udopproc.h

Go to the documentation of this file.

 
/**************************************************************************
 *************************** Include Files ********************************
 **************************************************************************/
#ifndef UDOPPROC_HWA_H
#define UDOPPROC_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>
 
/* DPIF Components Include Files */
#include <datapath/dpif/dpif_detmatrix.h>
#include <datapath/dpif/dpif_radarcube.h>
 
/* mmWave SDK Data Path Include Files */
#include <datapath/dpif/dp_error.h>
#include <datapath/dpu/udopproc/v0/udopproccommon.h>
#include <alg/featExtract/spectrumBased/featExtract.h>
#include <alg/classifier/targetClassifier/classifier.h>
#include <datapath/dpu/doaproc/v0/doaproc.h> //ToDo Remove this and create structure DPU_DoaProc_HWA_Option_Cfg in common file e.g. antenna_geometry.h
 
 
#ifdef __cplusplus
extern "C" {
#endif
 
#define DP_ERRNO_UDOPPLER_PROC_BASE                 (MMWAVE_ERRNO_DPU_BASE -700) //ToDo move this to dp_error.h
 
#define DPU_UDOPPROC_EINVAL                  (DP_ERRNO_UDOPPLER_PROC_BASE-1)
 
#define DPU_UDOPPROC_ENOMEM                  (DP_ERRNO_UDOPPLER_PROC_BASE-2)
 
#define DPU_UDOPPROC_EINPROGRESS             (DP_ERRNO_UDOPPLER_PROC_BASE-3)
 
#define DPU_UDOPPROC_EHWARES                 (DP_ERRNO_UDOPPLER_PROC_BASE-4)
 
#define DPU_UDOPPROC_ESEMA                   (DP_ERRNO_UDOPPLER_PROC_BASE-5)
 
#define DPU_UDOPPROC_ESEMASTATUS             (DP_ERRNO_UDOPPLER_PROC_BASE-6)
 
#define DPU_UDOPPROC_EEXCEEDHWAMEM           (DP_ERRNO_UDOPPLER_PROC_BASE-7)
 
#define DPU_UDOPPROC_ECUBEFORMAT             (DP_ERRNO_UDOPPLER_PROC_BASE-8)
 
#define DPU_UDOPPROC_EDETMFORMAT             (DP_ERRNO_UDOPPLER_PROC_BASE-9)
 
#define DPU_UDOPPROC_EDETMSIZE               (DP_ERRNO_UDOPPLER_PROC_BASE-10)
 
#define DPU_UDOPPROC_EWINDSIZE               (DP_ERRNO_UDOPPLER_PROC_BASE-11)
 
#define DPU_UDOPPROC_EHWA_PARAM_SAVE_LOC_SIZE (DP_ERRNO_UDOPPLER_PROC_BASE-12)
 
#define DPU_UDOPPROC_EEDMA_CONFIG_FAILED (DP_ERRNO_UDOPPLER_PROC_BASE-13)
 
#define DPU_UDOPPROC_MAX_NUM_HWA_PARAMSET  6
 
#define DPU_UDOPPROC_NUM_HWA_MEMBANKS  4 
 
#define DPU_UDOPPROC_FIRST_SCALING_DISABLED ((uint8_t)0U)
 
#define DPU_UDOPPROC_FIRST_SCALING_ENABLED ((uint8_t)1U)
 
#define DPU_UDOPPROC_RANGE_LOOP_HWA_CONTROL (0)
 
#define DPU_UDOPPROC_RANGE_LOOP_CPU_CONTROL (1)
 
 
#define  DPU_UDOPPROC_MAX_NUM_TRACKS         TRACKER_MAX_NUM_TR
 
 
#define DPU_UDOPPROC_AZIMUTH_FFT_APPROACH               0
#define DPU_UDOPPROC_AZIMUTH_BEAM_FORMING_APPROACH      1
 
/* Maximum number of azimuth accumulation bins */
#define DPU_UDOPPROC_MAX_NUM_AZIMUTH_ACCUM_BINS         15
 
