided guard length
[in]	noiseLen	: one sided Noise length
[out]	out	: output array with indices of the detected peaks

Returns: Number of detected peaks (i.e length of out)

Precondition: Input (inp) and Output (out) arrays are non-aliased.

Definition at line 3546 of file dss_data_path.c.

◆ cfarCadB_SO_withSNR()

uint32_t cfarCadB_SO_withSNR	(	const uint16_t	inp[restrict],
		uint16_t	out[restrict],
		uint16_t	outSNR[restrict],
		uint32_t	len,
		uint32_t	const1,
		uint32_t	const2,
		uint32_t	guardLen,
		uint32_t	noiseLen,
		uint32_t	minIndxToIgnoreHPF
	)

Function Name : cfarCadB_SO_withSNR.

Description
The MRR subframe achieves a maximum unambiguous velocity of 90kmph by using signal processing techniques that help disambiguate velocity. This method works by using two different estimates of velocity from the two kinds of chirps (‘fast chirps’ and ‘slow chirps’) transmitted in the MRR subframe. If the two velocity estimates do not agree, then velocity disambiguation is necessary. To disambiguate it is necessary to rationalize the two velocity measurements, and find out the disambiguation factor, k. If the naive maximum unambiguous velocity of the 'fast chirp' is v_f, and that of the 'slow chirp' is v_s. Then after the disambiguation process, the disambiguated velocity would 〖2kv〗_f+v, where v is the naïve estimated velocity from the ‘fast chirps’.

The disambiguation process works by using the 'fast chirp' velocity to compute different disambiguated velocity hypotheses. This is done by taking the 'fast chirp' velocity and adding 2k v_f, where k ∈ {-1,0,1} (an unwrapping process on the velocity estimate). These hypotheses are then converted to indices of the 'slow chirp' by finding the equivalent estimated velocities in the 'slow chirp' configuration ( essentially, undoing the unwrapping using v_s as the maximum unambiguous velocity).

If the index corresponding to one of the hypotheses has significant energy, then that hypothesis is considered to be valid. Disambiguation of up to 3x of the naive max-velocity is possible with this method, however, testing has only been done up to 90 kmph.

Parameters

[in,out]	sumAbs	The slow chirps doppler bins at a certain range.
[in]	fastChirpVel	The velocity estimate using the fast chirps (pre-disambiguation).
[in]	fastChirpPeakVal	The peak value of the index of the detected object from the fast chirp.
[in]	obj	data path object.

Return values

Ambiguity index.

: Description : Performs a CFAR SO on an 16-bit unsigned input vector. The input values are assumed to be in lograthimic scale. So the comparision between the CUT and the noise samples is additive rather than multiplicative.

Parameters

[in]	inp	: input array (16 bit unsigned numbers)
[in]	out	: output array (indices of detected peaks (zero based counting))
[in]	outSNR	: output array (SNR of detected peaks)
[in]	len	: number of elements in input array
[in]	const1,const2	: used to compare the Cell Under Test (CUT) to the sum of the noise cells: [noise sum /(2^(const2-1))]+const1 for one sided comparison (at the begining and end of the input vector). [noise sum /(2^(const2))]+const1 for two sided comparison
[in]	guardLen	: one sided guard length
[in]	noiseLen	: one sided noise length
[in]	minIndxToIgnoreHPF	: the number of indices to force one sided CFAR, so as to avoid false detections due to effect of the HPF.
[out]	out	: output array with indices of the detected peaks

Returns: Number of detected peaks (i.e length of out)

Precondition: Input (inp) and Output (out) arrays are non-aliased.

Definition at line 3400 of file dss_data_path.c.

◆ cfarPeakGroupingAlongDoppler() [1/2]

uint32_t cfarPeakGroupingAlongDoppler	(	MmwDemo_objRaw2D_t *restrict	objOut,
		uint32_t	numDetectedObjects,
		uint16_t *	detMatrix,
		uint32_t	numRangeBins,
		uint32_t	numDopplerBins
	)

◆ cfarPeakGroupingAlongDoppler() [2/2]

uint32_t cfarPeakGroupingAlongDoppler	(	MmwDemo_objRaw2D_t *restrict	objOut,
		uint32_t	numDetectedObjects,
		uint16_t *restrict	detMatrix,
		uint32_t	numRangeBins,
		uint32_t	numDopplerBins
	)

Description
The function groups neighboring peaks (only in the doppler direction) into one. For each
detected peak the function checks if the peak is greater than its neighbors. If this is true, the peak is copied to the output list of detected objects. The neighboring peaks that are used for checking are taken from the detection matrix and copied into 1x3 kernel regardless of whether they are CFAR detected or not.

Note: Function always reads 3 samples per detected object from L3 memory into local array.

Parameters

[out]	objOut	Output array of detected objects after peak grouping
[in]	objRaw	Array of detected objects after CFAR detection
[in]	numDetectedObjects	Number of detected objects by CFAR
[in]	detMatrix	Detection Range/Doppler matrix
[in]	numDopplerBins	Number of Doppler bins3401

Return values

Number of detected objects after grouping

Definition at line 3845 of file dss_data_path.c.

◆ computeSinAzimSNR()

uint16_t computeSinAzimSNR	(	float *	azimuthMagSqr,
		uint16_t	azimIdx,
		uint16_t	numVirtualAntAzim,
		uint16_t	numAngleBins,
		uint16_t	xyzOutputQFormat
	)

Description
The function

Parameters

[out]	azimuthMagSqr	Input array of the sum of the squares of the zero padded FFT output.
[in]	azimIdx	The location of the peak of the detected object.
[in]	numVirtualAntAzim	the size of the FFT input.
[in]	numAngleBins	The size of the FFT output.
[in]	xyzOutputQFormat	number of fractional bits in the output.

Return values

SNRlinear with the programmed fractional bitwidth

Definition at line 3919 of file dss_data_path.c.

