Communication Protocol

mmwave Communication Driver Module More...

Functions
rlReturnVal_t	rlDriverOsiInit (void)
	Initializes the OSI layer abstraction for mmwavelink. More...
rlReturnVal_t	rlDriverAddDevice (rlUInt8_t deviceMap)
	Adds mmwave radar device. More...
rlReturnVal_t	rlDriverRemoveDevices (rlUInt8_t deviceMap)
	Disconnects the mmwave radar devices. More...
rlReturnVal_t	rlDriverDeInit (void)
	De Initializes the mmwave radar Driver. More...
rlDriverData_t *	rlDriverGetHandle (void)
	Returns mmwave radar Driver Global Structure. More...
rlUInt8_t	rlDriverGetPlatformId (void)
	Returns RL Platform ID (i.e. where mmWaveLink is executing) More...
rlUInt8_t	rlDriverGetArDeviceType (void)
	Returns AR device type which mmWavelink is communicating. More...
rlReturnVal_t	rlDriverIsDeviceMapValid (rlUInt8_t deviceMap)
	Checks if given deviecMap is valid wrt to global DeviceMap set to mmWaveLink. More...
rlReturnVal_t	rlDriverWaitForResponse (rlUInt8_t devIndex, rlDriverMsg_t *outMsg)
	: Wait for Device's response More...
rlReturnVal_t	rlDriverCmdInvoke (rlUInt8_t deviceMap, rlDriverMsg_t inMsg, rlDriverMsg_t *outMsg)
	Invokes a command to mmwave radar Device. Implements mmwave radar Host Communication Protocol(RHCP) More...
rlReturnVal_t	rlDriverConfigureCrc (rlCrcType_t crcType)
	Configures the CRC Type in mmwavelink Driver. More...
rlReturnVal_t	rlDriverConfigureAckTimeout (rlUInt32_t ackTimeout)
	Configures the Acknowledgement timeout in mmwavelink Driver. More...
rlReturnVal_t	rlDriverCalCRC (rlUInt8_t *data, rlUInt16_t dataLen, rlUInt8_t crcType, rlUInt8_t crc[RL_CRC_LEN_MAX])
	Calculates 16bit/32bit/64bit CRC. More...
rlReturnVal_t	rlDriverVerifyCRC (rlUInt8_t *data, rlUInt16_t dataLen, rlUInt8_t crcType, rlUInt8_t crc[RL_CRC_LEN_MAX])
	Compares received CRC with Calculated CRC. More...
void	rlDriverShiftDWord (rlUInt8_t buf[])
	Shifts one byte in the byte array. More...
rlReturnVal_t	rlDriverValidateHdr (rlProtHeader_t protHdr)
	Validates the header by comparing Checksum. More...
rlReturnVal_t	rlDriverAsyncEventHandler (rlUInt8_t devIndex, rlUInt16_t nsbc, rlUInt8_t *payload, rlUInt16_t payloadLen)
	Handles asynchronous response/error from mmwave radar device. More...
rlUInt8_t	rlDeviceIdentifyCmdDir (rlUInt16_t msgId, rlUInt8_t platform)
	Get the direction of command packet based on MsgID and platform. More...
void	rlDriverHostIrqHandler (rlUInt8_t deviceIndex, void *pValue)
	Interrupt Service Routine to handle host interrupt from mmwave radar device. More...
rlReturnVal_t	rlDriverMsgReadCmdCtx (rlUInt8_t devIndex)
	Wait and handle command response. More...
rlReturnVal_t	rlDriverMsgRead (rlDriverData_t *rlDrvData, rlUInt8_t devIndex)
	Receive and validate protocol header and payload. More...
rlReturnVal_t	rlDriverMsgWrite (rlDriverData_t *rlDrvData, rlComIfHdl_t comIfHdl)
	Write command header and payload data over communication channel. More...
rlReturnVal_t	rlDriverRxHdrRead (rlUInt8_t hdrBuf[RHCP_HEADER_LEN], rlComIfHdl_t comIfHdl)
	Read SYNC and Header from communication channel. More...
void	rlDriverFillPayload (rlUInt16_t msgId, rlUInt16_t sbcID, rlPayloadSb_t *payloadPtr, rlUInt8_t *data, rlUInt16_t inLen)
	: Fill payload based on given message-ID, sub-block ID and data. More...
void	rlDriverConstructInMsg (rlUInt16_t msgId, rlDriverMsg_t *inMsg, rlPayloadSb_t *payloadPtr)
	: Construct command packet (inMsg) based on given message-ID and payload More...
void	rlDriverConstructOutMsg (rlUInt16_t numSblk, rlDriverMsg_t *outMsg, rlPayloadSb_t *payloadPtr)
	: Construct command packet based on given message-ID and payload More...
rlReturnVal_t	rlDriverProcRdMsg (rlUInt8_t devIdx, rlReturnVal_t inVal)
	Process received message for Async event message. More...
rlReturnVal_t	rlDriverMsgCmdReply (rlDriverData_t *rlDrvData, rlUInt8_t devIndex)
	Wait and handle command response. More...
rlReturnVal_t	rlDriverCmdSendRetry (rlUInt8_t deviceMap, rlDriverMsg_t *outMsg)
	: Send command and wait for response More...