/* Constant layer definitions */
#define CLASSIFIER_NUM_FRAMES           30
#define CLASSIFIER_NUM_FEATURES         4
#define CLASSIFIER_NUM_CLASSES          2
 
typedef struct FeatExtract_reducedFeatOutput_t
{
    float features[CLASSIFIER_NUM_FEATURES];
} FeatExtract_reducedFeatOutput;
 
typedef struct DPU_uDopProc_FeatureObj_t
{
    FeatExtract_reducedFeatOutput featureDelayLine[CLASSIFIER_NUM_FRAMES];
    float predictDelayLine[CLASSIFIER_NUM_FRAMES][CLASSIFIER_NUM_CLASSES];
    uint8_t presentDelayLine[CLASSIFIER_NUM_FRAMES];
    uint8_t missDelayLine[CLASSIFIER_NUM_FRAMES];
    uint8_t cumMissDelayLine[CLASSIFIER_NUM_FRAMES];
    uint8_t numPresent;
    uint8_t numMisses;
    uint8_t numCumMisses;
} DPU_uDopProc_FeatureObj;
 
typedef void*  classifier_Handle;
 
typedef struct DPU_uDopProc_RadarCubeChunkEdmaCfg_t
{
    uint32_t srcAddress;
 
    uint32_t dstAddress;
 
    uint32_t Bcnt_Acnt;
} DPU_uDopProc_RadarCubeChunkEdmaCfg;
 
typedef void*  DPU_uDopProc_Handle;
 
typedef struct DPU_uDopProc_InitCfg_t
{
    HWA_Handle  hwaHandle;
    
}DPU_uDopProc_InitParams;
 
typedef struct DPU_uDopProc_HwaParamSaveLoc_t
{
    void        *data;
 
    uint32_t    sizeBytes;
} DPU_uDopProc_HwaParamSaveLoc;
 
typedef struct DPU_uDopProc_scratch_t
{
    void        *data;
 
    uint32_t    sizeBytes;
} DPU_uDopProc_scratch;
 
typedef struct DPU_uDopProc_HwaCfg_t
{
    uint8_t     firstStageScaling;
 
    //uint8_t     numParamSets;
    
    uint32_t    paramSetStartIdx;
 
    DPU_uDopProc_HwaParamSaveLoc hwaParamsSaveLoc;
 
    uint8_t     dmaTrigSrcChan;
}DPU_uDopProc_HwaCfg;
 
typedef volatile struct DPU_uDopProc_HwaMaxOutput_t
{
    uint32_t   maxInd;      
    uint32_t   peak;        
}  DPU_uDopProc_HwaMaxOutput;
 
typedef volatile struct DPU_uDopProc_HwaSumOutput_t
{
    int32_t   sumIm;        
    int32_t   sumRe;        
}  DPU_uDopProc_HwaSumOutput;
 
typedef struct DPU_uDopProc_EdmaCfg_t
{
    EDMA_Handle edmaHandle;
    uint32_t    edmaInstanceId;
    
    DPEDMA_ChanCfg edmaIn;
 
    DPEDMA_ChanCfg edmaResetIn;
 
    DPEDMA_ChanCfg edmaHotSig;
    
    DPEDMA_3LinkChanCfg edmaChainOut;  //ToDo replace this with DPEDMA_2LinkChanCfg once defined in dpedma
 
    DPEDMA_ChanCfg edmaMicroDopOut;
 
    Edma_IntrObject   *intrObj;
 
}DPU_uDopProc_EdmaCfg;
 
typedef struct DPU_uDopProc_HW_Resources_t
{
    DPU_uDopProc_EdmaCfg edmaCfg;
    
    DPU_uDopProc_HwaCfg  hwaCfg;
    
    DPIF_RadarCube radarCube;
 
    DPIF_DetMatrix detMatrix;
 
    uint32_t *uDopplerHwaOutput;
 
    DPU_uDopProc_scratch scratchBuf;
 
    DPU_DoaProc_HWA_Option_Cfg doaRngGateCfg;
 
    DPU_uDopProc_FeatureObj *featureObj;
 
    DPU_uDopProc_scratch scratchBuf2;
 
}DPU_uDopProc_HW_Resources;
 
typedef struct DPU_uDopProc_compRxChannelBiasCfg_t
{
 
    float rangeBias;
 
    cmplx32ReIm_t rxChPhaseComp[SYS_COMMON_NUM_TX_ANTENNAS * SYS_COMMON_NUM_RX_CHANNEL];
 
} DPU_uDopProc_compRxChannelBiasCfg;
 
typedef struct DPU_uDopProcCliCfg_t
{
    float targetSize;
 
    float interceptThrLowFreq;
 
    float interceptThrUpFreq;
 
    uint8_t specShiftMode;
 
    uint8_t enabled;
 
    uint8_t genApproach;
 
    uint8_t magnitudeSquared;
 
    uint8_t circShiftAroundCentroid;
 
    uint8_t normalizedSpectrum;
 