◆ convertSNRdBToVar()

float convertSNRdBToVar	(	uint16_t	SNRdB,
		uint16_t	bitW,
		uint16_t	n_samples,
		float	resolution
	)

Description
The function computes the CRLB of the given estimate given an SNR input (dB) and the number of samples used in the estimate, and the resolution of the estimate.

Parameters

[in]	SNRdB	16 bit input with specified bitwidth.
[in]	bitW	input fractional bitwidth (for SNR in dB).
[in]	n_samples	number of samples per chirp.
[in]	resolution	range resolution in meters.

Return values

CRLB	in the specified resolution (with some lower bounds).

Definition at line 3971 of file dss_data_path.c.

◆ convertSNRLinToVar()

float convertSNRLinToVar	(	uint16_t	SNRLin,
		uint16_t	bitW,
		uint16_t	n_samples,
		float	resolution
	)

Description
The function computes the CRLB of the given estimate given an SNR input (linear) and the number of samples used in the estimate, and the resolution of the estimate.

The CRLB is lower bounded by the resolution.

Parameters

[in]	SNRdB	16 bit input with specified bitwidth.
[in]	bitW	input fractional bitwidth.
[in]	n_samples	number of samples per chirp.
[in]	resolution	resolution in meters.

Return values

2^(input/(2^fracBitIn))

Definition at line 4008 of file dss_data_path.c.

◆ findandPopulateDetectedObjects()

uint32_t findandPopulateDetectedObjects	(	DSS_DataPathObj *restrict	obj,
		uint32_t	numDetObjPerCfar,
		uint16_t	dopplerLine,
		uint32_t	numDetObj2D,
		uint16_t *restrict	sumAbsRange
	)

Description
This function populates the 2D cfar object

Parameters

[in,out]	obj	data path object.
[in]	numDetObjPerCfar	number of detected objects from the CFAR function.
[in]	dopplerLine	The index of the doppler gate being processed.
[in]	numDetObj2D	The total number of detected objects.
[in]	sumAbsRange	The sumAbs Array for the range dimension. It is used to populate the 'peakVal' on a per object basis.

Return values

The	total number of detected objects (including the results of the current intersection).

Definition at line 3130 of file dss_data_path.c.

◆ findandPopulateIntersectionOfDetectedObjects()

uint32_t findandPopulateIntersectionOfDetectedObjects	(	DSS_DataPathObj *restrict	obj,
		uint32_t	numDetObjPerCfar,
		uint16_t	dopplerLine,
		uint32_t	numDetObj2D,
		uint16_t *restrict	sumAbsRange
	)

Description
This function finds the intersection of the 1D cfar objects (computed previously) and the outputs of the 2D CFAR function. The purpose is to select only those objects which have been detected in both the 1D and 2D CFARs.

Parameters

[in,out]	obj	data path object.
[in]	numDetObjPerCfar	number of detected objects from the CFAR function.
[in]	dopplerLine	The index of the doppler gate being processed.
[in]	numDetObj2D	The total number of detected objects.
[in]	sumAbsRange	The sumAbs Array for the range dimension. It is used to populate the 'peakVal' on a per object basis.

Return values

The	total number of detected objects (including the results of the current intersection).

Definition at line 3031 of file dss_data_path.c.

◆ findKLargestPeaks()

uint32_t findKLargestPeaks	(	uint16_t *restrict	cfarDetObjIndexBuf,
		uint16_t *restrict	cfarDetObjSNR,
		uint32_t	numDetObjPerCfar,
		uint16_t *restrict	sumAbs,
		uint16_t	numBins,
		uint16_t	K
	)

Description
This function finds the K strongest objects in a given list of objects. The 'strength' of an object is its 'peak value' corresponding to its index in the sumAbs Array.

Parameters

[in,out]	cfarDetObjIndexBuf	The indices of the detected objects.
[in,out]	cfarDetObjSNR	The SNR of the detected objects.
[in]	numDetObjPerCfar	The number of detected objects.
[in]	sumAbs	The sumAbs array on which the CFAR was run.
[in]	numBins	The length of the cfarDetObjSNR and cfarDetObjIndexBuf array.
[in]	K	The maximum number of objects to be returned by this function.

Return values

min(K,numDetObjPerCfar).

Definition at line 3276 of file dss_data_path.c.

◆ MmwDemo_addDopplerCompensation()

void MmwDemo_addDopplerCompensation	(	int32_t	dopplerIdx,
		int32_t	numDopplerBins,
		uint32_t *	azimuthModCoefs,
		uint32_t *	azimuthModCoefsThirdBin,
		uint32_t *	azimuthModCoefsTwoThirdBin,
		int64_t *	azimuthIn,
		uint32_t	numAnt,
		uint32_t	numTxAnt,
		uint16_t	txAntIdx
	)

Function Name : MmwDemo_DopplerCompensation.

: Description : Compensation of Doppler phase shift in the virtual antennas, (corresponding to second Tx antenna chirps). Symbols corresponding to virtual antennas, are rotated by half of the Doppler phase shift measured by Doppler FFT. The phase shift read from the table using half of the object Doppler index value. If the Doppler index is odd, an extra half of the bin phase shift is added.

Parameters

[in]	dopplerIdx	: Doppler index of the object
[in]	numDopplerBins	: Number of Doppler bins
[in]	azimuthModCoefs	Table with cos/sin values SIN in even position, COS in odd position exp(1j2pi*k/N) for k=0,...,N-1 where N is number of Doppler bins.
[out]	azimuthModCoefsHalfBin	: exp(1j2pi* 0.5 /N) //TODO change to 1/3 instead of 1/2 for the correction.
[in,out]	azimuthIn	:Pointer to antenna symbols to be Doppler compensated
[in]	numAnt	: Number of antenna symbols to be Doppler compensated

Returns: void

Definition at line 4866 of file dss_data_path.c.