Detailed Description

mmwave Communication Driver Module

The mmwave radar Host Communication Driver Module implements the mmwave radar communication protocol:

1. It is a simple stop and wait protocol. Each message needs to be acknowledged by receiver before next message can be sent.
2. Messages are classifieds as "Command", "Response" and "Asynchronous Event"
3. If Command can not be processed immediately, ACK response is sent immediately (If requested). "Asynchronous Event" is sent upon completion of the command execution.

Function Documentation

rlUInt8_t rlDeviceIdentifyCmdDir	(	rlUInt16_t	msgId,
		rlUInt8_t	platform
	)

Get the direction of command packet based on MsgID and platform.

Parameters

[in]	msgId	- Message ID of data packet
[in]	platform	- Platform Type where mmWaveLink instance is running

Returns

rlUInt8_t command packet direction

Returns direction of command packet based on MsgID and platform.

Definition at line 407 of file rl_driver.c.

rlReturnVal_t rlDriverAddDevice

(

rlUInt8_t

deviceMap

)

Adds mmwave radar device.

Parameters

[in]

deviceMap

- Bitmap of device to be connected

Returns

rlReturnVal_t Success - 0, Failure - Error Code

Adds mmwave radar device Open communication channel, Register Interrupt Handler with device

Definition at line 1880 of file rl_driver.c.

rlReturnVal_t rlDriverAsyncEventHandler	(	rlUInt8_t	devIndex,
		rlUInt16_t	nsbc,
		rlUInt8_t *	payload,
		rlUInt16_t	payloadLen
	)

Handles asynchronous response/error from mmwave radar device.

Parameters

[in]	devIndex	- Device Index
[in]	nsbc	- No. of Sub-Block in MSG
[in]	payload	- Protocol payload message data
[in]	payloadLen	- Length of payload message data

Returns

rlReturnVal_t Success - 0, Failure - Error Code

Handles asynchronous response/error from mmwave radar device

Definition at line 495 of file rl_driver.c.

rlReturnVal_t rlDriverCalCRC	(	rlUInt8_t *	data,
		rlUInt16_t	dataLen,
		rlUInt8_t	crcType,
		rlUInt8_t	crc[RL_CRC_LEN_MAX]
	)

Calculates 16bit/32bit/64bit CRC.

Parameters

[in]	data	- Byte array
[in]	dataLen	- Length of the byte array
[in]	crcType	- Type of CRC 16/32/64bit
[in]	crc	- Received CRC

Returns

rlReturnVal_t Success - 0, Failure - Error Code

Calculates 16bit/32bit/64bit CRC

Definition at line 204 of file rl_driver.c.

rlReturnVal_t rlDriverCmdInvoke	(	rlUInt8_t	deviceMap,
		rlDriverMsg_t	inMsg,
		rlDriverMsg_t *	outMsg
	)

Invokes a command to mmwave radar Device. Implements mmwave radar Host Communication Protocol(RHCP)

Parameters

[in]	deviceMap	- Bitmap of devices to send the message
[in]	inMsg	- Command Opcode(Direction, Class, MsgId) and Subblocks
[out]	outMsg	- Response Opcode(Direction, Class, MsgId) and Subblocks

Returns

rlReturnVal_t Success - 0, Failure - Error Code

Invokes a command to mmwave radar Device. Waits for Response if ACK is requested. Computes CRC/Checksum according to mmwave radar Host Communication Protocol(RHCP)

Definition at line 2406 of file rl_driver.c.

rlReturnVal_t rlDriverCmdSendRetry	(	rlUInt8_t	deviceMap,
		rlDriverMsg_t *	outMsg
	)

: Send command and wait for response

Parameters

[in]	deviceMap	- device map contains bitmap of all device connected
[out]	outMsg	- output msg

Returns

Success : 0, Fail : Error code

Send command and wait for response

Definition at line 2344 of file rl_driver.c.

rlReturnVal_t rlDriverConfigureAckTimeout

(

rlUInt32_t

ackTimeout

)

Configures the Acknowledgement timeout in mmwavelink Driver.

