aoa2dproc.h

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/**************************************************************************
 *************************** Include Files ********************************
 **************************************************************************/
#ifndef AOA2DPROC_HWA_H
#define AOA2DPROC_HWA_H
 
/* Standard Include Files. */
#include <stdint.h>
#include <stdlib.h>
#include <stddef.h>
#include <string.h>
#include <stdio.h>
#include <math.h>
 
/* mmWave SDK Driver/Common Include Files */
#include <drivers/hwa.h>
#include <common/syscommon.h>
 
/* DPIF Components Include Files */
#include <datapath/dpif/dpif_detmatrix.h>
#include <datapath/dpif/dpif_radarcube.h>
#include <datapath/dpif/dpif_pointcloud.h>
 
/* mmWave SDK Data Path Include Files */
#include <datapath/dpif/dp_error.h>
#include <datapath/dpu/aoa2dproc/v0/aoa2dproccommon.h>
 
#ifdef __cplusplus
extern "C" {
#endif
 
#define DPU_AOA2DPROC_EINVAL                  (DP_ERRNO_AOA2D_PROC_BASE-1)
 
#define DPU_AOA2DPROC_ENOMEM                  (DP_ERRNO_AOA2D_PROC_BASE-2)
 
#define DPU_AOA2DPROC_EINPROGRESS             (DP_ERRNO_AOA2D_PROC_BASE-3)
 
#define DPU_AOA2DPROC_EHWARES                 (DP_ERRNO_AOA2D_PROC_BASE-4)
 
#define DPU_AOA2DPROC_ESEMA                   (DP_ERRNO_AOA2D_PROC_BASE-5)
 
#define DPU_AOA2DPROC_ESEMASTATUS             (DP_ERRNO_AOA2D_PROC_BASE-6)
 
#define DPU_AOA2DPROC_EEXCEEDHWAMEM           (DP_ERRNO_AOA2D_PROC_BASE-7)
 
#define DPU_AOA2DPROC_ECUBEFORMAT             (DP_ERRNO_AOA2D_PROC_BASE-8)
 
#define DPU_AOA2DPROC_EDETMFORMAT             (DP_ERRNO_AOA2D_PROC_BASE-9)
 
#define DPU_AOA2DPROC_EDETMSIZE               (DP_ERRNO_AOA2D_PROC_BASE-10)
 
#define DPU_AOA2DPROC_EWINDSIZE               (DP_ERRNO_AOA2D_PROC_BASE-11)
 
#define DPU_AOA2DPROC_E_NOTSUPPORTED_ANGLE_DIM_ONE_AND_CPU_LOOP_CTRL (DP_ERRNO_AOA2D_PROC_BASE-12)
 
#define DPU_AOA2DPROC_E_EXCEEDED_MAX_NUM_DOPPLER_BINS (DP_ERRNO_AOA2D_PROC_BASE-13)
 
#define DPU_AOA2DPROC_HWA_NUM_REGS_PER_PARAM_SET 8
 
#define DPU_AOA2DPROC_MAX_NUM_HWA_PARAMSET  6
 
#define DPU_AOA2DPROC_NUM_HWA_MEMBANKS  4 
 
#define DPU_AOA2DPROC_FIRST_SCALING_DISABLED ((uint8_t)0U)
 
#define DPU_AOA2DPROC_FIRST_SCALING_ENABLED ((uint8_t)1U)
 
#define DPU_AOA2DPROC_SHIFT_Q8  8
#define DPU_AOA2DPROC_ONE_Q8    (1<<DPU_CFARPROCHWA_SHIFT_Q8)
 
typedef void*  DPU_Aoa2dProc_Handle;
 
typedef struct DPU_Aoa2dProc_InitCfg_t
{
    HWA_Handle  hwaHandle;
    
}DPU_Aoa2dProc_InitParams;
 
typedef struct DPU_Aoa2dProc_HWA_Doppler_Fft_Cfg_t
{
    uint16_t    srcBcnt;
 
    int16_t     srcAddrOffset;
 
    int16_t     srcBidx;
 
    int16_t     scale;
 
    int16_t     dstAddrOffset;
 
    int16_t     dstBidx;
} DPU_Aoa2dProc_HWA_Doppler_Fft_Cfg;
 