◆ MmwDemo_cfarPeakGrouping()

uint32_t MmwDemo_cfarPeakGrouping	(	MmwDemo_detectedObjActual *	objOut,
		uint32_t	numDetectedObjects,
		uint16_t *	detMatrix,
		uint32_t	numRangeBins,
		uint32_t	numDopplerBins,
		uint32_t	groupInDopplerDirection,
		uint32_t	groupInRangeDirection
	)

Description
The function groups neighboring peaks into one. The grouping is done according to two input flags: groupInDopplerDirection and groupInDopplerDirection. For each detected peak the function checks if the peak is greater than its neighbors. If this is true, the peak is copied to the output list of detected objects. The neighboring peaks that are used for checking are taken from the detection matrix and copied into 3x3 kernel regardless of whether they are CFAR detected or not. Note: Function always reads 9 samples per detected object from L3 memory into local array tempBuff, but it only needs to read according to input flags. For example if only the groupInDopplerDirection flag is set, it only needs to read middle row of the kernel, i.e. 3 samples per target from detection matrix.

Parameters

[out]	objOut	Output array of detected objects after peak grouping
[in]	objRaw	Array of detected objects after CFAR detection
[in]	numDetectedObjects	Number of detected objects by CFAR
[in]	detMatrix	Detection Range/Doppler matrix
[in]	numDopplerBins	Number of Doppler bins
[in]	groupInDopplerDirection	Flag enables grouping in Doppler directiuon
[in]	groupInRangeDirection	Flag enables grouping in Range directiuon

Return values

Number of detected objects after grouping

Definition at line 3710 of file dss_data_path.c.

◆ MmwDemo_dataPathConfigBuffers()

void MmwDemo_dataPathConfigBuffers	(	DSS_DataPathObj *	obj,
		uint32_t	adcBufAddress
	)

Description
Creates heap in L2 and L3 and allocates data path buffers, The heap is destroyed at the end of the function.

Return values

Not	Applicable.

Definition at line 2331 of file dss_data_path.c.

◆ MmwDemo_dataPathConfigEdma()

int32_t MmwDemo_dataPathConfigEdma ( DSS_DataPathObj * obj )

Description
Configures all EDMA channels and param sets used in data path processing

This function is very similar to the dataPathConfigEDMA from the OOB demo, but with the difference that we have two subframes, and one subframe can support the maximum velocity enhancement modification. In this method , the 2nd dimension has two kinds of chirps and each chirp is repeated 'numDopplerBins' times, and each chirp has the same number of adc samples.

We would also like to ensure that when the data is transferred to L3 RAM, a range gate (i.e. doppler bins corresponding to a range bin) of each 'chirptype' is contiguous, so that a single EDMA can pull them both out in the 2nd dimension processing.

Hence the EDMAs corresponding to the transfer of 1D data to L3 and the transfer of data from L3 to L2 are modified.

Parameters

[in] obj Pointer to data path object array.

Return values

-1	if error, 0 for no error

Definition at line 936 of file dss_data_path.c.

References DSS_DataPathObj_t::ADCdataBuf, DSS_DataPathObj_t::adcDataIn, BYTES_PER_SAMP_1D, BYTES_PER_SAMP_DET, EDMA_INSTANCE_DSS, DSS_DataPathObj_t::edmaHandle, EDMAutil_configType1(), EDMAutil_configType2a(), EDMAutil_configType3(), MAX, MAX_VEL_ENH_PROCESSING, MRR_SF0_EDMA_CH_1D_IN_PING, MRR_SF0_EDMA_CH_1D_IN_PONG, MRR_SF0_EDMA_CH_1D_OUT_PING, MRR_SF0_EDMA_CH_1D_OUT_PONG, MRR_SF0_EDMA_CH_2D_IN_PING, MRR_SF0_EDMA_CH_2D_IN_PONG, MRR_SF0_EDMA_CH_3D_IN_PING, MRR_SF0_EDMA_CH_3D_IN_PONG, MRR_SF0_EDMA_CH_DET_MATRIX, MRR_SF0_EDMA_CH_DET_MATRIX2, NUM_SUBFRAMES, DSS_DataPathObj_t::numAdcSamples, DSS_DataPathObj_t::numRxAntennas, and DSS_DataPathObj_t::processingPath.

Here is the call graph for this function:

◆ MmwDemo_dataPathConfigFFTs()

void MmwDemo_dataPathConfigFFTs ( DSS_DataPathObj * obj )

Description
Function to populate the twiddle factors for FFTS needed for the data path object.

Parameters

[in,out] obj data path object.

Return values

waitingTime.

Definition at line 2746 of file dss_data_path.c.

◆ MmwDemo_dataPathCopyEdmaHandle()

int32_t MmwDemo_dataPathCopyEdmaHandle	(	DSS_DataPathObj *	objOutput,
		DSS_DataPathObj *	objInput
	)

Description
This function copies the EDMA handles to all of the remaining data path objects.

Parameters

[in,out] obj data path object.

Return values

success.

Definition at line 2272 of file dss_data_path.c.

◆ MmwDemo_dataPathInit1Dstate()

void MmwDemo_dataPathInit1Dstate ( DSS_DataPathObj * obj )

Description
This function initializes some of the states (counters) used for 1D processing.

Parameters

[in,out] obj data path object.

Return values

success/failure.

Definition at line 2198 of file dss_data_path.c.

◆ MmwDemo_dataPathInitEdma()

int32_t MmwDemo_dataPathInitEdma ( DSS_DataPathObj * obj )

Description
This function copies the EDMA handles to all of the remaining data path objects.

Parameters

[in,out] obj data path object.

Return values

success/failure.

Definition at line 2223 of file dss_data_path.c.

◆ MmwDemo_dataPathWait1DInputData()

void MmwDemo_dataPathWait1DInputData	(	DSS_DataPathObj *	obj,
		uint32_t	pingPongId,
		uint32_t	subframeIndx
	)

Description
Waits for 1D FFT data to be transferrd to input buffer. This is a blocking function.

