cfarprochwa.h

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/**************************************************************************
 *************************** Include Files ********************************
 **************************************************************************/
#ifndef CFAR_PROC_HWA_H
#define CFAR_PROC_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 <drivers/edma.h>
 
#include <kernel/dpl/SemaphoreP.h>
 
/* Datapath files */
#include <datapath/dpif/dpif_detmatrix.h>
#include <datapath/dpif/dpif_pointcloud.h>
#include <datapath/dpedma/v0/dpedma.h>
#include <datapath/dpif/dp_error.h>
#include <datapath/dpu/cfarproc/v0/cfarproccommon.h>
 
#ifdef __cplusplus
extern "C" {
#endif
 
#define DPU_CFARPROCHWA_DET_MATRIX_BYTE_ALIGNMENT (sizeof(uint16_t))
 
#define DPU_CFARPROCHWA_CFAR_DET_LIST_BYTE_ALIGNMENT    DPIF_CFAR_DET_LIST_CPU_BYTE_ALIGNMENT
 
#define DPU_CFARPROCHWA_HWA_MEM_OUT_DOPPLER_BYTE_ALIGNMENT    (sizeof(uint32_t))
 
#define DPU_CFARPROCHWA_HWA_MEM_OUT_RANGE_BYTE_ALIGNMENT    (sizeof(uint32_t))
 
#define DPU_CFARPROCHWA_DOPPLER_DET_OUT_BIT_MASK_BYTE_ALIGNMENT    (sizeof(uint32_t))
 
#define DPU_CFARPROCHWA_EINVAL                  (DP_ERRNO_CFAR_PROC_BASE-1)
 
#define DPU_CFARPROCHWA_EINVAL__DET_MATRIX_FORMAT (DP_ERRNO_CFAR_PROC_BASE-2)
 
#define DPU_CFARPROCHWA_EINVAL__NUM_PARAM_SETS    (DP_ERRNO_CFAR_PROC_BASE-3)
 
#define DPU_CFARPROCHWA_ENOMEM                  (DP_ERRNO_CFAR_PROC_BASE-10)
 
#define DPU_CFARPROCHWA_ENOMEM__DET_MATRIX_EXCEEDS_HWA_INP_MEM  (DP_ERRNO_CFAR_PROC_BASE-11)
 
#define DPU_CFARPROCHWA_ENOMEMALIGN_DET_MATRIX                  (DP_ERRNO_CFAR_PROC_BASE-12)
 
#define DPU_CFARPROCHWA_ENOMEMALIGN_HWA_MEM_OUT_RANGE           (DP_ERRNO_CFAR_PROC_BASE-15)
 
#define DPU_CFARPROCHWA_NUM_RANGE_BINS_EXCEDED_LIMIT           (DP_ERRNO_CFAR_PROC_BASE-18)
 
#define DPU_CFARPROCEDMA_ESEMA                  (DP_ERRNO_CFAR_PROC_BASE-19)
 
#define DPU_CFARPROCHWA_EINTERNAL               (DP_ERRNO_CFAR_PROC_BASE-20)
 
#define DPU_CFARPROCHWA_EHWA_PARAM_SAVE_LOC_SIZE (DP_ERRNO_CFAR_PROC_BASE-21)
 
#define DPU_CFARPROCHWA_ENOTIMPL                (DP_ERRNO_CFAR_PROC_BASE-30)
 
 #define DPU_CFARPROCHWA_ESEMA                   (DP_ERRNO_CFAR_PROC_BASE-40)
 
#define DPU_CFARPROCHWA_SHIFT_Q8  8
#define DPU_CFARPROCHWA_ONE_Q8    (1<<DPU_CFARPROCHWA_SHIFT_Q8)
 
#define DPU_CFARPROCHWA_MAX_NUM_HWA_PARAMSET  2
 
 typedef enum DPU_CFARProcHWA_Cmd_e
 {
 
     DPU_CFARProcHWA_Cmd_CfarCfg,
 
     DPU_CFARProcHWA_Cmd_FovRangeCfg,
 
     DPU_CFARProcHWA_Cmd_FovAoaCfg
 }DPU_CFARProcHWA_Cmd;
 
 
 typedef struct DPU_CFARProcHWA_HwaParamSaveLoc_t
 {
     void        *data;
 
     uint32_t    sizeBytes;
 } DPU_CFARProcHWA_HwaParamSaveLoc;
 
typedef struct DPU_CFARProcHWA_HwaCfarConfig_t
{
    uint8_t    paramSetStartIdx;
 
    uint8_t    numParamSet;
 
    DPU_CFARProcHWA_HwaParamSaveLoc hwaParamsSaveLoc;
 
    uint8_t     dmaTrigSrcChan;
}DPU_CFARProcHWA_HwaCfarConfig;
 
typedef volatile struct DPU_CFARProcHWA_CfarDetOutput_t
{
    uint32_t   noise;           
    uint32_t   cellIdx  : 12;   
    uint32_t   iterNum  : 12;   
    uint32_t   reserved :  8;   
} DPU_CFARProcHWA_CfarDetOutput;
 
 
typedef volatile struct DPU_CFARProcHWA_HwaMaxOutput_t
{
    uint32_t   maxInd;      
    uint32_t   peak;        
}  DPU_CFARProcHWA_HwaMaxOutput;
 
typedef struct DPU_CFARProcHWA_InitParams_t
{
    HWA_Handle  hwaHandle;
}DPU_CFARProcHWA_InitParams;
 
typedef struct DPU_CFARProcHWA_Resources_t
{
    EDMA_Handle         edmaHandle;
 
