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This commit is contained in:
Hannes 2021-04-08 16:14:08 +02:00
parent c986807e75
commit 912c0f9a7a
3 changed files with 343 additions and 63 deletions
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306
mss/mss_main.c
View File

@ -108,6 +108,8 @@
#include <ti/drivers/uart/UART.h>
#include <ti/utils/cli/cli.h>
#include <ti/utils/mathutils/mathutils.h>
#include <ti/drivers/canfd/canfd.h> //Einf<6E>gen des Drivers f<>r den Can Anschluss
/* Demo Include Files */
#include <people_counting/68xx_3D_people_counting/src/common/mmwdemo_rfparser.h>
@ -182,6 +184,23 @@ uint8_t gDPCTCM[MMWDEMO_OBJDET_LOCALRAM_SIZE];
#pragma DATA_SECTION(gMmwL3, ".l3ram");
uint8_t gMmwL3[MMWAVE_MSSUSED_L3RAM_SIZE];
/**************************************************************************
*************************** MCAN Global Definitions ***********************
**************************************************************************/
volatile uint32_t gTxDoneFlag = 0, gRxDoneFlag = 0, gParityErrFlag = 0;
volatile uint32_t gTxPkts = 0, gRxPkts = 0, gErrStatusInt = 0;
volatile uint32_t iterationCount = 0U;
uint32_t dataLength = 0U;
uint32_t msgLstErrCnt = 0U;
uint32_t gDisplayStats = 0;
uint8_t rxData[64U];
uint32_t txDataLength, rxDataLength;
CANFD_MCANFrameType frameType = CANFD_MCANFrameType_CLASSIC; //frameType auf Classic festlegen f<>r kklassische CAN Kommunikation
static void MCANAppInitParams(CANFD_MCANInitParams* mcanCfgParams);
CANFD_Handle canHandle;
CANFD_MsgObjHandle txMsgObjHandle;
CANFD_MCANMsgObjCfgParams txMsgObjectParams;
/**************************************************************************
*************************** Extern Definitions ***************************
**************************************************************************/
@ -245,7 +264,261 @@ static void Pcount3DDemo_EDMA_transferControllerErrorCallbackFxn(EDMA_Handle han
EDMA_transferControllerErrorInfo_t *errorInfo);
static void Pcount3DDemo_EDMA_errorCallbackFxn(EDMA_Handle handle, EDMA_errorInfo_t *errorInfo);
/**************************************************************************
*************************** CAN Driver Initialize Function ***********************--------------------------------------------------------------------
****************************************************************************************CAN-Anbindung**************/
void Can_Initalize(void)
{
int32_t errCode = 0;
int32_t retVal = 0;
CANFD_MCANInitParams mcanCfgParams;
CANFD_MCANBitTimingParams mcanBitTimingParams;
CANFD_MCANMsgObjCfgParams rxMsgObjectParams;
CANFD_MsgObjHandle rxMsgObjHandle;
gTxDoneFlag = 0;
gRxDoneFlag = 0;