Parameters

[in]	obj	Pointer to data path object
[in]	pingPongId	ping-pong id (ping is 0 and pong is 1)
[in]	subframeIndx

Return values

NONE

Definition at line 703 of file dss_data_path.c.

References EDMA_INSTANCE_DSS, DSS_DataPathObj_t::edmaHandle, MmwDemo_dssAssert, MRR_SF0_EDMA_CH_1D_IN_PING, MRR_SF0_EDMA_CH_1D_IN_PONG, and pingPongId.

◆ MmwDemo_dataPathWait1DOutputData()

void MmwDemo_dataPathWait1DOutputData	(	DSS_DataPathObj *	obj,
		uint32_t	pingPongId,
		uint32_t	subframeIndx
	)

Description
Waits for 1D FFT data to be transferred to output buffer. This is a blocking function.

Parameters

[in]	obj	Pointer to data path object
[in]	pingPongId	ping-pong id (ping is 0 and pong is 1)
[in]	subframeIndx

Return values

NONE

Definition at line 755 of file dss_data_path.c.

References EDMA_INSTANCE_DSS, DSS_DataPathObj_t::edmaHandle, MmwDemo_dssAssert, MRR_SF0_EDMA_CH_1D_OUT_PING, MRR_SF0_EDMA_CH_1D_OUT_PONG, pingPongId, and select_channel().

Referenced by MmwDemo_processChirp().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ MmwDemo_dataPathWait2DInputData()

void MmwDemo_dataPathWait2DInputData	(	DSS_DataPathObj *	obj,
		uint32_t	pingPongId,
		uint32_t	subframeIndx
	)

Description
Waits for 1D FFT data to be transferred to input buffer for 2D-FFT caclulation. This is a blocking function.

Parameters

[in]	obj	Pointer to data path object
[in]	pingPongId	ping-pong id (ping is 0 and pong is 1)
[in]	subframe	Index

Return values

NONE

Definition at line 786 of file dss_data_path.c.

References EDMA_INSTANCE_DSS, DSS_DataPathObj_t::edmaHandle, MmwDemo_dssAssert, MRR_SF0_EDMA_CH_2D_IN_PING, MRR_SF0_EDMA_CH_2D_IN_PONG, pingPongId, and select_channel().

Here is the call graph for this function:

◆ MmwDemo_dataPathWait3DInputData()

void MmwDemo_dataPathWait3DInputData	(	DSS_DataPathObj *	obj,
		uint32_t	pingPongId,
		uint32_t	subframeIndx
	)

Description
Waits for 1D FFT data to be transferred to input buffer for 3D-FFT calculation. This is a blocking function.

Parameters

[in]	obj	Pointer to data path object
[in]	pingPongId	ping-pong id (ping is 0 and pong is 1)
[in]	subframeIndx

Return values

NONE

Definition at line 818 of file dss_data_path.c.

References EDMA_INSTANCE_DSS, DSS_DataPathObj_t::edmaHandle, MmwDemo_dssAssert, MRR_SF0_EDMA_CH_3D_IN_PING, MRR_SF0_EDMA_CH_3D_IN_PONG, pingPongId, and select_channel().

Here is the call graph for this function:

◆ MmwDemo_dataPathWaitTransDetMatrix()

void MmwDemo_dataPathWaitTransDetMatrix	(	DSS_DataPathObj *	obj,
		uint8_t	subframeIndx
	)

Description
Waits for 2D FFT calculated data to be transferred out from L2 memory to detection matrix located in L3 memory. This is a blocking function.

Parameters

[in]	obj	Pointer to data path object
[in]	subframeIndx

Return values

NONE

Definition at line 848 of file dss_data_path.c.

References EDMA_INSTANCE_DSS, DSS_DataPathObj_t::edmaHandle, MmwDemo_dssAssert, and MRR_SF0_EDMA_CH_DET_MATRIX.

◆ MmwDemo_dataPathWaitTransDetMatrix2()

void MmwDemo_dataPathWaitTransDetMatrix2	(	DSS_DataPathObj *	obj,
		uint32_t	subframeIndx
	)

Description
Waits for 2D FFT data to be transferred from detection matrix in L3 memory to L2 memory for CFAR detection in range direction. This is a blocking function.

Parameters

[in]	obj	Pointer to data path object
[in]	subframeIndx

Return values

NONE

Definition at line 885 of file dss_data_path.c.

References EDMA_INSTANCE_DSS, DSS_DataPathObj_t::edmaHandle, MmwDemo_dssAssert, and MRR_SF0_EDMA_CH_DET_MATRIX2.

◆ MmwDemo_dcRangeSignatureCompensation()

void MmwDemo_dcRangeSignatureCompensation	(	DSS_DataPathObj *	obj,
		uint8_t	chirpPingPongId
	)

Description
Compensation of DC range antenna signature (unused currently)

Return values

Not	Applicable.

Definition at line 1447 of file dss_data_path.c.

◆ MmwDemo_edmaErrorCallbackFxn()

void MmwDemo_edmaErrorCallbackFxn	(	EDMA_Handle	handle,
		EDMA_errorInfo_t *	errorInfo
	)

Description
This is a callback function for EDMA errors.

Parameters

[in]	handle	EDMA Handle.
[in]	errorInfo	EDMA error info.

Return values

n/a.

Definition at line 2163 of file dss_data_path.c.

◆ MmwDemo_edmaTransferControllerErrorCallbackFxn()

void MmwDemo_edmaTransferControllerErrorCallbackFxn	(	EDMA_Handle	handle,
		EDMA_transferControllerErrorInfo_t *	errorInfo
	)

Description
This is a callback function for EDMA TC errors.

Parameters

[in]	handle	EDMA Handle.
[in]	errorInfo	EDMA TC error info.

Return values

n/a.

Definition at line 2178 of file dss_data_path.c.

