一种可以快速将CFG文件参数固化到应用代码中的实现方式

德州仪器 2022-02-15 3037

描述

TI mmWave sensor是高集成度的毫米波雷达传感器SOC，在开发过程中，SDK及TI DEMO均使用灵活的UART接口发送CLI命令进行射频参数配置及相关算法参数的配置。对于量产及或者有固化参数的产品而言，将参数固化在代码中会是一项明确的需求。本文介绍一种可以快速将CFG文件参数固化到应用代码中的实现方式，同时支持原有串口的CLI配置，无需修改SDK驱动层代码，可方便快捷的完成参数的固化。

本文的测试环境如下：

此方法适用器件型号：I/AWR1443, I/AWR1642, I/AWR1843, I/AWR6843
本文测试软件版本：mmWave SDK 3.5.0.4
本文测试硬件平台：IWR6843ISK EVM

1. 运行SDK mmWave sensor demo的流程及对外接口说明

在现有的TI mmWave SDK及TOOLBOX相关的示例代码中，均使用两个串口进行参数的配置及数据的获取，EVM板载的TM4C MCU是一个板载XDS110仿真器，仿真器自带两路串口，可以直接完成SDK DEMO中的参数配置及数据输出。在客制化产品中，可以使用外部的2个USB<->UART桥接线缆进行调试，两个串口的默认使用情况如下：

配置命令口：Application/User Uart: Configuration port 115200bps: UART_RX/TX port <-> USB-UART cable <-> PC

数据口：Auxilliary Data Port: Data port 921600bps: MSS_LOGGER-> USB-UART cable -> PC

mmWave sensor的启动配置流程

2. 修改CLI参数以调整mmWave sensor 的配置参数

以SDK内的Out of Box demo为例，将BIN文件（比如：.\mmwave_sdk_\packages\ti\demo\xwr68xx\mmw\xwr68xx_mmw_demo.bin）烧写至板卡后，启动后，需要通过GUI下发CFG配置（比如：.\mmwave_sdk_\packages\ti\demo\xwr68xx\mmw\profiles\profile_2d.cfg），成功将配置加载后，IWR6843雷达芯片及开始射频发波及目标探测的工作。CFG文件各项配置具体信息在mmWave SDK user’s guide中有详细描述（文档路径：.\mmwave_sdk_\docs\mmwave_sdk_user_guide.pdf），通过CLI参数的配置，可灵活修改雷达的RF参数及信号处理的参数，方便调试工作的进行。

对于Toolbox内的demo，则需要同时参考SDK user’s Guide 及toolbox内的demo guide，其配置文件有SDK通用的部分，也有属于此demo独有的配置命令，包含SDK参数、目标检测层的参数、追踪器层的参数，示例如下（.\mmwave_industrial_toolbox_4_9_0\labs\people_counting\68xx_3D_people_counting\chirp_configs\AOP_6m_default.cfg）：

% SDK Parameters

% See the SDK user's guide for more information

% "C:\ti\mmwave_sdk_[VER]\docs\mmwave_sdk_user_guide.pdf"

sensorStop

flushCfg

dfeDataOutputMode 1

channelCfg 15 7 0

adcCfg 2 1

adcbufCfg -1 0 1 1 1

lowPower 0 0

% Detection Layer Parameters

% See the Detection Layer Tuning Guide for more information

% "C:\ti\mmwave_industrial_toolbox_[VER]\labs\people_counting\docs\3D_people_counting_detection_layer_tuning_guide.pdf"

profileCfg 0 60.75 30.00 25.00 59.10 394758 0 54.71 1 96 2950.00 2 1 36

chirpCfg 0 0 0 0 0 0 0 1

chirpCfg 1 1 0 0 0 0 0 2

chirpCfg 2 2 0 0 0 0 0 4

frameCfg 0 2 96 0 55.00 1 0

dynamicRACfarCfg -1 4 4 2 2 8 12 4 8 5.00 8.00 0.40 1 1

staticRACfarCfg -1 6 2 2 2 8 8 6 4 8.00 15.00 0.30 0 0

dynamicRangeAngleCfg -1 0.75 0.0010 1 0

dynamic2DAngleCfg -1 1.5 0.0300 1 0 1 0.30 0.85 8.00

staticRangeAngleCfg -1 0 8 8

antGeometry0 -1 -1 0 0 -3 -3 -2 -2 -1 -1 0 0

antGeometry1 -1 0 -1 0 -3 -2 -3 -2 -3 -2 -3 -2

antPhaseRot 1 -1 1 -1 1 -1 1 -1 1 -1 1 -1

fovCfg -1 70.0 20.0

compRangeBiasAndRxChanPhase 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0