/* Setup the PINMUX to bring out the XWR16xx CAN pins */
Pinmux_Set_OverrideCtrl(SOC_XWR68XX_PINE14_PADAE, PINMUX_OUTEN_RETAIN_HW_CTRL,
PINMUX_INPEN_RETAIN_HW_CTRL);
Pinmux_Set_FuncSel(SOC_XWR68XX_PINE14_PADAE, SOC_XWR68XX_PINE14_PADAE_CANFD_TX);
Pinmux_Set_OverrideCtrl(SOC_XWR68XX_PIND13_PADAD, PINMUX_OUTEN_RETAIN_HW_CTRL,
PINMUX_INPEN_RETAIN_HW_CTRL);
Pinmux_Set_FuncSel(SOC_XWR68XX_PIND13_PADAD, SOC_XWR68XX_PIND13_PADAD_CANFD_RX);
/* Configure the divide value for MCAN source clock */
SOC_setPeripheralClock(gMmwMssMCB.socHandle, SOC_MODULE_MCAN, SOC_CLKSOURCE_VCLK, 4U, &errCode);
/* Initialize peripheral memory */
SOC_initPeripheralRam(gMmwMssMCB.socHandle, SOC_MODULE_MCAN, &errCode);
MCANAppInitParams (&mcanCfgParams);
/* Initialize the CANFD driver */
canHandle = CANFD_init(0U, &mcanCfgParams, &errCode);
if (canHandle == NULL)
{
System_printf ("Error: CANFD Module Initialization failed [Error code %d]\n", errCode);
return ;
}
/* Configuring 1Mbps and 5Mbps as nominal and data bit-rate respectively
Prop seg: 8
Ph seg 1: 6
Ph Seg2 : 5
Sync jump: 1
BRP(Baud rate Prescaler): 2
Nominal Bit rate = (40)/(((8+6+5)+1)*BRP) = 1Mhz
Timing Params for Data Bit rate:
Prop seg: 2
Ph seg 1: 2
Ph Seg2 : 3
Sync jump: 1
BRP(Baud rate Prescaler): 1
Nominal Bit rate = (40)/(((2+2+3)+1)*BRP) = 5Mhz
*/
mcanBitTimingParams.nomBrp = 0x4U; //um vorgegebene Bitrate zu erreichen
mcanBitTimingParams.nomPropSeg = 0x8U;
mcanBitTimingParams.nomPseg1 = 0x6U;
mcanBitTimingParams.nomPseg2 = 0x5U;
mcanBitTimingParams.nomSjw = 0x1U;
mcanBitTimingParams.dataBrp = 0x4U; //um vorgegebene Bitrate zu erreichen
mcanBitTimingParams.dataPropSeg = 0x2U;
mcanBitTimingParams.dataPseg1 = 0x2U;
mcanBitTimingParams.dataPseg2 = 0x3U;
mcanBitTimingParams.dataSjw = 0x1U;
/* Configure the CAN driver */
retVal = CANFD_configBitTime (canHandle, &mcanBitTimingParams, &errCode);
if (retVal < 0)
{
System_printf ("Error: CANFD Module configure bit time failed [Error code %d]\n",
errCode);
return ;
}
/* Setup the transmit message object */
txMsgObjectParams.direction = CANFD_Direction_TX;
txMsgObjectParams.msgIdType = CANFD_MCANXidType_11_BIT; //ID Type wird ge<67>ndert
txMsgObjectParams.msgIdentifier = 0xD1;
txMsgObjHandle = CANFD_createMsgObject (canHandle, &txMsgObjectParams, &errCode);
if (txMsgObjHandle == NULL)
{
System_printf ("Error: CANFD create Tx message object failed [Error code %d]\n",
errCode);
return ;
}
/* Setup the receive message object */
rxMsgObjectParams.direction = CANFD_Direction_RX;
rxMsgObjectParams.msgIdType = CANFD_MCANXidType_11_BIT; //ID Type wird ge<67>ndert
rxMsgObjectParams.msgIdentifier = 0xD1;
rxMsgObjHandle = CANFD_createMsgObject (canHandle, &rxMsgObjectParams, &errCode);
if (rxMsgObjHandle == NULL)
{