Parameters

[in]

ackTimeout

- ACK timeout, 0 - No ACK

Returns

rlReturnVal_t Success - 0, Failure - Error Code

Configures the Acknowledgement timeout in mmwavelink Driver

Definition at line 2572 of file rl_driver.c.

rlReturnVal_t rlDriverConfigureCrc

(

rlCrcType_t

crcType

)

Configures the CRC Type in mmwavelink Driver.

Parameters

[in]

crcType

- CRC Types

Returns

rlReturnVal_t Success - 0, Failure - Error Code

Configures the CRC Type in mmwavelink Driver

Definition at line 2538 of file rl_driver.c.

void rlDriverConstructInMsg	(	rlUInt16_t	msgId,
		rlDriverMsg_t *	inMsg,
		rlPayloadSb_t *	payloadPtr
	)

: Construct command packet (inMsg) based on given message-ID and payload

Parameters

[in]	msgId	- message ID of command packet
[out]	inMsg	- Message strucutre input pointer
[in]	payloadPtr	- payload data pointer

Returns

- none

Construct Set command packet based on given message-ID and payload

Definition at line 2703 of file rl_driver.c.

void rlDriverConstructOutMsg	(	rlUInt16_t	numSblk,
		rlDriverMsg_t *	outMsg,
		rlPayloadSb_t *	payloadPtr
	)

: Construct command packet based on given message-ID and payload

Parameters

[in]	numSblk	- number of sub-blocks in message
[out]	outMsg	- Message strucutre input pointer
[in]	payloadPtr	- payload data pointer

Returns

- none

Construct Get command packet based on given message-ID and payload

Definition at line 2738 of file rl_driver.c.

rlReturnVal_t rlDriverDeInit

(

void

)

De Initializes the mmwave radar Driver.

Returns

rlReturnVal_t Success - 0, Failure - Error Code

DeInitializes the mmwave radar Driver. Clear memory, destroy OS objects, Close communication channel, Unregister Interrupt Handler

Definition at line 2018 of file rl_driver.c.

void rlDriverFillPayload	(	rlUInt16_t	msgId,
		rlUInt16_t	sbcID,
		rlPayloadSb_t *	payloadPtr,
		rlUInt8_t *	data,
		rlUInt16_t	inLen
	)

: Fill payload based on given message-ID, sub-block ID and data.

Parameters

[in]	msgId	- message ID of command packet
[in]	sbcID	- sub block ID of command packet
[in]	payloadPtr	- payload data pointer
[out]	data	- data pointer
[in]	inLen	- lenght of data

Returns

- none

Fill payload based on given message-ID, sub-block ID and data.

Definition at line 2769 of file rl_driver.c.

rlDriverGetArDeviceType

(

void

)

Returns AR device type which mmWavelink is communicating.

Returns

rlUInt8_t platform

Returns AR device type which mmWavelink is communicating

Definition at line 2115 of file rl_driver.c.

rlDriverData_t * rlDriverGetHandle

(

void

)

Returns mmwave radar Driver Global Structure.

Returns

rlDriverData_t Pointer to mmwave radar Driver Global Structure

Returns mmwave radar Driver Global Structure

Definition at line 2081 of file rl_driver.c.

rlDriverGetPlatformId

(

void

)

Returns RL Platform ID (i.e. where mmWaveLink is executing)

Returns

rlUInt8_t platform

Returns Device run ID (i.e. where mmWaveLink is executing)

Definition at line 2097 of file rl_driver.c.

void rlDriverHostIrqHandler	(	rlUInt8_t	deviceIndex,
		void *	pValue
	)

Interrupt Service Routine to handle host interrupt from mmwave radar device.

Parameters

[in]	deviceIndex	- source device Index
[in]	pValue	- Interrupt Routine Argument

Returns

none

Interrupt Service Routine to handle host interrupt from mmwave radar device

Definition at line 560 of file rl_driver.c.

rlUInt8_t rlDriverIsDeviceMapValid

(

rlUInt8_t

deviceMap

)

Checks if given deviecMap is valid wrt to global DeviceMap set to mmWaveLink.

Parameters

[in]

deviceMap

- Bitmap of devices to send the message

Returns

rlReturnVal_t Success - 0, Failure - Error Code

It enables RF/Analog Subsystem.

Definition at line 2134 of file rl_driver.c.

rlReturnVal_t rlDriverMsgCmdReply	(	rlDriverData_t *	rlDrvData,
		rlUInt8_t	devIndex
	)

Wait and handle command response.