#define DPU_AOA2D_PROC_MAX_NUM_DOP_FFFT_PARAMS 5
 
#define DPU_AOA2D_PROC_MAX_2D_ANT_ARRAY_ELEMENTS 16
 
typedef struct DPU_Aoa2dProc_HWA_Option_Cfg_t
{
    uint8_t numDopFftParams;
    DPU_Aoa2dProc_HWA_Doppler_Fft_Cfg dopFftCfg[DPU_AOA2D_PROC_MAX_NUM_DOP_FFFT_PARAMS];
} DPU_Aoa2dProc_HWA_Option_Cfg;
 
 
typedef struct DPU_Aoa2dProc_FFTWindowCfg_t
{
    uint8_t     winSym;
 
    uint32_t    windowSize;
 
    int32_t     *window;
 
    uint32_t    winRamOffset;
    
} DPU_Aoa2dProc_FFTWindowCfg;
 
 
typedef struct DPU_Aoa2dProc_HwaCfg_t
{
    DPU_Aoa2dProc_FFTWindowCfg dopplerWindow;
    DPU_Aoa2dProc_FFTWindowCfg angleWindow;
 
    uint8_t     firstStageScaling;
 
    uint8_t     numParamSets;
    
    uint32_t    paramSetStartIdx;
 
    uint32_t    hwaMemInpAddr;
 
    uint32_t    hwaMemOutAddr;
 
    DPU_Aoa2dProc_HWA_Option_Cfg aoa2dRngGateCfg;
 
    uint8_t     dmaTrigSrcChan;
}DPU_Aoa2dProc_HwaCfg;
 
typedef volatile struct DPU_Aoa2dProc_HwaMaxOutput_t
{
    uint32_t   maxInd;      
    uint32_t   peak;        
}  DPU_Aoa2dProc_HwaMaxOutput;
 
 
typedef struct DPU_Aoa2dProc_EdmaCfg_t
{
    EDMA_Handle edmaHandle;
 
    uint32_t    edmaInstanceId;
    
    DPEDMA_ChanCfg edmaIn;
 
    DPEDMA_ChanCfg edmaHotSig;
    
    Edma_IntrObject   *intrObj;
 
}DPU_Aoa2dProc_EdmaCfg;
 
typedef struct DPU_Aoa2dProc_HW_Resources_t
{
    DPU_Aoa2dProc_EdmaCfg edmaCfg;
    
    DPU_Aoa2dProc_HwaCfg  hwaCfg;
    
    DPIF_RadarCube radarCube;
    
    DPIF_DetMatrix detMatrix;
 
}DPU_Aoa2dProc_HW_Resources;
 
typedef struct DPU_Aoa2dProc_compRxChannelBiasCfg_t
{
 
    float rangeBias;
 
    cmplx32ReIm_t rxChPhaseComp[SYS_COMMON_NUM_TX_ANTENNAS * SYS_COMMON_NUM_RX_CHANNEL];
 
} DPU_Aoa2dProc_compRxChannelBiasCfg;
 
typedef struct DPU_Aoa2dProc_compRxChannelBiasFloatCfg_t
{
 
    float rangeBias;
 
    float rxChPhaseComp[2 * SYS_COMMON_NUM_TX_ANTENNAS * SYS_COMMON_NUM_RX_CHANNEL];
 
} DPU_Aoa2dProc_compRxChannelBiasFloatCfg;
 
typedef struct DPU_Aoa2dProc_AoaFovCfg_t
{
    float        minAzimuthDeg;
 
    float        maxAzimuthDeg;
 
    float        minElevationDeg;
 
    float        maxElevationDeg;
} DPU_Aoa2dProc_AoaFovCfg;
 
typedef struct DPU_Aoa2dProc_detectionCfg_t
{
    int16_t skipLeftRange;
    int16_t skipRightRange;
    int16_t skipLeftAzim;
    int16_t skipRightAzim;
    int16_t skipLeftElev;
    int16_t skipRightElev;
} DPU_Aoa2dProc_detectionCfg;
 
typedef struct DPU_Aoa2dProc_compressCfg_t
{
 
    uint8_t     compressionFactor;
 