System_printf ("Error: CANFD create Rx message object failed [Error code %d]\n",
errCode);
return ;
}
}
/**************************************************************************
******************** CAN Parameters initialize Function *****************
**************************************************************************/
static void MCANAppCallback(CANFD_MsgObjHandle handle, CANFD_Reason reason)
{
int32_t errCode, retVal;
uint32_t id;
CANFD_MCANFrameType rxFrameType;
CANFD_MCANXidType rxIdType;
if (reason == CANFD_Reason_TX_COMPLETION)
{
{
gTxPkts++;
gTxDoneFlag = 1;
return;
}
}
if (reason == CANFD_Reason_RX)
{
{
/* Reset the receive buffer */
memset(&rxData, 0, sizeof (rxData));
dataLength = 0;
retVal = CANFD_getData (handle, &id, &rxFrameType, &rxIdType, &rxDataLength,
&rxData[0], &errCode);
if (retVal < 0)
{
System_printf ("Error: CAN receive data for iteration %d failed [Error code %d]\n", iterationCount, errCode);
return;
}
if (rxFrameType != frameType)
{
System_printf ("Error: CAN received incorrect frame type Sent %d Received %d for iteration %d failed\n", frameType, rxFrameType, iterationCount);
return;
}
/* Validate the data */
gRxPkts++;
gRxDoneFlag = 1;
return;
}
}
if (reason == CANFD_Reason_TX_CANCELED)
{
{
gTxPkts++;
gTxDoneFlag = 1;
gRxDoneFlag = 1;
return;
}
}
}
static void MCANAppErrStatusCallback(CANFD_Handle handle, CANFD_Reason reason,
CANFD_ErrStatusResp* errStatusResp)
{
/*Record the error count */
gErrStatusInt++;
return;
}
static void MCANAppInitParams(CANFD_MCANInitParams* mcanCfgParams)
{
/*Intialize MCAN Config Params*/
memset (mcanCfgParams, sizeof (CANFD_MCANInitParams), 0);
mcanCfgParams->fdMode = 0x1U;
mcanCfgParams->brsEnable = 0x1U;
mcanCfgParams->txpEnable = 0x0U;
mcanCfgParams->efbi = 0x0U;
mcanCfgParams->pxhddisable = 0x0U;
mcanCfgParams->darEnable = 0x1U;
mcanCfgParams->wkupReqEnable = 0x1U;
mcanCfgParams->autoWkupEnable = 0x1U;
mcanCfgParams->emulationEnable = 0x0U;
mcanCfgParams->emulationFAck = 0x0U;
mcanCfgParams->clkStopFAck = 0x0U;
mcanCfgParams->wdcPreload = 0x0U;
mcanCfgParams->tdcEnable = 0x1U;
mcanCfgParams->tdcConfig.tdcf = 0U;
mcanCfgParams->tdcConfig.tdco = 8U;
mcanCfgParams->monEnable = 0x0U;
mcanCfgParams->asmEnable = 0x0U;
mcanCfgParams->tsPrescalar = 0x0U;
mcanCfgParams->tsSelect = 0x0U;
mcanCfgParams->timeoutSelect = CANFD_MCANTimeOutSelect_CONT;
mcanCfgParams->timeoutPreload = 0x0U;
mcanCfgParams->timeoutCntEnable = 0x0U;
mcanCfgParams->filterConfig.rrfe = 0x1U;
mcanCfgParams->filterConfig.rrfs = 0x1U;
mcanCfgParams->filterConfig.anfe = 0x1U;
mcanCfgParams->filterConfig.anfs = 0x1U;
mcanCfgParams->msgRAMConfig.lss = 127U;
mcanCfgParams->msgRAMConfig.lse = 64U;
mcanCfgParams->msgRAMConfig.txBufNum = 32U;
