#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/arm/v7a/Pmu.h>
#include <ti/sysbios/family/arm/v7r/vim/Hwi.h>
#include <ti/control/mmwavelink/mmwavelink.h>
#include <ti/control/mmwave/mmwave.h>
#include <ti/control/mmwavelink/include/rl_driver.h>
#include <ti/common/sys_common.h>
#include <ti/drivers/soc/soc.h>
#include <ti/drivers/esm/esm.h>
#include <ti/drivers/crc/crc.h>
#include <ti/drivers/uart/UART.h>
#include <ti/drivers/gpio/gpio.h>
#include <ti/drivers/mailbox/mailbox.h>
#include <ti/drivers/pinmux/include/pinmux_xwr18xx.h>
#include <ti/drivers/osal/DebugP.h>
#include <ti/drivers/canfd/canfd.h>
#include <ti/drivers/pinmux/pinmux.h>
#include <ti/drivers/cbuff/cbuff.h>
#include <ti/utils/testlogger/logger.h>
#include <ti/utils/cli/cli.h>
#include "common/mmw_messages.h"
#include "common/mmWave_XSS.h"
#include <common/app_cfg.h>

Include dependency graph for mss_main.c:

Macros
#define	TASK_PRIO_1 1

#define	TASK_PRIO_2 2

#define	TASK_PRIO_3 3

#define	TASK_PRIO_4 4

#define	TASK_PRIO_5 5

#define	TASK_PRIO_6 6

Functions
static void	MSS_mmWaveInitTASK (UArg arg0, UArg arg1)
	Initialize the MCPI Log Message Buffer. More...

static void	MSS_mmWaveConfigCallbackFxn (MMWave_CtrlCfg *ptrCtrlCfg)
	This is the application registered callback function which is invoked after the configuration has been used to configure the mmWave link and the BSS. More...

static void	MSS_chirpIntCallback (uintptr_t arg)
	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 which is registered to the listener function listenerFxn; defined within SOC_SysIntListenerCfg. Hence; In our design, there's no frame segmentation (Advanced Frame Configuration) (in other words, frame := 1 sub-frame). However, advanced frame configuration will allow the use of different subframes in the radar configuration to support and meet the requirements of different ranges: i.e ultra-short, short, medium, long ranges. Accordingly, different subframes results in different chirp sizes which is totally depending on the each sub-frameType. Therefore, It's important to identify this for each sub-frame before the start of the next subframe, at the end of the previous subframes last chirp. More...

static void	MSS_mmWaveStartCallbackFxn (MMWave_CalibrationCfg *ptrCalibrationCfg)
	Application registered callback function which is invoked on the peer domain just before the mmWave link is started on the BSS. More...

static void	MSS_mmWaveStopCallbackFxn (void)
	This is the application registered callback function which is invoked after the MSS has been stopped. Hence, possible sceanarios: More...

static void	MSS_frameStartIntCallback (uintptr_t arg)
	This is the callback function registered with the ADC Driver which is invoked when a frame is started. This is executed in the ISR context which is registered to the listener function listenerFxn; defined within SOC_SysIntListenerCfg Inside the function we Check if the frames are coming correctly, and no chirps have been missed. More...

static void	MSS_mmWaveCtrlTask (UArg arg0, UArg arg1)
	This is the task which provides an execution context for the mmWave control module. More...

static void	MSS_mmWaveOpenCallbackFxn (MMWave_OpenCfg *ptrOpenCfg)
	This is the application registered callback function which is invoked after the MSS has been opened. More...

static void	MSS_mmWaveCloseCallbackFxn (void)
	This is the application registered callback function which is invoked after the MSS has been closed. More...

static int32_t	MSS_eventFxn (uint16_t msgId, uint16_t sbId, uint16_t sbLen, uint8_t *payload)
	This is a registered event function which is invoked when an event is recieved from the BSS. This event is passed to the peer domain/core BSS. More...

static void	mboxCallbackFxn_MSS_ch0 (Mbox_Handle handle, Mailbox_Type peer)
	mboxCallbackFxn_MSS_ch0 is a callback function. Function is invoked for each received messege from the DSS peer endpoint. When invoked, release the resources and wakeup the mmWave thread to process the received message. Hence: the address of this function is passed to mboxCfg.readCallback More...

static void	mboxIn_uartOut_TASK (UArg arg0, UArg arg1)
	The Task is used to handle the recieved messages from the DSS Peer over the mailbox virtual communication channel. More...

int32_t	MSS_mboxWrite (mmWaveMSG *msg)

int32_t	main (void)
	Main Program entrypoint. This is the entrypoint for the MSS firmware which describe the startup sequence for the AWR1843 application running on top of MSS. The MSS application must have the following startup sequence at bootup time. Clear all the ESM group errors and register Disable the firewall for JTAG and LOGGER (UART) Start the BIOS and further initialize required peripherals. More...