Parameters

[in]	rlDrvData	- Pointer to mmWaveLink global structure
[in]	devIndex	- Device index of slave device from where response is expected

Returns

rlReturnVal_t Success - 0, Failure - Error Code

Wait and handle command response

Definition at line 791 of file rl_driver.c.

rlReturnVal_t rlDriverMsgRead	(	rlDriverData_t *	rlDrvData,
		rlUInt8_t	devIndex
	)

Receive and validate protocol header and payload.

Parameters

[in]	rlDrvData	- Pointer to mmwavelink global structure
[in]	devIndex	- Device index of slave device from where data is received

Returns

rlReturnVal_t Success - 0, Failure - Error Code

Receive and validate protocol header and payload

Definition at line 1193 of file rl_driver.c.

rlReturnVal_t rlDriverMsgReadCmdCtx

(

rlUInt8_t

devIndex

)

Wait and handle command response.

Parameters

[in]

devIndex

- Device index of slave device from where response is expected

Returns

rlReturnVal_t Success - 0, Failure - Error Code

Wait and handle command response

Definition at line 892 of file rl_driver.c.

rlReturnVal_t rlDriverMsgWrite	(	rlDriverData_t *	rlDrvData,
		rlComIfHdl_t	comIfHdl
	)

Write command header and payload data over communication channel.

Parameters

[in]	rlDrvData	- Pointer to mmwavelink global structure
[in]	comIfHdl	- Communication interface handle

Returns

rlReturnVal_t Success - 0, Failure - Error Code

Write command header and payload data over communication channel

Definition at line 1314 of file rl_driver.c.

rlReturnVal_t rlDriverOsiInit

(

void

)

Initializes the OSI layer abstraction for mmwavelink.

Returns

rlReturnVal_t Success - 0, Failure - Error Code

Initializes the OS mutex, semaphore and queue interface for mmwavelink

Definition at line 1637 of file rl_driver.c.

rlReturnVal_t rlDriverProcRdMsg	(	rlUInt8_t	devIdx,
		rlReturnVal_t	inVal
	)

Process received message for Async event message.

Parameters

[in]	devIdx	- device Index
[in]	inVal	- status value

Returns

error status

Process received message for Async event message

Definition at line 631 of file rl_driver.c.

rlReturnVal_t rlDriverRemoveDevices

(

rlUInt8_t

deviceMap

)

Disconnects the mmwave radar devices.

Parameters

[in]

deviceMap

- Bitmap of mmwave devices to be disconnected

Returns

rlReturnVal_t Success - 0, Failure - Error Code

disconnects the mmwave radar devices Close communication channel, Unregister Interrupt Handler

Definition at line 1973 of file rl_driver.c.

rlReturnVal_t rlDriverRxHdrRead	(	rlUInt8_t	hdrBuf[RHCP_HEADER_LEN],
		rlComIfHdl_t	comIfHdl
	)

Read SYNC and Header from communication channel.

Parameters

[in]	comIfHdl	- Communication interface handle
[out]	hdrBuf	- Buffer to hold SyncPattern+header information

Returns

rlReturnVal_t pattern matched type, Failure - Error Code

Read SYNC and Header from communication channel

Definition at line 1521 of file rl_driver.c.

void rlDriverShiftDWord

(

rlUInt8_t

buf[]

)

Shifts one byte in the byte array.

Parameters

[in]

buf

- Byte array

Shifts one byte in the byte array

Definition at line 174 of file rl_driver.c.

rlReturnVal_t rlDriverValidateHdr

(

rlProtHeader_t

protHdr

)

Validates the header by comparing Checksum.

Parameters

[in]

protHdr

- Protocol Header

Returns

rlReturnVal_t Success - 0, Failure - Error Code

Validates the header by comparing checksum

Definition at line 361 of file rl_driver.c.

rlReturnVal_t rlDriverVerifyCRC	(	rlUInt8_t *	data,
		rlUInt16_t	dataLen,
		rlUInt8_t	crcType,
		rlUInt8_t	crc[RL_CRC_LEN_MAX]
	)

Compares received CRC with Calculated CRC.

Parameters

[in]	data	- Byte array
[in]	dataLen	- Length of the byte array
[in]	crcType	- Type of CRC 16/32/64bit
[in]	crc	- Received CRC

Returns

rlReturnVal_t CRC Check Pass - 0, CRC Check Fail - RL_RET_CODE_CRC_FAILED

Compares received CRC with Calculated CRC

Definition at line 243 of file rl_driver.c.

rlReturnVal_t rlDriverWaitForResponse	(	rlUInt8_t	devIndex,
		rlDriverMsg_t *	outMsg
	)

: Wait for Device's response

Parameters

[in]	devIndex	- devIndex is index of device not the deviceMap
[out]	outMsg	- Driver msg

Returns

Success : 0, Fail : Error code

Wait for driver response

Definition at line 2177 of file rl_driver.c.