mcanCfgParams->msgRAMConfig.txFIFOSize = 0U;
mcanCfgParams->msgRAMConfig.txBufMode = 0U;
mcanCfgParams->msgRAMConfig.txEventFIFOSize = 0U;
mcanCfgParams->msgRAMConfig.txEventFIFOWaterMark = 0U;
mcanCfgParams->msgRAMConfig.rxFIFO0size = 0U;
mcanCfgParams->msgRAMConfig.rxFIFO0OpMode = 0U;
mcanCfgParams->msgRAMConfig.rxFIFO0waterMark = 0U;
mcanCfgParams->msgRAMConfig.rxFIFO1size = 64U;
mcanCfgParams->msgRAMConfig.rxFIFO1waterMark = 64U;
mcanCfgParams->msgRAMConfig.rxFIFO1OpMode = 64U;
mcanCfgParams->eccConfig.enable = 1;
mcanCfgParams->eccConfig.enableChk = 1;
mcanCfgParams->eccConfig.enableRdModWr = 1;
mcanCfgParams->errInterruptEnable = 1U;
mcanCfgParams->dataInterruptEnable = 1U;
mcanCfgParams->appErrCallBack = MCANAppErrStatusCallback;
mcanCfgParams->appDataCallBack = MCANAppCallback;
}
int32_t Can_Transmit_Schedule( uint32_t msg_id, uint8_t *txmsg, uint32_t len)
{
volatile uint32_t index = 0;
int32_t retVal = 0;
int32_t errCode = 0;
if(frameType == CANFD_MCANFrameType_FD)
{
Task_sleep(1);
while(len > 64U)
{
retVal = CANFD_transmitData (txMsgObjHandle, msg_id, CANFD_MCANFrameType_FD, 64U, &txmsg[index],
&errCode);
index = index + 64U;
len = len - 64U;
Task_sleep(1);
}
retVal = CANFD_transmitData (txMsgObjHandle, msg_id, CANFD_MCANFrameType_FD, len, &txmsg[index],
&errCode);
}
else
{
while(len > 8U)
{
retVal = CANFD_transmitData (txMsgObjHandle, msg_id,
CANFD_MCANFrameType_CLASSIC, 8U, &txmsg[index], &errCode);
if (retVal < 0)
{
continue;
}
index = index + 8U;
len = len - 8U;
}
retVal = CANFD_transmitData (txMsgObjHandle, msg_id, CANFD_MCANFrameType_CLASSIC,
len, &txmsg[index], &errCode);
while(retVal < 0)
{
retVal = CANFD_transmitData (txMsgObjHandle, msg_id, CANFD_MCANFrameType_CLASSIC, len,
&txmsg[index], &errCode);
}
}
return retVal;
}
//----------------------------------------------------------------------------------------------------------------------------------------------------------
/**************************************************************************
************************* Millimeter Wave Demo Functions **********************
**************************************************************************/
@ -611,13 +884,13 @@ void MmwDemo_uartTxTask(UArg arg0, UArg arg1)
/* wait for new message and process all the messages received from the peer */
while(1)
{
uint32_t numTargets, numIndices;
uint8_t *tList;
uint8_t *tIndex;
uint32_t numTargets, numIndices;
uint8_t *tList;
uint8_t *tIndex;
Semaphore_pend(gMmwMssMCB.uartTxSemHandle, BIOS_WAIT_FOREVER);
startTime = Cycleprofiler_getTimeStamp();
startTime = Cycleprofiler_getTimeStamp();
tlvIdx = 0;
uartHandle = gMmwMssMCB.loggingUartHandle;
@ -631,11 +904,11 @@ void MmwDemo_uartTxTask(UArg arg0, UArg arg1)