Variables
MCB	gMCB
	gMCB structure contains the tracking information required by the design is aligned using DATA_ALIGN paragma to increase the performance of MSS core by aligning the structure gMCB (Master Control Block) to be divisable by 16. More...

Macro Definition Documentation

◆ TASK_PRIO_1

#define TASK_PRIO_1 1

Definition at line 76 of file mss_main.c.

◆ TASK_PRIO_2

#define TASK_PRIO_2 2

Definition at line 77 of file mss_main.c.

◆ TASK_PRIO_3

#define TASK_PRIO_3 3

Definition at line 78 of file mss_main.c.

◆ TASK_PRIO_4

#define TASK_PRIO_4 4

Definition at line 79 of file mss_main.c.

◆ TASK_PRIO_5

#define TASK_PRIO_5 5

Definition at line 80 of file mss_main.c.

◆ TASK_PRIO_6

#define TASK_PRIO_6 6

Definition at line 81 of file mss_main.c.

Function Documentation

◆ main()

int32_t main ( void )

Main Program entrypoint. This is the entrypoint for the MSS firmware which describe the startup sequence for the AWR1843 application running on top of MSS. The MSS application must have the following startup sequence at bootup time. Clear all the ESM group errors and register Disable the firewall for JTAG and LOGGER (UART) Start the BIOS and further initialize required peripherals.

N/A
Returns
0

Definition at line 916 of file mss_main.c.

References gMCB, MSS_mmWaveInitTASK(), MCB_t::socHandle, and TASK_PRIO_1.

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◆ mboxCallbackFxn_MSS_ch0()

static void mboxCallbackFxn_MSS_ch0	(	Mbox_Handle	handle,
		Mailbox_Type	peer
	)

static

mboxCallbackFxn_MSS_ch0 is a callback function. Function is invoked for each received messege from the DSS peer endpoint. When invoked, release the resources and wakeup the mmWave thread to process the received message. Hence: the address of this function is passed to mboxCfg.readCallback

[0] Handle to the Mailbox on which data was received
[1] Peer from which data was received (DSS)
Returns
void

Definition at line 596 of file mss_main.c.

References gMCB, and MCB_t::mboxSemHandle.

Referenced by MSS_mmWaveInitTASK().

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◆ mboxIn_uartOut_TASK()

static void mboxIn_uartOut_TASK	(	UArg	arg0,
		UArg	arg1
	)

static

The Task is used to handle the recieved messages from the DSS Peer over the mailbox virtual communication channel.

[0] arg0 of the Task.
[1] arg1 of the Task.
Returns
Success -0 Fail < -1

Definition at line 457 of file mss_main.c.

References gMCB, MCB_t::loggingUartHandle, MBOX_DSS2MSS_ASSERT_INFO, MBOX_DSS2MSS_DETOBJ_READY, MBOX_MSS2DSS_DETOBJ_SHIPPED, MCB_t::mboxHandle, MCB_t::mboxSemHandle, MMW_OUTPUT_MSG_SEGMENT_LEN, and MSS_mboxWrite().

Referenced by MSS_mmWaveInitTASK().

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◆ MSS_chirpIntCallback()

static void MSS_chirpIntCallback ( uintptr_t arg )

static

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 which is registered to the listener function listenerFxn; defined within SOC_SysIntListenerCfg. Hence; In our design, there's no frame segmentation (Advanced Frame Configuration) (in other words, frame := 1 sub-frame). However, advanced frame configuration will allow the use of different subframes in the radar configuration to support and meet the requirements of different ranges: i.e ultra-short, short, medium, long ranges. Accordingly, different subframes results in different chirp sizes which is totally depending on the each sub-frameType. Therefore, It's important to identify this for each sub-frame before the start of the next subframe, at the end of the previous subframes last chirp.