◆ MmwDemo_genDftSinCosTable()

void MmwDemo_genDftSinCosTable	(	cmplx16ImRe_t *	dftSinCosTable,
		cmplx16ImRe_t *	dftHalfBinVal,
		cmplx16ImRe_t *	dftThirdBinVal,
		cmplx16ImRe_t *	dftTwoThirdBinVal,
		uint32_t	dftLen
	)

Description
Generate SIN/COS table in Q15 (SIN to even int16 location, COS to odd int16 location. Also generates Sin/Cos at half the bin value The table is generated as T[i]=cos[2*pi*i/N] - 1j*sin[2*pi*i/N] for i=0,...,N where N is dftLen The half bn value is calculated as: TH = cos[2*pi*0.5/N] - 1j*sin[2*pi*0.5/N]

Parameters

[out]	dftSinCosTable	Array with generated Sin Cos table
[out]	dftHalfBinVal	Sin/Cos value at half the bin
[in]	dftLen	Length of the DFT

Return values

Not	Applicable.

Definition at line 2130 of file dss_data_path.c.

◆ MmwDemo_genWindow()

void MmwDemo_genWindow	(	void *	win,
		uint32_t	windowDatumType,
		uint32_t	winLen,
		uint32_t	winGenLen,
		int32_t	oneQformat,
		uint32_t	winType
	)

Description
Function to generate a single FFT window sample.

Parameters

[out]	win	Pointer to calculated window samples.
[in]	windowDatumType	Window samples data format. For windowDatumType = FFT_WINDOW_INT16, the samples format is int16_t. For windowDatumType = FFT_WINDOW_INT32, the samples format is int32_t.
[in]	winLen	Nominal window length
[in]	winGenLen	Number of generated samples
[in]	oneQformat	Q format of samples, oneQformat is the value of one in the desired format.
[in]	winType	Type of window, one of MMW_WIN_BLACKMAN, MMW_WIN_HANNING, or MMW_WIN_RECT.

Return values

none.

Definition at line 2796 of file dss_data_path.c.

◆ MmwDemo_getDopplerLine()

int32_t MmwDemo_getDopplerLine ( MmwDemo_1D_DopplerLines_t * ths )

Description
Gets the Doppler index from the Doppler line bit mask, starting from the smallest active Doppler lin (bin). Subsequent calls return the next active Doppler line.

See also: MmwDemo_resetDopplerLines

Definition at line 377 of file dss_data_path.c.

References MmwDemo_1D_DopplerLines::currentIndex, and MmwDemo_1D_DopplerLines::dopplerLineMask.

◆ MmwDemo_interChirpProcessing()

void MmwDemo_interChirpProcessing	(	DSS_DataPathObj *	obj,
		uint32_t	chirpPingPongId,
		uint8_t	subframeIndx
	)

Description
Interchirp processing. It is executed per chirp event, after ADC buffer is filled with chirp samples.

Return values

Not	Applicable.

Definition at line 1562 of file dss_data_path.c.

Referenced by MmwDemo_processChirp().

Here is the caller graph for this function:

◆ MmwDemo_interFrameProcessing()

void MmwDemo_interFrameProcessing	(	DSS_DataPathObj *	obj,
		uint8_t	subframeIndx
	)

Description
Interframe processing. It is called from MmwDemo_dssDataPathProcessEvents after all chirps of the frame have been received and 1D FFT processing on them has been completed.

Return values

Not	Applicable.

Definition at line 1633 of file dss_data_path.c.

◆ MmwDemo_isSetDopplerLine()

uint32_t MmwDemo_isSetDopplerLine	(	MmwDemo_1D_DopplerLines_t *	ths,
		uint16_t	index
	)

Description
Checks whether Doppler line is active in the observed frame. It checks whether the bit is set in the Doppler line bit mask corresponding to Doppler line on which CFAR in Doppler direction detected object.

See also: MmwDemo_resetDopplerLines

Definition at line 352 of file dss_data_path.c.

References MmwDemo_1D_DopplerLines::dopplerLineMask.

◆ MmwDemo_magnitudeSquared()

void MmwDemo_magnitudeSquared	(	cmplx32ReIm_t *restrict	inpBuff,
		float *restrict	magSqrdBuff,
		uint32_t	numSamples
	)

Description
Outputs magnitude squared float array of input complex32 array

Return values

Not	Applicable.

Definition at line 1428 of file dss_data_path.c.

◆ MmwDemo_pow2roundup()

uint32_t MmwDemo_pow2roundup ( uint32_t x )

Description
Power of 2 round up function.

Definition at line 404 of file dss_data_path.c.

◆ MmwDemo_printHeapStats()

void MmwDemo_printHeapStats	(	char *	name,
		uint32_t	heapUsed,
		uint32_t	heapSize
	)

Description
This function holds the last remaining 'printf' in the entire MRR, and prints the space remaining in the global heap.

Parameters

[in,out] obj data path object.

Return values

na.

Definition at line 2297 of file dss_data_path.c.

◆ MmwDemo_processChirp()

void MmwDemo_processChirp	(	DSS_DataPathObj *	obj,
		uint8_t	subframeIndx
	)

Description
Chirp processing. It is called from MmwDemo_dssDataPathProcessEvents. It is executed per chirp.

The range FFT output is transferred in a transpose manner to L3 using an EDMA. This is done so that the 2nd FFT data can be pulled out using a non-transpose EDMA (which is more efficient)

The EDMA transfer requires a destination offset (radarCubeOffset) that is proportional with the chirp number.

For the MAX_VEL_ENH chirp, there are two chirp types (fast and slow), they are stored consecutively ( for e.g. chirp 1 of the fast chirp is directly followed by chirp 1 of the slow chirp.

Return values

Not	Applicable.

Book keeping.
Range processing.

Definition at line 1974 of file dss_data_path.c.

Here is the call graph for this function:

◆ MmwDemo_resetDopplerLines()

void MmwDemo_resetDopplerLines ( MmwDemo_1D_DopplerLines_t * ths )

Description
Resets the Doppler line bit mask. Doppler line bit mask indicates Doppler lines (bins) on wich the CFAR in Doppler direction detected objects. After the CFAR in Doppler direction is completed for all range bins, the CFAR in range direction is performed on indicated Doppler lines. The array dopplerLineMask is uint32_t array. The LSB bit of the first word corresponds to Doppler line (bin) zero.