% Tracker Layer Parameters

% See the Tracking Layer Tuning Guide for more information

% "C:\ti\mmwave_industrial_toolbox_[VER]\labs\people_counting\docs\3D_people_counting_tracker_layer_tuning_guide.pdf"

staticBoundaryBox -3 3 0.5 7.5 0 3

boundaryBox -4 4 0 8 0 3

sensorPosition 2 0 15

gatingParam 3 2 2 2 4

stateParam 3 3 12 500 5 6000

allocationParam 20 100 0.1 20 0.5 20

maxAcceleration 0.1 0.1 0.1

trackingCfg 1 2 800 30 46 96 55

presenceBoundaryBox -3 3 0.5 7.5 0 3

sensorStart

3. 固化CLI参数以实现芯片上电后自动加载配置

固化配置参数有几种操作方式，如SDK文档描述（file:///C:/ti/mmwave_sdk_03_05_00_04/packages/ti/demo/xwr68xx/mmw/docs/doxygen/html/index.html#bypassCLI），用户可以将CFG文件中每一条都使用对应的函数调用替换。这种方式比较底层，代码的改动量较大，但是可以节省一部分代码空间。实现方法可参考Toolbox中提供的一个hard-coded chirp configurations的参考示例代码，位于：.\mmwave_industrial_toolbox_4_9_0\labs\out_of_box_demo\68xx_mmwave_sdk_hcc

本文所介绍的CLI参数固化方式将保留原有的CLI串口调试的接口，同时将现有的CFG参数以CLI的格式配置进去，可视化程度高，实现更为简单，实现方式如下。

在c 增加头文件

#include

在c中增加外部结构体的定义。

extern CLI_MCB gCLI;

在c中，增加如下外部函数定义。

extern void MmwDemo_Bypass_CLI (void);

在c的"void MmwDemo_initTask(UArg arg0, UArg arg1)"函数中，在CLI_OPEN之后，调用” MmwDemo_Bypass_CLI”函数。

MmwDemo_Bypass_CLI();

在C中增加如下配置命令及代码。

#define CLI_BYPASS 1

#define MAX_RADAR_CMD 30

uint8_t* radarCmdString[MAX_RADAR_CMD] =

{

{"sensorStop\r\n"},

{"flushCfg\r\n"},

{"dfeDataOutputMode 1\r\n"},

{"channelCfg 15 5 0\r\n"},

{"adcCfg 2 1\r\n"},

{"adcbufCfg -1 0 1 1 1\r\n"},

{"lowPower 0 0\r\n"},

{"profileCfg 0 60 7 3 24 0 0 166 1 256 12500 0 0 158\r\n"},

{"chirpCfg 0 0 0 0 0 0 0 1\r\n"},

{"chirpCfg 1 1 0 0 0 0 0 4\r\n"},

{"frameCfg 0 1 32 0 100 1 0\r\n"},

{"guiMonitor -1 1 1 1 0 0 1\r\n"},

{"cfarCfg -1 0 2 8 4 3 0 15.0 0\r\n"},

{"cfarCfg -1 1 0 4 2 3 1 15.0 0\r\n"},

{"multiObjBeamForming -1 1 0.5\r\n"},

{"calibDcRangeSig -1 0 -5 8 256\r\n"},

{"clutterRemoval -1 0\r\n"},

{"compRangeBiasAndRxChanPhase 0.0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0\r\n"},

{"measureRangeBiasAndRxChanPhase 0 1. 0.2\r\n"},

{"aoaFovCfg -1 -90 90 -90 90\r\n"},

{"cfarFovCfg -1 0 0.25 9.0\r\n"},

{"cfarFovCfg -1 1 -20.16 20.16\r\n"},

{"extendedMaxVelocity -1 0\r\n"},

{"CQRxSatMonitor 0 3 4 63 0\r\n"},

{"CQSigImgMonitor 0 127 4\r\n"},

{"analogMonitor 0 0\r\n"},

{"lvdsStreamCfg -1 0 0 0\r\n"},

{"bpmCfg -1 0 0 0\r\n"},

{"calibData 0 0 0\r\n"},

{"sensorStart\r\n"}

};

static int32_t CLI_ByPassApi(CLI_Cfg* ptrCLICfg)

{

//uint8_t cmdString[128];

char* tokenizedArgs[CLI_MAX_ARGS];

char* ptrCLICommand;

char delimitter[] = " \r\n";

uint32_t argIndex;

CLI_CmdTableEntry* ptrCLICommandEntry;

int32_t cliStatus;

uint32_t index, idx;

uint16_t numCLICommands = 0U;

/* Sanity Check: Validate the arguments */

if (ptrCLICfg == NULL)

return -1;

/* Cycle through and determine the number of supported CLI commands: */

for (index = 0; index < CLI_MAX_CMD; index++)

{

/* Do we have a valid entry? */

if (ptrCLICfg->tableEntry[index].cmd == NULL)

{

/* NO: This is the last entry */

break;

}

else

{

/* YES: Increment the number of CLI commands */

numCLICommands = numCLICommands + 1;

}

/* Execute All Radar Commands */

for (idx = 0; idx < MAX_RADAR_CMD; idx++)

