#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/sysbios/family/c64p/Cache.h>
#include <ti/sysbios/family/c64p/Hwi.h>
#include <ti/sysbios/family/c64p/EventCombiner.h>
#include <ti/sysbios/utils/Load.h>
#include <ti/common/sys_common.h>
#include <ti/common/mmwave_sdk_version.h>
#include <ti/utils/cycleprofiler/cycle_profiler.h>
#include <ti/drivers/mailbox/mailbox.h>
#include <ti/drivers/adcbuf/ADCBuf.h>
#include <ti/drivers/esm/esm.h>
#include <ti/drivers/pinmux/pinmux.h>
#include <ti/drivers/soc/soc.h>
#include "common/mmWave_XSS.h"
#include "dss_data_path.h"
#include "EKF_XYZ_Interface.h"
#include "common/mmw_messages.h"
#include "common/app_cfg.h"
#include <cpy_tbl.h>

Include dependency graph for dss_main.c:

Data Structures
struct	DSS2MSS_HSRAM

Macros
#define	SOC_XWR18XX_DSS_HSRAM_SIZE 0x8000U /* Size: 32KB */
	DSS stores the application output and DSS2MSS ISR information (for fast exception signalling) in HSRAM. More...

#define	DATAPATH_DET_PAYLOAD_SIZE (SOC_XWR18XX_DSS_HSRAM_SIZE - sizeof(uint8_t))

#define	MMW_NUM_ANGLE_BINS 64
	More...

#define	SPEED_OF_LIGHT_IN_METERS_PER_SEC (3.0e8)

#define	SPEED_OF_LIGHT_IN_METERS_PER_USEC (3.0e2)

Typedefs
typedef struct DSS2MSS_HSRAM	DSS2MSS_HSRAM_t

Functions
static void	DSS_mmWaveInitTASK (UArg arg0, UArg arg1)

static void	DSS_mmWaveCtrlTask (UArg arg0, UArg arg1)

static void	DSS_chirpIntCallback (uintptr_t arg)

static void	DSS_frameStartIntCallback (uintptr_t arg)

static int32_t	DSS_DataPathConfigAdcBuf ()

void	DSS_dataPathConfigPopulate (DSS_DataPathObj *obj)

void	DSS_populateUSRR (DSS_DataPathObj *obj, uint16_t subframeIndx)

void	DSS_dBScanConfigBuffers (DSS_DataPathObj *obj)

static void	DSS_edmaBlockCopy (EDMA_Handle handle, uint32_t loadAddr, uint32_t runAddr, uint16_t size)

static void	DSS_copyTable (EDMA_Handle handle, COPY_TABLE *tp)

int32_t	DSS_DataPathInit (void)

static int32_t	DSS_SendProcessOutputToMSS (uint8_t ptrHsmBuffer, uint32_t outputBufSize, DSS_DataPathObj obj)

static void	DSS_DataPathOutputLogging (DSS_DataPathObj *dataPathObj)

static void	mboxIn_uartOut_TASK ()

void	mboxCallbackFxn_MSS_ch0 (Mbox_Handle handle, Mailbox_Type peer)

void	DSP_sleep (void)

uint16_t	convertSNRdBtoThreshold (uint16_t numInteg, float ThresholdIndB, uint16_t bitwidth)

static int32_t	DSS_mboxWrite (mmWaveMSG *message)

void	_MmwDemo_dssAssert (int32_t expression, const char *file, int32_t line)

int32_t	main (void)

void	rxGainPhaseParam_Init (DSS_DataPathObj *obj)

Variables
DSS2MSS_HSRAM_t	gHSRAM

far COPY_TABLE	_MmwDemo_fastCode_L1PSRAM_copy_table

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

volatile cycleLog_t	gCycleLog

Macro Definition Documentation

◆ DATAPATH_DET_PAYLOAD_SIZE

#define DATAPATH_DET_PAYLOAD_SIZE (SOC_XWR18XX_DSS_HSRAM_SIZE - sizeof(uint8_t))

Definition at line 78 of file dss_main.c.

◆ MMW_NUM_ANGLE_BINS

#define MMW_NUM_ANGLE_BINS 64

Azimuth FFT size

Definition at line 89 of file dss_main.c.

◆ SOC_XWR18XX_DSS_HSRAM_SIZE

#define SOC_XWR18XX_DSS_HSRAM_SIZE 0x8000U /* Size: 32KB */

DSS stores the application output and DSS2MSS ISR information (for fast exception signalling) in HSRAM.

Definition at line 75 of file dss_main.c.

◆ SPEED_OF_LIGHT_IN_METERS_PER_SEC

#define SPEED_OF_LIGHT_IN_METERS_PER_SEC (3.0e8)

Definition at line 90 of file dss_main.c.

◆ SPEED_OF_LIGHT_IN_METERS_PER_USEC

#define SPEED_OF_LIGHT_IN_METERS_PER_USEC (3.0e2)

Definition at line 91 of file dss_main.c.