[0] Application registered argument

Todo:: Add sub-frames configurations and measure the performance

Definition at line 219 of file mss_main.c.

References MCB_t::chirpInt, gMCB, NUM_SUBFRAMES, MCB_t::numChirpsPerSubframe, MCB_t::subframeCntFromChirpInt, and MCB_t::subframeId.

Referenced by MSS_mmWaveInitTASK().

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◆ MSS_eventFxn()

static int32_t MSS_eventFxn	(	uint16_t	msgId,
		uint16_t	sbId,
		uint16_t	sbLen,
		uint8_t *	payload
	)

static

This is a registered event function which is invoked when an event is recieved from the BSS. This event is passed to the peer domain/core BSS.

[0] Message Identifier
[1] Subblock identifier
[2] Length of the subblock
[3] Pointer to the payload buffer
Returns
0

Definition at line 283 of file mss_main.c.

Referenced by MSS_mmWaveInitTASK().

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◆ MSS_frameStartIntCallback()

static void MSS_frameStartIntCallback ( uintptr_t arg )

static

This is the callback function registered with the ADC Driver which is invoked when a frame is started. This is executed in the ISR context which is registered to the listener function listenerFxn; defined within SOC_SysIntListenerCfg Inside the function we Check if the frames are coming correctly, and no chirps have been missed.

[0] Application registered argument
Returns
void

Definition at line 253 of file mss_main.c.

References MCB_t::chirpInt, MCB_t::frameStartToken, and gMCB.

Referenced by MSS_mmWaveInitTASK().

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◆ MSS_mboxWrite()

int32_t MSS_mboxWrite ( mmWaveMSG * msg )

[0] Pointer to the MMW demo message ASTRO.
Returns
Success - 0 Fail < -1

Definition at line 432 of file mss_main.c.

References gMCB, and MCB_t::mboxHandle.

Referenced by mboxIn_uartOut_TASK().

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◆ MSS_mmWaveCloseCallbackFxn()

static void MSS_mmWaveCloseCallbackFxn ( void )

static

This is the application registered callback function which is invoked after the MSS has been closed.

N/A
Returns
N/A

Definition at line 416 of file mss_main.c.

Referenced by MSS_mmWaveInitTASK().

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◆ MSS_mmWaveConfigCallbackFxn()

static void MSS_mmWaveConfigCallbackFxn ( MMWave_CtrlCfg * ptrCtrlCfg )

static

This is the application registered callback function which is invoked after the configuration has been used to configure the mmWave link and the BSS.

[0] Pointer to the control configuration
Returns
void

Definition at line 346 of file mss_main.c.

Referenced by MSS_mmWaveInitTASK().

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◆ MSS_mmWaveCtrlTask()

static void MSS_mmWaveCtrlTask	(	UArg	arg0,
		UArg	arg1
	)

static

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

[0] arg0 Argument0 with which the task was created
[1] arg1 Argument1 with which the task was created
Returns
void

Definition at line 614 of file mss_main.c.

References MCB_t::ctrlHandle, and gMCB.

Referenced by MSS_mmWaveInitTASK().

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◆ MSS_mmWaveInitTASK()

static void MSS_mmWaveInitTASK	(	UArg	arg0,
		UArg	arg1
	)

static

Initialize the MCPI Log Message Buffer.

MSS Initialization Task which initializes the various components in the MSS subsystem including UART for logging and configurations and Mailbox for bi-directional communication between MSS and DSS subsystems.

[0] Argument0 with which the task was created
[1] Argument1 with which the task was created
Returns
void

setup the PINMUX (pin multiplexing) for bringing out the UART; (UART settings configuring, I/O cell characteristics specification)

Initialize the UART

Initialize the CAN interface

Todo:: CAN Interface is Semi-deployed in this system due to the hardware limitations. It Will be added anyway for future considerations

Initialize the Mailbox

Definition at line 643 of file mss_main.c.