header.frameProcessingTimeInUsec = timingInfo->frameProcessingTimeInUsec;
header.trackingProcessingTimeInUsec = gMmwMssMCB.trackerProcessingTimeInUsec;
header.uartSendingTimeInUsec = gMmwMssMCB.uartProcessingTimeInUsec;
numTargets = gMmwMssMCB.numTargets;
numIndices = gMmwMssMCB.numIndices;
tList = (uint8_t*)gMmwMssMCB.trackerOutput.tList[gMmwMssMCB.trackerOutput.currentDescr];
tIndex = (uint8_t*)gMmwMssMCB.trackerOutput.tIndex[gMmwMssMCB.trackerOutput.currentDescr];
numTargets = gMmwMssMCB.numTargets;
numIndices = gMmwMssMCB.numIndices;
tList = (uint8_t*)gMmwMssMCB.trackerOutput.tList[gMmwMssMCB.trackerOutput.currentDescr];
tIndex = (uint8_t*)gMmwMssMCB.trackerOutput.tIndex[gMmwMssMCB.trackerOutput.currentDescr];
if (objOut->header.length > 0)
{
packetLen += objOut->header.length;
@ -712,8 +985,8 @@ void MmwDemo_uartTxTask(UArg arg0, UArg arg1)
UART_write(uartHandle, (uint8_t*)&tl, sizeof(Pcount3DDemo_output_message_tl));
UART_write(uartHandle, (uint8_t*)&(gMmwMssMCB.presenceInd), sizeof(uint32_t));
}
gMmwMssMCB.uartProcessingTimeInUsec = (Cycleprofiler_getTimeStamp() - startTime)/R4F_CLOCK_MHZ;
gMmwMssMCB.uartProcessingTimeInUsec = (Cycleprofiler_getTimeStamp() - startTime)/R4F_CLOCK_MHZ;
}
}
@ -2265,6 +2538,11 @@ static void Pcount3DDemo_initTask(UArg arg0, UArg arg1)
DMA_Params dmaParams;
DMA_Handle dmaHandle;
UART_Handle uartHandle;
char out = 'M';
uartHandle = gMmwMssMCB.loggingUartHandle;
UART_write(uartHandle, (uint8_t*)&out, sizeof(char));
DPC_ObjectDetectionRangeHWA_InitParams objDetInitParams;
// int32_t i;
@ -2274,6 +2552,8 @@ static void Pcount3DDemo_initTask(UArg arg0, UArg arg1)
/*****************************************************************************
* Initialize the mmWave SDK components:
*****************************************************************************/
Can_Initalize(); //Can Aufruf
/* Initialize the UART */
UART_init();

98
mss/tracker_utils.c
View File

@ -75,8 +75,8 @@ typedef enum {
TRACKING_DEFAULT_PARAM_SET = 0,
TRACKING_TRAFFIC_MONITORING_PARAM_SET,
TRACKING_PEOPLE_COUNTING_PARAM_SET,
TRACKING_OUTDOOR_PARAM_SET,
TRACKING_CEILING_MOUNT_PARAM_SET
TRACKING_OUTDOOR_PARAM_SET,
TRACKING_CEILING_MOUNT_PARAM_SET
} TRACKING_ADVANCED_PARAM_SET;
typedef enum {
@ -89,45 +89,45 @@ typedef enum {
/* Scenery parameters includes up to two boundary boxes and up to two static boxes */
/* Each box is in format {x1,x2, y1,y2, z1,z2}. In 2D cases, the z parameters are ignored */
GTRACK_sceneryParams appSceneryParamTable[4] = {
/* TM: 1 boundary box: {-1,12, 15,75, 0,0}, and 1 static box {0,14, 19,50, 0,0} */
1,{{-1.f,12.f, 15.f,75.f, 0.f,0.f},{0.f,0.f,0.f,0.f,0.f,0.f}},1,{{0.f,11.f, 19.f,50.f, 0.f,0.f},{0.f,0.f,0.f,0.f,0.f}},