} DPU_uDopProcCliCfg;
 
typedef struct DPU_uDopClassifierCliCfg_t
{
    uint8_t enabled;
 
    uint8_t missTotFrmThre;
 
    uint8_t minNumPntsPerTrack;
 
 
} DPU_uDopClassifierCliCfg;
 
typedef struct DPU_uDopProc_StaticConfig_t
{
    uint8_t     numTxAntennas;
    
    uint8_t     numRxAntennas;
    
    uint8_t     numVirtualAntennas; 
    
    uint16_t    numRangeBins;
    
    uint16_t    numDopplerChirps;
    
    uint16_t    numDopplerBins;
    
    uint16_t    azimuthFftSize;
 
    uint16_t    elevationFftSize;
 
    uint16_t    numMinorMotionChirpsPerFrame;
 
    uint8_t     log2NumDopplerBins;
    
    uint8_t     angleDimension;
 
    bool        isDetMatrixLogScale;
 
    bool        isStaticClutterRemovalEnabled;
 
    bool        isRxChGainPhaseCompensationEnabled;
 
    DPU_uDopProc_compRxChannelBiasCfg compRxChanCfg;
 
    float       rangeStep;
 
    float       dopplerStep;
 
    uint8_t maxNumAzimAccumBins;
 
    DPU_uDopProcCliCfg cliCfg;
 
    uint16_t    numAntRow;
 
    uint16_t    numAntCol;
 
    uint16_t maxNumTracks;
 
    DPU_uDopClassifierCliCfg microDopplerClassifierCliCfg;
 
}DPU_uDopProc_StaticConfig;
 
typedef struct DPU_uDopProc_Config_t
{
    DPU_uDopProc_HW_Resources  hwRes;
    
    DPU_uDopProc_StaticConfig  staticCfg;
    
    bool isFirstTimeCfg;
 
}DPU_uDopProc_Config;
 
 
typedef struct DPU_uDopProc_tList_t
{
    uint32_t     tid;
    float        posX;
    float        posY;
    float        posZ;
    float        velX;
    float        velY;
    float        velZ;
} DPU_uDopProc_tList;
 
typedef struct DPU_uDopProc_TrackerData_t
{
    uint32_t numTargets;
 
    uint32_t numIndices;
 
    uint32_t numIndicesMajorMotion;
 
    uint32_t numIndicesMinorMotion;
 
    DPU_uDopProc_tList tList[DPU_UDOPPROC_MAX_NUM_TRACKS];
 
    uint8_t *tIndex;
 
} DPU_uDopProc_TrackerData;
 
typedef struct DPU_uDopProc_classifierPrediction_t
{
    uint8_t prediction[CLASSIFIER_NUM_CLASSES];
} DPU_uDopProc_classifierPrediction;
 
 
typedef struct DPU_uDopProc_classifierOutput_t
{
    DPU_uDopProc_classifierPrediction predictions[DPU_UDOPPROC_MAX_NUM_TRACKS];
} DPU_uDopProc_classifierOutput;
 
typedef struct DPU_uDopProc_OutParams_t
{
    DPU_uDopProc_Stats  stats;
 
    float       *uDopplerOutput;
 
    uint32_t     numDopplerBins;
 
    uint32_t     numTargets;
 
   FeatExtract_featOutput *uDopplerFeatures;
 
   uint32_t     numClassifiedTargets;
 
   DPU_uDopProc_classifierOutput classifierOutput;
}DPU_uDopProc_OutParams;
 
 
DPU_uDopProc_Handle DPU_uDopProc_init(DPU_uDopProc_InitParams *initCfg, int32_t* errCode);
int32_t DPU_uDopProc_process(DPU_uDopProc_Handle handle,
                            DPIF_RadarCube *radarCube,
                            DPIF_DetMatrix *detMatrix,
                            DPU_uDopProc_TrackerData *trackerData,
                            DPU_uDopProc_OutParams *outParams);
int32_t DPU_uDopProc_deinit(DPU_uDopProc_Handle handle);
int32_t DPU_uDopProc_config(DPU_uDopProc_Handle handle, DPU_uDopProc_Config *cfg);
int32_t DPU_uDopProc_GetNumUsedHwaParamSets(DPU_uDopProc_Handle handle, uint8_t *numUsedHwaParamSets);
 
 
 
#ifdef __cplusplus
}
#endif
 
#endif