    DPEDMA_ChanCfg       edmaHwaIn;
 
    DPEDMA_ChanCfg       edmaHwaOut;
 
    DPEDMA_ChanCfg       edmaHwaInSignature;
 
    Edma_IntrObject   *intrObj;
 
    DPU_CFARProcHWA_HwaCfarConfig   hwaCfg;
 
    DPIF_DetMatrix      detMatrix;
 
    uint16_t  *hwaMemInp;
 
    uint32_t   hwaMemInpSize;
 
    DPU_CFARProcHWA_CfarDetOutput *hwaMemOutDetList;
 
    uint32_t hwaMemOutDetListSize;
 
    DPU_CFARProcHWA_HwaMaxOutput *hwaMemOutRangeProfile;
 
    DPIF_DetMatrix  dopplerIndexMatrix;
 
    DPIF_DetMatrix  elevationIndexMatrix;
 
    uint32_t        *rangeDopplerDetPointBitMap;
} DPU_CFARProcHWA_HW_Resources;
 
typedef struct DPU_CFARProcHWA_DynamicConfig_t
{
    DPU_CFARProc_CfarCfg   *cfarCfg;
 
    DPU_CFARProc_CfarScndPassCfg   *cfarScndPassCfg;
 
    DPU_CFARProc_AoaFovCfg *fovAoaCfg;
 
    DPU_CFARProc_RangeFovCfg *fovRange;
 
} DPU_CFARProcHWA_DynamicConfig;
 
typedef struct DPU_CFARProcHWA_StaticConfig_t
{
    uint8_t     log2NumDopplerBins;
 
    uint16_t    numRangeBins;
 
    uint16_t    numDopplerBins;
 
     uint16_t    azimuthFftSize;
 
     uint16_t    elevationFftSize;
 
    float       rangeStep;
 
    float       dopplerStep;
 
    float       lambdaOverDistX;
 
    float       lambdaOverDistZ;
 
    float       rangeBias;
 
    uint8_t        selectCoherentPeakInDopplerDim;
 
    uint8_t     angleDimension;
 
    uint8_t     detectionHeatmapType;
 
    bool        isStaticClutterRemovalEnabled;
 
    bool        isDetMatrixLogScale;
 
    bool        enableCfarPointCloudListWithIndices;
 
} DPU_CFARProcHWA_StaticConfig;
 
typedef struct DPU_CFARProcHWA_Config_t
{
    DPU_CFARProcHWA_HW_Resources res;
 
    DPU_CFARProcHWA_DynamicConfig dynCfg;
 
    DPU_CFARProcHWA_StaticConfig staticCfg;
}DPU_CFARProcHWA_Config;
 
typedef struct DPU_CFARProcHWA_InputParams_t
{
    float       velocityInclusionThr;
 
    bool        forceVelocityToZero;
} DPU_CFARProcHWA_InputParams;
 
typedef struct DPU_CFARProcHWA_OutParams_t
{
    DPU_CFARProc_Stats stats;
 
    uint32_t numCfarDetectedPoints;
 
    DPIF_PointCloudCartesianExt     *detObjOut;
 
    DPIF_PointCloudRngAzimElevDopInd     *detObjIndOut;
 
    uint32_t                      detObjOutMaxSize;
 
    uint32_t *rangeProfile;
 
    DPU_CFARProcHWA_CfarDetOutput * cfarRangeDetOutList;
 
    DPIF_CFARRngDopDetListElement *detRngDopList;
}DPU_CFARProcHWA_OutParams;
 
typedef void* DPU_CFARProcHWA_Handle;
 
DPU_CFARProcHWA_Handle DPU_CFARProcHWA_init
(
    DPU_CFARProcHWA_InitParams *initCfg,
    int32_t*            errCode
);
 
int32_t DPU_CFARProcHWA_config
(
    DPU_CFARProcHWA_Handle      handle,
    DPU_CFARProcHWA_Config      *cfarHwaCfg
);
 
int32_t DPU_CFARProcHWA_process
(
    DPU_CFARProcHWA_Handle   handle,
    DPIF_DetMatrix *detMatrix,
    DPU_CFARProcHWA_InputParams *inputParams,
    DPU_CFARProcHWA_OutParams  *outParams
);
 
int32_t DPU_CFARProcHWA_control
(
    DPU_CFARProcHWA_Handle handle,
    DPU_CFARProcHWA_Cmd cmd,
    void *arg,
    uint32_t argSize
);
 
int32_t DPU_CFARProcHWA_deinit
(
    DPU_CFARProcHWA_Handle handle
);
 
int32_t DPU_CFARProcHWA_GetNumUsedHwaParamSets
(
    DPU_CFARProcHWA_Handle   handle,
    uint8_t *numUsedHwaParamSets
);
 
#ifdef __cplusplus
}
#endif
 
#endif