/* PEOPLE COUNTING: 1 boundary box: {-4,4, 0.5,7.5, 0,0}, and 1 static box {-3,3, 2,6, 0,0} */
1,{{-4.f,4.f, 0.5f,7.5f, 0.f,0.f},{0.f,0.f,0.f,0.f,0.f,0.f}}, 1,{{-3.f,3.f,2.f,6.f,0.f,0.f},{0.f,0.f,0.f,0.f,0.f,0.f}},
/* OUTDOOR: 1 boundary box: {-39,19, 2,50, 0,0}, and 1 static box {-30,16, 4,44, 0,0} */
1,{{-29.f,39.f, 2.f,59.f, -1.f,3.f},{0.f,0.f,0.f,0.f,0.f,0.f}}, 1,{{-20.f,20.f, 12.f,40.f, 0.f, 2.f},{0.f,0.f,0.f,0.f,0.f,0.f}},
/* CEILING MOUNT: 1 boundary box: {-4,4, 0.5,7.5, -1,3}, and 1 static box {-3,3, 2,6, -0.5,2.5} */
1,{{-4.f,4.f, 0.5f,7.5f, -1.f,3.0f},{0.f,0.f,0.f,0.f,0.f,0.f}}, 1,{{-3.f,3.f,2.f,6.f,-0.5,2.5f},{0.f,0.f,0.f,0.f,0.f,0.f}}
/* TM: 1 boundary box: {-1,12, 15,75, 0,0}, and 1 static box {0,14, 19,50, 0,0} */
1,{{-1.f,12.f, 15.f,75.f, 0.f,0.f},{0.f,0.f,0.f,0.f,0.f,0.f}},1,{{0.f,11.f, 19.f,50.f, 0.f,0.f},{0.f,0.f,0.f,0.f,0.f}},
/* PEOPLE COUNTING: 1 boundary box: {-4,4, 0.5,7.5, 0,0}, and 1 static box {-3,3, 2,6, 0,0} */
1,{{-4.f,4.f, 0.5f,7.5f, 0.f,0.f},{0.f,0.f,0.f,0.f,0.f,0.f}}, 1,{{-3.f,3.f,2.f,6.f,0.f,0.f},{0.f,0.f,0.f,0.f,0.f,0.f}},
/* OUTDOOR: 1 boundary box: {-39,19, 2,50, 0,0}, and 1 static box {-30,16, 4,44, 0,0} */
1,{{-29.f,39.f, 2.f,59.f, -1.f,3.f},{0.f,0.f,0.f,0.f,0.f,0.f}}, 1,{{-20.f,20.f, 12.f,40.f, 0.f, 2.f},{0.f,0.f,0.f,0.f,0.f,0.f}},
/* CEILING MOUNT: 1 boundary box: {-4,4, 0.5,7.5, -1,3}, and 1 static box {-3,3, 2,6, -0.5,2.5} */
1,{{-4.f,4.f, 0.5f,7.5f, -1.f,3.0f},{0.f,0.f,0.f,0.f,0.f,0.f}}, 1,{{-3.f,3.f,2.f,6.f,-0.5,2.5f},{0.f,0.f,0.f,0.f,0.f,0.f}}
};
/* Gating Volume 2 "liters", Limits are set to 2m in depth and width, no limit in height and doppler */
GTRACK_gatingParams appGatingParamTable[4] = {
/* TM: Gating volume = 16, Limits are set to 12m in depth, 8m in width, ignore the height, no limit in doppler */
/* TM: Gating volume = 16, Limits are set to 12m in depth, 8m in width, ignore the height, no limit in doppler */
{4.f, {12.f, 6.f, 4.f, 12.f}},
/* PEOPLE COUNTING: Gating gain = 3, Limits are 2m in depth, 2m in width, ignore the height, 12m/s in doppler */
{3.f, {2.f, 2.f, 2.f, 12.f}},
/* OUTDOOR: Gating gain = 4, Limits are set to 6m in depth, 6m in width, ignore the height, 10m/s limit in doppler */
/* PEOPLE COUNTING: Gating gain = 3, Limits are 2m in depth, 2m in width, ignore the height, 12m/s in doppler */
{3.f, {2.f, 2.f, 2.f, 12.f}},
/* OUTDOOR: Gating gain = 4, Limits are set to 6m in depth, 6m in width, ignore the height, 10m/s limit in doppler */
{4.f, {6.f, 6.f, 4.f, 10.f}},
/* CEILING MOUNT: Gating volume = 2, Limits are 2m in depth, 2m in width, 2m the height, no limit in doppler */
{2.f, {2.f, 2.f, 2.f, 10.f}}
/* CEILING MOUNT: Gating volume = 2, Limits are 2m in depth, 2m in width, 2m the height, no limit in doppler */