Typedef Documentation

◆ DSS2MSS_HSRAM_t

typedef struct DSS2MSS_HSRAM DSS2MSS_HSRAM_t

Function Documentation

◆ _MmwDemo_dssAssert()

void _MmwDemo_dssAssert	(	int32_t	expression,
		const char *	file,
		int32_t	line
	)

Description
Sends DSS assert information to MSS

Return values

Not	Applicable.

Definition at line 302 of file dss_main.c.

◆ convertSNRdBtoThreshold()

uint16_t convertSNRdBtoThreshold	(	uint16_t	numInteg,
		float	ThresholdIndB,
		uint16_t	bitwidth
	)

Description
Converts an SNR (in dB) to an SNR Threshold that the CFAR algo can use.

Parameters

[in]	number	of integrations in the detection matrix Typically the number of virtual antennas
[in]	Threshold	in dB (float)

Return values

Threshold for CFAR algorithm.

Definition at line 1267 of file dss_main.c.

◆ DSP_sleep()

void DSP_sleep ( void )

Description
Function to sleep the DSP using IDLE instruction. When DSP has no work left to do, the BIOS will be in Idle thread and will call this function. The DSP will wake-up on any interrupt (e.g chirp interrupt).

Return values

Not	Applicable.

Definition at line 288 of file dss_main.c.

◆ DSS_chirpIntCallback()

static void DSS_chirpIntCallback ( uintptr_t arg )

static

Description
This is the callback function registered with the ADC Driver which is invoked when a chirp is available. This is executed in the ISR context.

Parameters

[in] arg Application registered argument

Return values

Not	Applicable.

Definition at line 158 of file dss_main.c.

◆ DSS_copyTable()

static void DSS_copyTable	(	EDMA_Handle	handle,
		COPY_TABLE *	tp
	)

static

Description
Performs linker generated copy table copy using EDMA. Currently this is used to page in fast code from L3 to L1PSRAM.

Parameters

[in]	handle	EDMA handle
[in]	tp	Pointer to copy table

Return values

Not	Applicable.

Definition at line 1147 of file dss_main.c.

◆ DSS_DataPathConfigAdcBuf()

static int32_t DSS_DataPathConfigAdcBuf ( )

static

Description
Function to configure ADCBUF driver based on CLI inputs.

Parameters

[out] numRxChannels Number of receive channels.

Return values

Not	Applicable.

Definition at line 1048 of file dss_main.c.

◆ DSS_dataPathConfigPopulate()

void DSS_dataPathConfigPopulate ( DSS_DataPathObj * obj )

Description
populates the data path object array with the MRR configuration.

Parameters

[in] obj pointer to the data path object.

Return values

Not	Applicable.

Definition at line 613 of file dss_main.c.

◆ DSS_DataPathInit()

int32_t DSS_DataPathInit ( void )

◆ DSS_DataPathOutputLogging()

void DSS_DataPathOutputLogging ( DSS_DataPathObj * dataPathObj )

static

Description
Function to send data path detection output.

Return values

Not	Applicable.

Definition at line 995 of file dss_main.c.

◆ DSS_dBScanConfigBuffers()

void DSS_dBScanConfigBuffers ( DSS_DataPathObj * obj )

Description
Configures the dBScan buffers.

Parameters

[in] data path Object

Return values

Not	applicable.

Definition at line 1284 of file dss_main.c.

◆ DSS_edmaBlockCopy()

static void DSS_edmaBlockCopy	(	EDMA_Handle	handle,
		uint32_t	loadAddr,
		uint32_t	runAddr,
		uint16_t	size
	)

static

Description
Performs simple block copy using EDMA. Used for the purpose of copying linker table for L3 to L1PSRAM copy. memcpy cannot be used because there is no data bus access to L1PSRAM.

Parameters

[in]	handle	EDMA handle
[in]	loadAddr	load address
[in]	runAddr	run address
[in]	size	size in bytes

Return values

Not	Applicable.

Definition at line 1185 of file dss_main.c.

◆ DSS_frameStartIntCallback()

static void DSS_frameStartIntCallback ( uintptr_t arg )

static

Description
This is the callback function registered when a frame is triggered. This is executed in the ISR context.

Parameters

[in] arg Application registered argument

Return values

Not	Applicable.

Definition at line 177 of file dss_main.c.

◆ DSS_mboxWrite()

static int32_t DSS_mboxWrite ( mmWaveMSG * message )

static

Description
Function to send a message to peer through Mailbox virtural channel

Parameters

[in] message Pointer to the Capture demo message.

Returns: Success - 0 Fail < -1

Definition at line 640 of file dss_main.c.

◆ DSS_mmWaveCtrlTask()

static void DSS_mmWaveCtrlTask	(	UArg	arg0,
		UArg	arg1
	)

static

Description
This is the task which provides an execution context for the mmWave control module.

Parameters

[in]	arg0	Argument0 with which the task was created
[in]	arg1	Argument1 with which the task was created

Return values

Not	Applicable.

Definition at line 199 of file dss_main.c.

◆ DSS_mmWaveInitTASK()

static void DSS_mmWaveInitTASK	(	UArg	arg0,
		UArg	arg1
	)

static

Description
DSS Initialization Task which initializes the various components in the DSS subsystem.