    /* number of complex samples to compress */
    uint32_t numComplexElements;
 
} DPU_Aoa2dProc_compressCfg;
 
typedef struct DPU_Aoa2dProc_StaticConfig_t
{
    uint8_t     numTxAntennas;
    
    uint8_t     numRxAntennas;
    
    uint8_t     numVirtualAntennas; 
    
    uint16_t    numRangeBins;
    
    uint16_t    numDopplerChirps;
    
    uint16_t    numDopplerBins;
 
    uint16_t    numBpmDopplerChirps;
 
    uint16_t    bpmDopplerFftSize;
 
    uint16_t    azimuthFftSize;
 
    uint16_t    elevationFftSize;
 
    float       lambdaOverDistX;
 
    float       lambdaOverDistZ;
 
    uint16_t    numMinorMotionChirpsPerFrame;
 
    uint16_t    numFrmPerMinorMotProc;
 
    uint8_t     log2NumDopplerBins;
    
    uint16_t    log2BpmDopplerFftSize;
 
    uint8_t     angleDimension;
 
    bool        isDetMatrixLogScale;
 
    bool        isStaticClutterRemovalEnabled;
 
    DPU_Aoa2dProc_compRxChannelBiasCfg compRxChanCfg;
 
    uint16_t    numAntRow;
 
    uint16_t    numAntCol;
 
    DPU_Aoa2dProc_AoaFovCfg *fovAoaCfg;
 
    int16_t     sideLobeThresholdScaleQ8;
 
    bool        enableInterpAzimuthDom;
 
    bool isCompressionEnabled;
 
    DPU_Aoa2dProc_compressCfg compressCfg;
    
}DPU_Aoa2dProc_StaticConfig;
 
typedef struct DPU_Aoa2dProc_Config_t
{
    DPU_Aoa2dProc_HW_Resources  hwRes;
    
    DPU_Aoa2dProc_StaticConfig  staticCfg;
    
}DPU_Aoa2dProc_Config;
 
 
typedef struct DPU_Aoa2dProc_OutParams_t
{
    uint32_t numDetectedPoints;
 
    DPIF_PointCloudCartesianExt     *detObjOut;
 
    uint32_t detObjOutMaxSize;
 
    DPU_Aoa2dProc_Stats  stats;
 
}DPU_Aoa2dProc_OutParams;
 
 
DPU_Aoa2dProc_Handle DPU_Aoa2dProc_init(DPU_Aoa2dProc_InitParams *initCfg, int32_t* errCode);
int32_t DPU_Aoa2dProc_process(DPU_Aoa2dProc_Handle    handle,
                              DPIF_RadarCube *radarCubeSrc,
                              DPIF_CFARRngDopDetListElement *detRngDopList,
                                uint32_t numDetPoints,
                                DPIF_DetectedRangeGates *detectedRangeGates, //ToDo this should be scratch memory
                                DPIF_DetMatrix *detMatrix,
                                DPU_Aoa2dProc_OutParams *outParams);
 
int32_t DPU_Aoa2dProc_deinit(DPU_Aoa2dProc_Handle handle);
int32_t DPU_Aoa2dProc_config(DPU_Aoa2dProc_Handle handle, DPU_Aoa2dProc_Config *cfg);
int32_t DPU_Aoa2dProc_GetNumUsedHwaParamSets( DPU_Aoa2dProc_Handle handle, uint8_t *numUsedHwaParamSets);
 
#if 0
int32_t DPU_Aoa2dProcHWA_control
(
   DPU_AoAProcHWA_Handle handle,
   DPU_AoAProcHWA_Cmd cmd,
   void *arg,
   uint32_t argSize
);
#endif
 
 
#ifdef __cplusplus
}
#endif
 
#endif