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TI mmWave sensor是高集成度的毫米波雷達傳感器SOC，在開發過程中，SDK及TI DEMO均使用靈活的UART 接口發送CLI命令進行射頻參數配置及相關算法參數的配置。對于量產及或者有固化參數的產品而言，將參數固化在代碼中會是一項明確的需求。本文介紹一種可以快速將CFG文件參數固化到應用代碼中的實現方式，同時支持原有串口的CLI配置，無需修改SDK驅動層代碼，可方便快捷的完成參數的固化。

本文的測試環境如下：

此方法適用器件型號：I/AWR1443, I/AWR1642, I/AWR1843, I/AWR6843
本文測試軟件版本：mmWave SDK 3.5.0.4
本文測試硬件平臺：IWR6843ISK EVM

1. 運行SDK mmWave sensor demo的流程及對外接口說明

在現有的TI mmWave SDK及TOOLBOX相關的示例代碼中，均使用兩個串口進行參數的配置及數據的獲取，EVM板載的TM4C MCU是一個板載XDS110仿真器，仿真器自帶兩路串口，可以直接完成SDK DEMO中的參數配置及數據輸出。在客制化產品中，可以使用外部的2個USB<->UART橋接線纜進行調試，兩個串口的默認使用情況如下：

一種可以快速將CFG文件參數固化到應用代碼中的實現方式

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

數據口：Auxilliary Data Port: Data port 921600bps: MSS_LOGGER-> USB-UART cable -> PC

mmWave sensor的啟動配置流程

2. 修改CLI參數以調整mmWave sensor 的配置參數

以SDK內的Out of Box demo為例，將BIN文件（比如：.\mmwave_sdk_\packages\ti\demo\xwr68xx\mmw\xwr68xx_mmw_demo.bin）燒寫至板卡后，啟動后，需要通過GUI下發CFG配置（比如：.\mmwave_sdk_\packages\ti\demo\xwr68xx\mmw\profiles\profile_2d.cfg），成功將配置加載后，IWR6843雷達芯片及開始射頻發波及目標探測的工作。CFG文件各項配置具體信息在mmWave SDK user’s guide中有詳細描述（文檔路徑：.\mmwave_sdk_\docs\mmwave_sdk_user_guide.pdf），通過CLI參數的配置，可靈活修改雷達的RF參數及信號處理的參數，方便調試工作的進行。

對于Toolbox內的demo，則需要同時參考SDK user’s Guide 及toolbox內的demo guide，其配置文件有SDK通用的部分，也有屬于此demo獨有的配置命令，包含SDK參數、目標檢測層的參數、追蹤器層的參數，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參數以實現芯片上電后自動加載配置

固化配置參數有幾種操作方式，如SDK文檔描述（file:///C:/ti/mmwave_sdk_03_05_00_04/packages/ti/demo/xwr68xx/mmw/docs/doxygen/html/index.html#bypassCLI），用戶可以將CFG文件中每一條都使用對應的函數調用替換。這種方式比較底層，代碼的改動量較大，但是可以節省一部分代碼空間。實現方法可參考Toolbox中提供的一個hard-coded chirp configurations的參考示例代碼，位于：.\mmwave_industrial_toolbox_4_9_0\labs\out_of_box_demo\68xx_mmwave_sdk_hcc

本文所介紹的CLI參數固化方式將保留原有的CLI串口調試的接口，同時將現有的CFG參數以CLI的格式配置進去，可視化程度高，實現更為簡單，實現方式如下。

在c 增加頭文件

#include

在c中增加外部結構體的定義。

extern CLI_MCB gCLI;

在c中，增加如下外部函數定義。

extern void MmwDemo_Bypass_CLI (void);

在c的"void MmwDemo_initTask(UArg arg0, UArg arg1)"函數中，在CLI_OPEN之后，調用” MmwDemo_Bypass_CLI”函數。

MmwDemo_Bypass_CLI();

在C中增加如下配置命令及代碼。

#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. 運行測試例程

將上述代碼集成進測試程序后，mmWave sensor成功配置。將此BIN文件燒寫到EVM板卡中，可以實現上電自動配置參數及運行的功能，代碼上電自動運行功能添加成功。

CCS debug運行模式下，CCS控制臺打印信息如下：

[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)

直接燒寫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. 附加說明

在部分的demo（比如3D people counting demo）中，會出現堆棧溢出導致上電后，initTask中，bypasscli配置失敗的情況，此時只需要需要適當增加此task的stacksize為4*1024，即可完成參數的配置。

/* Initialize the Task Parameters. */

Task_Params_init(&taskParams);

taskParams.stackSize = 4*1024;

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

6. 參考資料

IWR6843、IWR6443 單芯片 60GHz 至 64GHz 毫米波傳感器 數據表 (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