Parameters

[in]	arg0	Argument0 with which the task was created
[in]	arg1	Argument1 with which the task was created

Return values

Not	Applicable.

Definition at line 472 of file dss_main.c.

◆ DSS_populateUSRR()

void DSS_populateUSRR	(	DSS_DataPathObj *	obj,
		uint16_t	subframeIndx
	)

Description
Populates the configuration for the USRR point cloud subframe.

Parameters

[in] data path Object

Return values

Not	applicable.

Q format of the output x/y/z coordinates

CFAR configuration in Doppler direction

CFAR configuration in Range direction

min and max range configuration

Multi object beam forming configuration

DC Range antenna signature calibration configuration.

CFAR thresholds are varied as a function of range

peakVal thresholds are varied as a function of range (meant to remove cases of clutter being detected too when we drive the car.) Thresholds were derived from experiments.

Configuring the dbSCan for car like objects. These numbers are derived from field tests

Configuring the 'parking assist' occupancy detect.

Definition at line 1316 of file dss_main.c.

◆ DSS_SendProcessOutputToMSS()

int32_t DSS_SendProcessOutputToMSS	(	uint8_t *	ptrHsmBuffer,
		uint32_t	outputBufSize,
		DSS_DataPathObj *	obj
	)

static

Description
Function to send detected objects to MSS logger.

Parameters

[in]	ptrOutputBuffer	Pointer to the output buffer
[in]	outputBufSize	Size of the output buffer
[in]	obj	Handle to the Data Path Object

Return values

=0	Success <0 Failed

Definition at line 766 of file dss_main.c.

◆ main()

int32_t main ( void )

Description
Entry point into the DSS MRR TI Design

Return values

Not	Applicable.

Definition at line 331 of file dss_main.c.

◆ mboxCallbackFxn_MSS_ch0()

void mboxCallbackFxn_MSS_ch0	(	Mbox_Handle	handle,
		Mailbox_Type	peer
	)

Description
This function is a callback function that invoked when a message is received from the peer.

Parameters

[in]	handle	Handle to the Mailbox on which data was received
[in]	peer	Peer from which data was received

Return values

Not	Applicable.

Definition at line 741 of file dss_main.c.

◆ mboxIn_uartOut_TASK()

static void mboxIn_uartOut_TASK ( )

static

Description
The Task is used to handle the mmw demo messages received from Mailbox virtual channel.

Parameters

[in]	arg0	arg0 of the Task. Not used
[in]	arg1	arg1 of the Task. Not used

Return values

Not	Applicable.

Definition at line 667 of file dss_main.c.

◆ rxGainPhaseParam_Init()

void rxGainPhaseParam_Init ( DSS_DataPathObj * obj )

Definition at line 393 of file dss_main.c.

References MAX_VEL_ENH_PROCESSING, POINT_CLOUD_PROCESSING, DSS_DataPathObj_t::processingPath, and DSS_DataPathObj_t::rxChPhaseComp.

Variable Documentation

◆ _MmwDemo_fastCode_L1PSRAM_copy_table

far COPY_TABLE _MmwDemo_fastCode_L1PSRAM_copy_table

◆ gCycleLog

volatile cycleLog_t gCycleLog

Definition at line 99 of file dss_main.c.

Referenced by MmwDemo_processChirp().

◆ gHSRAM

DSS2MSS_HSRAM_t gHSRAM

Definition at line 86 of file dss_main.c.

◆ gMCB

MCB gMCB

Global Variable for tracking information required by the design.

Definition at line 97 of file dss_main.c.

Data Structures

Macros

Typedefs

Functions

Variables

Macro Definition Documentation

◆ DATAPATH_DET_PAYLOAD_SIZE

◆ MMW_NUM_ANGLE_BINS

◆ SOC_XWR18XX_DSS_HSRAM_SIZE

◆ SPEED_OF_LIGHT_IN_METERS_PER_SEC

◆ SPEED_OF_LIGHT_IN_METERS_PER_USEC

Typedef Documentation

◆ DSS2MSS_HSRAM_t

Function Documentation

◆ _MmwDemo_dssAssert()

◆ convertSNRdBtoThreshold()

◆ DSP_sleep()

◆ DSS_chirpIntCallback()

◆ DSS_copyTable()

◆ DSS_DataPathConfigAdcBuf()

◆ DSS_dataPathConfigPopulate()

◆ DSS_DataPathInit()

◆ DSS_DataPathOutputLogging()

◆ DSS_dBScanConfigBuffers()

◆ DSS_edmaBlockCopy()

◆ DSS_frameStartIntCallback()

◆ DSS_mboxWrite()

◆ DSS_mmWaveCtrlTask()

◆ DSS_mmWaveInitTASK()

◆ DSS_populateUSRR()

◆ DSS_SendProcessOutputToMSS()

◆ main()

◆ mboxCallbackFxn_MSS_ch0()

◆ mboxIn_uartOut_TASK()

◆ rxGainPhaseParam_Init()

Variable Documentation

◆ _MmwDemo_fastCode_L1PSRAM_copy_table

◆ gCycleLog

◆ gHSRAM

◆ gMCB