{

/* Reset all the tokenized arguments: */

memset ((void *)&tokenizedArgs, 0, sizeof(tokenizedArgs));

argIndex = 0;

ptrCLICommand = (char*)radarCmdString[idx];

/* Set the CLI status: */

cliStatus = -1;

/* The command has been entered we now tokenize the command message */

while (1)

{

/* Tokenize the arguments: */

tokenizedArgs[argIndex] = strtok(ptrCLICommand, delimitter);

if (tokenizedArgs[argIndex] == NULL)

break;

/* Increment the argument index: */

argIndex++;

if (argIndex >= CLI_MAX_ARGS)

break;

/* Reset the command string */

ptrCLICommand = NULL;

}

/* Were we able to tokenize the CLI command? */

if (argIndex == 0)

continue;

/* Cycle through all the registered CLI commands: */

for (index = 0; index < numCLICommands; index++)

{

ptrCLICommandEntry = &ptrCLICfg->tableEntry[index];

/* Do we have a match? */

if (strcmp(ptrCLICommandEntry->cmd, tokenizedArgs[0]) == 0)

{

/* YES: Pass this to the CLI registered function */

cliStatus = ptrCLICommandEntry->cmdHandlerFxn (argIndex, tokenizedArgs);

if (cliStatus == 0)

{

CLI_write ("Done\n");

}

else

{

CLI_write ("Error %d\n", cliStatus);

}

break;

}

/* Did we get a matching CLI command? */

if (index == numCLICommands)

{

/* NO matching command found. Is the mmWave extension enabled? */

if (ptrCLICfg->enableMMWaveExtension == 1U)

{

/* Yes: Pass this to the mmWave extension handler */

cliStatus = CLI_MMWaveExtensionHandler (argIndex, tokenizedArgs);

}

/* Was the CLI command found? */

if (cliStatus == -1)

{

/* No: The command was still not found */

CLI_write ("'%s' is not recognized as a CLI command\n", tokenizedArgs[0]);

}

return 0;

}

void MmwDemo_Bypass_CLI (void)

{

if (CLI_ByPassApi(&gCLI.cfg) != 0)

{

System_printf ("Error: Unable to CLI_ByPassApi\n");

return;

}

return;

}

4. 运行测试例程

将上述代码集成进测试程序后，mmWave sensor成功配置。将此BIN文件烧写到EVM板卡中，可以实现上电自动配置参数及运行的功能，代码上电自动运行功能添加成功。

CCS debug运行模式下，CCS控制台打印信息如下：

[Cortex_R4_0] **********************************************

Debug: Launching the MMW Demo on MSS

**********************************************

Debug: Launched the Initialization Task

Debug: mmWave Control Initialization was successful

Debug: mmWave Control Synchronization was successful

[C674X_0] Debug: DPM Module Sync is done

[Cortex_R4_0] Debug: CLI is operational

Debug: Sending rlRfSetLdoBypassConfig with 0 0 0

============ Heap Memory Stats ============

Size Used Free DPCUsed

System Heap(TCMB) 32768 28016 4752 2048

L3 786432 262144 524288

localRam(TCMB) 4096 512 3584

============ Heap Memory Stats ============

Size Used Free DPCUsed

System Heap(L2) 32768 16112 16656 0

L3 786432 16384 770048

localRam(L2) 50176 15272 34904

localRam(L1) 16384 5728 10656

Starting Sensor (issuing MMWave_start)

直接烧写BIN文件到EVM板卡，串口打印信息如下：

******************************************

xWR68xx MMW Demo 03.05.00.04

******************************************

mmwDemo:/>Ignored: Sensor is already stopped

Done

Debug: Init Calibration Status = 0x1ffe

Done

mmwDemo:/>

5. 附加说明

在部分的demo（比如3D people counting demo）中，会出现堆栈溢出导致上电后，initTask中，bypasscli配置失败的情况，此时只需要需要适当增加此task的stacksize为4*1024，即可完成参数的配置。

/* Initialize the Task Parameters. */

Task_Params_init(&taskParams);

taskParams.stackSize = 4*1024;

gMmwMssMCB.taskHandles.initTask = Task_create(MmwDemo_initTask, &taskParams, NULL);

6. 参考资料

IWR6843、IWR6443 单芯片 60GHz 至 64GHz 毫米波传感器 数据表 (Rev. D)
mmWave SDK: mmWave Software Development Kit http://www.ti.com/tool/mmwave-sdk
mmWave SDK User’s Guide: C:\ti\mmwave_sdk_03_05_00_04\docs\mmwave_sdk_user_guide.pdf
mmWave SDK Out of Box Demo - XWR68XX: C:/ti/mmwave_sdk_03_05_00_04/packages/ti/demo/xwr68xx/mmw/docs/doxygen/html/index.html
mmWave SDK Out of Box Demo - 68xx Hard-Coded Config Version User's Guide: C:/ti/mmwave_industrial_toolbox_4_9_0/labs/out_of_box_demo/68xx_mmwave_sdk_hcc/docs/mmWave_sdk_68xx_hcc_user_guide.html

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