Definition at line 323 of file dss_data_path.c.

References MmwDemo_1D_DopplerLines::currentIndex, MmwDemo_1D_DopplerLines::dopplerLineMask, and MmwDemo_1D_DopplerLines::dopplerLineMaskLen.

◆ MmwDemo_rxChanPhaseBiasCompensation()

static void MmwDemo_rxChanPhaseBiasCompensation	(	uint32_t *	rxChComp,
		int64_t *	input,
		uint32_t	numAnt
	)

inlinestatic

Function Name : MmwDemo_rxChanPhaseBiasCompensation.

: Description : Compensation of rx channel phase bias

Parameters

[in]	rxChComp	: rx channel compensation coefficient
[in]	input	: 32-bit complex input symbols must be 64 bit aligned
[in]	numAnt	: number of symbols

Returns: void

Definition at line 4939 of file dss_data_path.c.

◆ MmwDemo_setDopplerLine()

void MmwDemo_setDopplerLine	(	MmwDemo_1D_DopplerLines_t *	ths,
		uint16_t	dopplerIndex
	)

Description
Sets the bit in the Doppler line bit mask dopplerLineMask corresponding to Doppler line on which CFAR in Doppler direction detected object. Indicating the Doppler line being active in observed frame.

See also: MmwDemo_resetDopplerLines

Definition at line 336 of file dss_data_path.c.

References MmwDemo_1D_DopplerLines::dopplerLineMask.

◆ MmwDemo_startDmaTransfer()

void MmwDemo_startDmaTransfer	(	EDMA_Handle	handle,
		uint8_t	channelId0,
		uint8_t	subframeIndx
	)

Description
Starts a DMA transfer on a specifed channel corresponding to a given subframe.

Definition at line 303 of file dss_data_path.c.

◆ MmwDemo_waitEndOfChirps()

void MmwDemo_waitEndOfChirps	(	DSS_DataPathObj *	obj,
		uint8_t	subframeIndx
	)

Description
Wait for transfer of data corresponding to the last 2 chirps (ping/pong) to the radarCube matrix before starting interframe processing.

Return values

Not	Applicable.

Definition at line 2079 of file dss_data_path.c.

◆ MmwDemo_XYcalc()

void MmwDemo_XYcalc	(	DSS_DataPathObj *	obj,
		uint32_t	objIndex,
		uint16_t	azimIdx,
		float *	azimuthMagSqr
	)

Description
Calculates X/Y coordinates in meters based on the maximum position in the magnitude square of the azimuth FFT output. The function is called per detected object.

Parameters

[in]	obj	Pointer to data path object
[in]	objIndex	Detected object index
[in]	azimIdx	Index of the peak position in Azimuth FFT output
[in]	azimuthMagSqr	azimuth energy array

Return values

NONE

Definition at line 4982 of file dss_data_path.c.

Referenced by MmwDemo_XYestimation().

Here is the caller graph for this function:

◆ MmwDemo_XYestimation()

void MmwDemo_XYestimation	(	DSS_DataPathObj *	obj,
		uint32_t	objIndex
	)

Description
Calculates X/Y coordinates in meters based on the maximum position in the magnitude square of the azimuth FFT output. The function is called per detected object. The detected object structure already has populated range and doppler indices. This function finds maximum index in the azimuth FFT, calculates X and Y and coordinates and stores them into object fields along with the peak height. Also it populates the azimuth index in azimuthMagSqr array.

Parameters

[in]	obj	Pointer to data path object
[in]	objIndex	Detected object index

Return values

NONE

Definition at line 431 of file dss_data_path.c.

References DSS_DataPathObj_t::azimuthMagSqr, DSS_DataPathObj_t::detObj2D, MmwDemo_MultiObjBeamFormingCfg_t::enabled, DSS_DataPathObj_t::maxUnambiguousVel, MmwDemo_XYcalc(), MRR_MAX_OBJ_OUT, DSS_DataPathObj_t::multiObjBeamFormingCfg, MmwDemo_MultiObjBeamFormingCfg_t::multiPeakThrsScal, DSS_DataPathObj_t::numAngleBins, DSS_DataPathObj_t::numDetObj, POINT_CLOUD_PROCESSING, DSS_DataPathObj_t::processingPath, MmwDemo_detectedObjActual_t::speed, and DSS_DataPathObj_t::xyzOutputQFormat.

Here is the call graph for this function:

◆ MmwDemo_XYZcalc()

void MmwDemo_XYZcalc	(	DSS_DataPathObj *	obj,
		uint32_t	objIndex,
		uint16_t	azimIdx,
		float *	azimuthMagSqr
	)

Description
Calculates X/Y coordinates in meters based on the maximum position in the magnitude square of the azimuth FFT output. The function is called per detected object.

Parameters

[in]	obj	Pointer to data path object
[in]	objIndex	Detected object index
[in]	azimIdx	Index of the peak position in Azimuth FFT output
[in]	azimuthMagSqr	azimuth energy array

Return values

NONE

Definition at line 5052 of file dss_data_path.c.

Referenced by MmwDemo_XYZestimation().

Here is the caller graph for this function:

◆ MmwDemo_XYZestimation()

void MmwDemo_XYZestimation	(	DSS_DataPathObj *	obj,
		uint32_t	objIndex
	)

Description
Calculates X/Y coordinates in meters based on the maximum position in the magnitude square of the azimuth FFT output. The function is called per detected object. The detected object structure already has populated range and doppler indices. This function finds maximum index in the azimuth FFT, calculates X and Y and coordinates and stores them into object fields along with the peak height. Also it populates the azimuth index in azimuthMagSqr array.

Parameters

[in]	obj	Pointer to data path object
[in]	objIndex	Detected object index

Return values

NONE

Definition at line 563 of file dss_data_path.c.