References MCB_t::chirpIntHandle, MCB_t::commandUartHandle, MCB_t::ctrlHandle, MCB_t::frameStartIntHandle, gMCB, MCB_t::loggingUartHandle, mboxCallbackFxn_MSS_ch0(), MCB_t::mboxHandle, mboxIn_uartOut_TASK(), MCB_t::mboxSemHandle, MSS_chirpIntCallback(), MSS_CLIInit(), MSS_eventFxn(), MSS_frameStartIntCallback(), MSS_mmWaveCloseCallbackFxn(), MSS_mmWaveConfigCallbackFxn(), MSS_mmWaveCtrlTask(), MSS_mmWaveOpenCallbackFxn(), MSS_mmWaveStartCallbackFxn(), MSS_mmWaveStopCallbackFxn(), MCB_t::numChirpsPerSubframe, MCB_t::socHandle, SUBFRAME_MRR_NUM_CHIRPS_TOTAL, SUBFRAME_USRR_NUM_CHIRPS_TOTAL, and TASK_PRIO_6.

Referenced by main().

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◆ MSS_mmWaveOpenCallbackFxn()

static void MSS_mmWaveOpenCallbackFxn ( MMWave_OpenCfg * ptrOpenCfg )

static

This is the application registered callback function which is invoked after the MSS has been opened.

[0] Pointer to the open configuration
Returns
N/A

Definition at line 400 of file mss_main.c.

Referenced by MSS_mmWaveInitTASK().

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◆ MSS_mmWaveStartCallbackFxn()

static void MSS_mmWaveStartCallbackFxn ( MMWave_CalibrationCfg * ptrCalibrationCfg )

static

Application registered callback function which is invoked on the peer domain just before the mmWave link is started on the BSS.

[0] Pointer to the calibration configuration
Returns
void

Definition at line 362 of file mss_main.c.

References mmW_MSS_STATS_t::datapathStartEvt, DSS_START_COMPLETED_EVT, MCB_t::eventHandle, gMCB, and MCB_t::stats.

Referenced by MSS_mmWaveInitTASK().

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◆ MSS_mmWaveStopCallbackFxn()

static void MSS_mmWaveStopCallbackFxn ( void )

static

This is the application registered callback function which is invoked after the MSS has been stopped. Hence, possible sceanarios:

CLI sensorStop command triggers mmwave_stop() to be called from MSS
In case of Error, mmwave_stop() will be triggered from MSS or DSS
- N/A
  Returns
  N/A

Definition at line 385 of file mss_main.c.

References mmW_MSS_STATS_t::datapathStopEvt, gMCB, and MCB_t::stats.

Referenced by MSS_mmWaveInitTASK().

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Variable Documentation

◆ gMCB

MCB gMCB

gMCB structure contains the tracking information required by the design is aligned using DATA_ALIGN paragma to increase the performance of MSS core by aligning the structure gMCB (Master Control Block) to be divisable by 16.

TI-reference: spnu151j.pdf section #5.10.6

Definition at line 163 of file mss_main.c.

Referenced by main(), mboxCallbackFxn_MSS_ch0(), mboxIn_uartOut_TASK(), MSS_chirpIntCallback(), MSS_CLIBasicCfg(), MSS_CLISensorStart(), MSS_CLISensorStop(), MSS_frameStartIntCallback(), MSS_mboxWrite(), MSS_mmWaveCtrlTask(), MSS_mmWaveInitTASK(), MSS_mmWaveStartCallbackFxn(), and MSS_mmWaveStopCallbackFxn().

Macros

Functions

Variables

Macro Definition Documentation

◆ TASK_PRIO_1

◆ TASK_PRIO_2

◆ TASK_PRIO_3

◆ TASK_PRIO_4

◆ TASK_PRIO_5

◆ TASK_PRIO_6

Function Documentation

◆ main()

◆ mboxCallbackFxn_MSS_ch0()

◆ mboxIn_uartOut_TASK()

◆ MSS_chirpIntCallback()

◆ MSS_eventFxn()

◆ MSS_frameStartIntCallback()

◆ MSS_mboxWrite()

◆ MSS_mmWaveCloseCallbackFxn()

◆ MSS_mmWaveConfigCallbackFxn()

◆ MSS_mmWaveCtrlTask()

◆ MSS_mmWaveInitTASK()

◆ MSS_mmWaveOpenCallbackFxn()

◆ MSS_mmWaveStartCallbackFxn()

◆ MSS_mmWaveStopCallbackFxn()

Variable Documentation

◆ gMCB

TI-reference: spnu151j.pdf section #5.10.6