(Software offering for Single Chip TI mmwave RADARs) Thu 5/11/2017

Transcription

1 SDK (Software offering for Single Chip TI RADARs) Thu 5/11/2017 1

2 Software Offering - Single Chip TI RADARs xwr14xx MCU HWA - FFT External Interface Platform Software RTOS SFLASH xwr16xx MCU DSP External Interface Device Drivers s and Processing Libraries Sample Applications Tools SFLASH Software Offering Software Development Kit 2

3 TI SDK Sensing & Analytics SW Suite TI code Customer code ISO enabled code Production Quality TI Code Modular design Well defined s Documentation doxygen, release notes, user guide Code coverage analysis Application Demo Visualizer Processing Link Lib Radar SS Firmware ( Front End) RTOS Drivers + OSAL (MSS/DSPSS) MSS Bootloader (ROM) TI RTOS Custom RTOS 3

4 SDK - Packaging common demo OOB demo Capture demo packages scripts drivers <drivers> osal MMWAVE SDK docs firmware tools ti Release Notes User Guides Radar SS Firmware control alg Platform utils soc pinmux Link Lib xwr14xx xwr16xx ccsdebug cli cycleprofiler testlogger Uses TI CGT compiler (R4F, C674X) provided as part of CCS Demo built over TI RTOS Simple makefile based build system 4

5 DRIVERS void ADCBuf_init(void); Application/ /Link void ADCBuf_Params_init(ADCBuf_Params *params); ADCBuf_Handle ADCBuf_open(uint8_t index, ADCBuf_Params *params); Drivers <H/W_IP>_HWAttrs structure Device/CPU configuration int16_t ADCBuf_control(ADCBuf_Handle handle, uint8_t cmd, void * arg); void ADCBuf_close(ADCBuf_Handle handle); Hardware IP SemaphoreP, MemoryP, ClockP, HwiP OSAL TI RTOS 5

6 Link s Device Manager s rldevicepoweron rldevicepoweroff Sensor Control s Description Initializes the driver and handshake with Front End De-initializes the driver and stops the front end MSS Application/ EventCbs_t Link rlsetchannelconfig rlsetadcoutconfig rlsetprofileconfig rlsetchirpconfig Configures the number of RX and TX channels Configures the ADC format (# bits, Real/Complex) Configures the profile (Frequency start, Frequency slope, Idle time, RX gain, ADC sampling rate, HPF1 and HPF2 cutoff, TX output power, TX phase shifter) Configures variable part for frequency start, slope, ADC start time, idle time and selection of TX for each chirp Mailbox Driver ComIfCbs_t CrcCbs_t CRC Driver OSAL TI RTOS OsiCbs_t TimerCbs_t rlsetframeconfig rlsensorstart Configures the frame (start chirp index, end chirp index, number of chirp loops, frame periodicity) Triggers the transmission of the frames as per the frame and chirp configuration Radar SS Firmware rlsensorstop Stops the transmission of the frames. 6

7 : Higher Level Control MSS Application DSS Application _init() _config() _start() _stop() _init() _execute() Link IPC IPC MSS DSS Radar SS Firmware DSS MSS 7

8 Lib Key routines required for FMCW radar-cube processing FFT 16 bit input and output 16 bit input and 32 bit output 32 bit input and 32 bit output Single precision floating point variations provided as well Block DFT 16 point Windowing 16 bit input and output 16 bit input and 32 bit output Detection CFAR-CA Detector Log2Abs Log2 of absolute value of a 32 bit complex number Angle estimation 16 point FFT with zero padded input (Angle FFT) Lib DSS Application EDMA Driver ADCBUF Driver DSS Other Helper routines (Scaling, Shifting, Accumulation) Routines are optimized for C674x architecture 8

9 xwr1642 Processing Chain using SDK Front End Radar data capture Range FFT L3 memory Doppler FFT L3 memory Detection (noncoherent) Angle estimation Radar SS Firmware ADCBUF Driver IPC Lib EDMA driver Lib DSS (C674x) Application EDMA driver Lib Processing Lib Processing IPC Radar control Link + Mailbox driver Output object data to external processor/ controller SPI/CAN/UART/I2C Driver MSS (R4F) Application Clustering Tracking classification Application / Processing (either (external R4F Processor) or C674x) Further Further Processing Processing + Control Control 9

10 xwr1642: Detailed Control Flow (1/3) Data Path Init MSS Application Link Drivers FE Drivers DSS Application SOC_init Power Up FE/ Radar SS MMWave_init Drivers init MMWave_init rldevicepoweron RF Bootup Drivers init Power Up Complete MMWave_execute MMWave_sync EDMA init ADCBUF init 10

11 xwr1642: Detailed Control Flow (2/3) Process CONFIG Message MSS Application Link Drivers FE Drivers DSS Application MMWave_config <init time calibration> rlsetchannelconfig rlsetadcoutconfig rlapplowpowerconfi g rlrfinit Send Message Send Message MMWave_execute rlsetprofileconfig RL_RF_AE_INITCALIBSTATUS rlsetchirpconfig rlsetframeconfig IPC send (CONFIG) CONFIG message EDMA config ADCBUF config 11

12 xwr1642: Detailed Control Flow (3/3) Process START Message Process STOP Message MSS Application Link Drivers FE Drivers DSS Application MMWave_start MMWave_execute IPC send (START) START message rlrfruntimecalib Config rlsensorstart MMWave_stop MMWave_execute IPC send (STOP) Stop message rlsensorstop 12

13 Detailed Processing Data Flow ADC Samples Ping Pong ADC Buffer EDMA L1D/L2 Working buffer DSP Pipelined operation for DSP and DMA EDMA Transpose L3 EDMA L1D/L2 Working buffer DSP Pipelined operation for DSP, DMA and R4F EDMA L3 EDMA L1D/L2 Working buffer DSP EDMA Object buffer 1/ L3 Object buffer 2/L3 Final object list for further processing Cube Memory Inline Processing (1 st D FFT) Range-FFT Frame Period Acquisition Period 2 nd D FFT (Velocity-FFT) 3 rd D FFT, Post-processing, Detection Frame Start Chirp Pattern N-1 N ADC Buffer filled Ping Pong Ping Ping Pong DMA Transfer into Working Buffer Ping Pong Pong Ping Pong DSP Processing Chirp 1 Chirp N-3 Chirp N-2 Chirp N-1 Interrupt to DSP DMA Transfer out of Working Buffer Chirp 1 Chirp N-3 Chirp N-2 Chirp N-4 13

14 Thank You 14