Here is the call graph for this function:

◆ parkingAssistInit()

void parkingAssistInit ( DSS_DataPathObj * obj )

Description
Initialize the 'parking assist bins' state which is essentially the closest obstruction upper bounded by its maximum value.

Parameters

[in] obj Pointer to data path object

Return values

NONE

Definition at line 5146 of file dss_data_path.c.

◆ populateOutputs()

void populateOutputs ( DSS_DataPathObj * obj )

Description
The function populates the object location arrays for transmission to MSS. The reason we do this additional step is to minimize the size of the the transmission by populating new structure which hold only the minimum information necessary for the GUI.

Parameters

[in] input data path object.

Return values

none

Definition at line 4452 of file dss_data_path.c.

◆ pruneToPeaks()

uint32_t pruneToPeaks	(	uint16_t *restrict	cfarDetObjIndexBuf,
		uint16_t *restrict	cfarDetObjSNR,
		uint32_t	numDetObjPerCfar,
		uint16_t *restrict	sumAbs,
		uint16_t	numBins
	)

Description
This function pruneToPeaks selects the peaks from within the list of objects detected by CFAR.

Parameters

[in,out]	cfarDetObjIndexBuf	The indices of the detected objects.
[in,out]	cfarDetObjSNR	The SNR of the detected objects.
[in]	numDetObjPerCfar	The number of detected objects.
[in]	sumAbs	The sumAbs array on which the CFAR was run.

Return values

The	number of detected objects that are peaks.

Definition at line 3208 of file dss_data_path.c.

◆ pruneToPeaksOrNeighbourOfPeaks()

uint32_t pruneToPeaksOrNeighbourOfPeaks	(	uint16_t *restrict	cfarDetObjIndexBuf,
		uint16_t *restrict	cfarDetObjSNR,
		uint32_t	numDetObjPerCfar,
		uint16_t *restrict	sumAbs,
		uint16_t	numBins
	)

Description
A slightly weaker implementation of the 'pruneToPeaks' algorithm. This variation passes peaks as well as their largest neighbour.

Parameters

[in,out]	cfarDetObjIndexBuf	The indices of the detected objects.
[in,out]	cfarDetObjSNR	The SNR of the detected objects.
[in]	numDetObjPerCfar	The number of detected objects.
[in]	sumAbs	The sumAbs array on which the CFAR was run.
[in]	numBins	The length of the sumAbs array.

Return values

NONE

Definition at line 5173 of file dss_data_path.c.

◆ pruneTrackingInput()

uint32_t pruneTrackingInput	(	trackingInputReport_t *	trackingInput,
		const uint32_t	numCluster
	)

Description
The function removes objects from extreme angles and with poor angle SNR from the tracking input.

Parameters

[in]	trackinginput	List of tracking inputs.
[in]	numClusters	number of tracking inputs (from the clustering output).

Return values

number of tracking inputs after pruning.

Definition at line 4706 of file dss_data_path.c.

◆ quadraticInterpFltPeakLoc()

float quadraticInterpFltPeakLoc	(	float *restrict	y,
		int32_t	len,
		int32_t	indx
	)

Description
The function performs a quadractic peak interpolation to compute the fractional offset of the peak location. It is primarily intended to be used in oversampled FFTs.

Parameters

[in]	y	the array of data.
[in]	len	length of the array.
[in]	indx	coarse peak location.

Return values

interpolated peak location (varies from -1 to +1).

Definition at line 4741 of file dss_data_path.c.

◆ quadraticInterpLog2ShortPeakLoc()

float quadraticInterpLog2ShortPeakLoc	(	uint16_t *restrict	y,
		int32_t	len,
		int32_t	indx,
		uint16_t	fracBitIn
	)

Description
The function performs a quadractic peak interpolation to compute the fractional offset of the peak location. It is primarily intended to be used in oversampled FFTs. The input is assumed to be an unsigned short.

Parameters

[in]	y	the array of data.
[in]	len	length of the array.
[in]	indx	coarse peak location.
[in]	fracBitIn	fractional bits in the input array.

Return values

interpolated peak location (varies from -1 to +1).

Definition at line 4795 of file dss_data_path.c.

◆ rangeBasedPruning()

uint32_t rangeBasedPruning	(	MmwDemo_detectedObjActual *restrict	objOut,
		MmwDemo_objRaw2D_t *restrict	objRaw,
		RangeDependantThresh_t *restrict	SNRThresh,
		RangeDependantThresh_t *restrict	peakValThresh,
		uint32_t	numDetectedObjects,
		uint32_t	numDopplerBins,
		uint32_t	maxRange,
		uint32_t	minRange
	)

Description
This function populates the ObjOut based on the objRaw. It includes one more layer of pruning which prevent objects beyond the maximum range or minimum range from being populated. Additionally we change the SNR requirement as a function of the range, requiring larger SNR for objects closer to the car, and lower SNR for objects farther from the car.

Parameters

[out]	objOut	Output array of detected objects after peak grouping
[in]	objRaw	Array of detected objects after CFAR detection
[in]	SNRThresh	A list of SNR thresholds for a list of ranges.
[in]	SNRThresh	A list of peakVal thresholds for a list of ranges.
[in]	numDetectedObjects	Number of detected objects by CFAR
[in]	numDopplerBins	Number of Doppler bins
[in]	maxRange	Maximum range (in ONE_QFORMAT)
[in]	minRange	Minimum range (in ONE_QFORMAT)

Return values

Number of detected objects after grouping

Definition at line 1317 of file dss_data_path.c.

◆ secondDimFFTandLog2Computation() [1/2]

uint32_t secondDimFFTandLog2Computation	(	DSS_DataPathObj *	obj,
		uint16_t *	sumAbs,
		uint16_t	checkDetMatrixTx,
		uint16_t	rangeIdx,
		uint32_t *	pingPongIdxPtr
	)

◆ secondDimFFTandLog2Computation() [2/2]

uint32_t secondDimFFTandLog2Computation	(	DSS_DataPathObj *restrict	obj,
		uint16_t *restrict	sumAbs,
		uint16_t	checkDetMatrixTx,
		uint16_t	rangeIdx,
		uint32_t *	pingPongIdxPtr
	)

Description
Function to perform 2D-FFT on all Rxs corresponding to one range gatewindow sample. Following the FFT it computes the Log2 Abs and optionally stores it in detMatrix.

Parameters

[in,out]	obj	Data path object.
[out]	sumAbs	Sum of the log2 of absolute value.
[in]	checkDetMatrixTx	Optionally check whether the detection matrix has been transferred to L3.
[in]	rangeIdx	The index of the range gate being processed.
[in,out]	pingPongIdxPtr	Pointer to the current ping-pong indx

Return values

waitingTime.

Definition at line 2926 of file dss_data_path.c.

◆ select_channel()

uint8_t select_channel	(	uint8_t	subframeIndx,
		uint8_t	pingPongId,
		uint8_t	option0ping,
		uint8_t	option0pong
	)

Description
selects one of four channels based on the subframe and the 'ping pong' ID

Definition at line 266 of file dss_data_path.c.

References pingPongId.

Referenced by MmwDemo_dataPathWait1DOutputData(), MmwDemo_dataPathWait2DInputData(), and MmwDemo_dataPathWait3DInputData().

Here is the caller graph for this function:

Variable Documentation

◆ gCycleLog

volatile cycleLog_t gCycleLog

Definition at line 99 of file dss_main.c.

Referenced by MmwDemo_processChirp().

◆ gMCB

MCB gMCB

Global Variable for tracking information required by the design.

Definition at line 97 of file dss_main.c.

◆ gMmwL1

uint8_t gMmwL1[MMW_L1_HEAP_SIZE]

L1 Heap

Definition at line 136 of file dss_data_path.c.

◆ gMmwL2

uint8_t gMmwL2[MMW_L2_HEAP_SIZE]

L2 Heap

Definition at line 131 of file dss_data_path.c.

◆ gMmwL3

uint8_t gMmwL3[SOC_XWR18XX_DSS_L3RAM_SIZE]

L3 RAM buffer

Definition at line 126 of file dss_data_path.c.

Macros

Functions

Variables

Detailed Description

Macro Definition Documentation

◆ ALIGN

◆ DebugP_ASSERT_ENABLED

◆ EIGHTEEN_DB_DOPPLER_SNR

◆ FFT_WINDOW_INT16

◆ FFT_WINDOW_INT32

◆ FOUR_POINT_ZERO_METERS

◆ isPong

◆ MMW_ADCBUF_SIZE

◆ MMW_ALLOC_BUF

◆ MMW_L1_HEAP_SIZE

◆ MMW_L2_HEAP_SIZE

◆ MMW_WIN_BLACKMAN

◆ MMW_WIN_HAMMING

◆ MMW_WIN_HANNING_RECT

◆ MMW_WIN_RECT

◆ pingPongId

◆ ROUND

◆ ROUNDF

◆ SOC_MAX_NUM_RX_ANTENNAS

◆ SOC_MAX_NUM_TX_ANTENNAS

◆ SOC_XWR18XX_DSS_L3RAM_SIZE

◆ TWENTY_TWO_DB_DOPPLER_SNR

◆ ZERO_POINT_FIVE_METERS

Function Documentation

◆ antilog2()

◆ associateClustering()

◆ aziEleProcessing()

◆ calc_cmplx_exp()

◆ cfarCa_SO_dBwrap_withSNR()

◆ cfarCadB_SO_withSNR()

◆ cfarPeakGroupingAlongDoppler() [1/2]

◆ cfarPeakGroupingAlongDoppler() [2/2]

◆ computeSinAzimSNR()

◆ convertSNRdBToVar()

◆ convertSNRLinToVar()

◆ findandPopulateDetectedObjects()

◆ findandPopulateIntersectionOfDetectedObjects()

◆ findKLargestPeaks()

◆ MmwDemo_addDopplerCompensation()

◆ MmwDemo_cfarPeakGrouping()

◆ MmwDemo_dataPathConfigBuffers()

◆ MmwDemo_dataPathConfigEdma()

◆ MmwDemo_dataPathConfigFFTs()

◆ MmwDemo_dataPathCopyEdmaHandle()

◆ MmwDemo_dataPathInit1Dstate()

◆ MmwDemo_dataPathInitEdma()

◆ MmwDemo_dataPathWait1DInputData()

◆ MmwDemo_dataPathWait1DOutputData()

◆ MmwDemo_dataPathWait2DInputData()

◆ MmwDemo_dataPathWait3DInputData()

◆ MmwDemo_dataPathWaitTransDetMatrix()

◆ MmwDemo_dataPathWaitTransDetMatrix2()

◆ MmwDemo_dcRangeSignatureCompensation()

◆ MmwDemo_edmaErrorCallbackFxn()

◆ MmwDemo_edmaTransferControllerErrorCallbackFxn()

◆ MmwDemo_genDftSinCosTable()

◆ MmwDemo_genWindow()

◆ MmwDemo_getDopplerLine()

◆ MmwDemo_interChirpProcessing()

◆ MmwDemo_interFrameProcessing()

◆ MmwDemo_isSetDopplerLine()

◆ MmwDemo_magnitudeSquared()

◆ MmwDemo_pow2roundup()

◆ MmwDemo_printHeapStats()

◆ MmwDemo_processChirp()

◆ MmwDemo_resetDopplerLines()

◆ MmwDemo_rxChanPhaseBiasCompensation()

◆ MmwDemo_setDopplerLine()

◆ MmwDemo_startDmaTransfer()

◆ MmwDemo_waitEndOfChirps()

◆ MmwDemo_XYcalc()

◆ MmwDemo_XYestimation()

◆ MmwDemo_XYZcalc()

◆ MmwDemo_XYZestimation()

◆ parkingAssistInit()