{2.f, {2.f, 2.f, 2.f, 10.f}}
};
GTRACK_stateParams appStateParamTable[4] = {
{3U, 3U, 5U, 100U, 5U}, /* TM: det2act, det2free, act2free, stat2free, exit2free */
{10U, 5U, 50U, 100U, 5U}, /* PC: det2act, det2free, act2free, stat2free, exit2free */
{4U, 10U, 60U, 600U, 20U}, /* OUTDOOR: det2act, det2free, act2free, stat2free, exit2free */
{10U, 5U, 10U, 100U, 5U} /* CEILING MOUNT: det2act, det2free, act2free, stat2free, exit2free */
{3U, 3U, 5U, 100U, 5U}, /* TM: det2act, det2free, act2free, stat2free, exit2free */
{10U, 5U, 50U, 100U, 5U}, /* PC: det2act, det2free, act2free, stat2free, exit2free */
{4U, 10U, 60U, 600U, 20U}, /* OUTDOOR: det2act, det2free, act2free, stat2free, exit2free */
{10U, 5U, 10U, 100U, 5U} /* CEILING MOUNT: det2act, det2free, act2free, stat2free, exit2free */
};
GTRACK_allocationParams appAllocationParamTable[4] = {
{100.f, 100.f, 1.f, 3U, 4.f, 2.f}, /* TM: 100 (100) SNRs, 1m/s minimal velocity, 3 points with 4m in distance, 2m/c in velocity separation */
{60.f, 200.f, 0.1f, 5U, 1.5f, 2.f}, /* PC: 150 (250 obscured), 0.1 m/s minimal velocity, 5 points, with 1m in distance, 2m/c in velocity in separation */
{40.f, 200.f, 0.5f, 3U, 2.f, 2.f}, /* OUTDOOR: 50 (200 obscured), 0.5 m/s minimal velocity, 5 points, with 1m in distance, 2m/c in velocity in separation */
{60.f, 200.f, 0.1f, 5U, 1.5f, 2.f} /* CEILING MOUNT: 150 (200 obscured), 0.5 m/s minimal velocity, 5 points, with 1m in distance, 2m/c in velocity in separation */
{100.f, 100.f, 1.f, 3U, 4.f, 2.f}, /* TM: 100 (100) SNRs, 1m/s minimal velocity, 3 points with 4m in distance, 2m/c in velocity separation */
{60.f, 200.f, 0.1f, 5U, 1.5f, 2.f}, /* PC: 150 (250 obscured), 0.1 m/s minimal velocity, 5 points, with 1m in distance, 2m/c in velocity in separation */
{40.f, 200.f, 0.5f, 3U, 2.f, 2.f}, /* OUTDOOR: 50 (200 obscured), 0.5 m/s minimal velocity, 5 points, with 1m in distance, 2m/c in velocity in separation */
{60.f, 200.f, 0.1f, 5U, 1.5f, 2.f} /* CEILING MOUNT: 150 (200 obscured), 0.5 m/s minimal velocity, 5 points, with 1m in distance, 2m/c in velocity in separation */
};
/* This parameter is ignored in 2D/3D tracker versions */
GTRACK_varParams appVariationParamTable[4] = {
{0.f, 0.f, 0.f},
{0.f, 0.f, 0.f},
{0.f, 0.f, 0.f},
{0.f, 0.f, 0.f}
{0.f, 0.f, 0.f},
{0.f, 0.f, 0.f},
{0.f, 0.f, 0.f},
{0.f, 0.f, 0.f}
};
float maxAccelerationParams[3] = {1, 1, 1};
@ -143,21 +143,21 @@ unsigned int gGtrackMemoryUsed = 0;
/* @TODO: These functions need to be abstracted to the DPC */
void *gtrack_alloc(unsigned int numElements, unsigned int sizeInBytes)
{
gGtrackMemoryUsed += numElements*sizeInBytes;
gGtrackMemoryUsed += numElements*sizeInBytes;
return MemoryP_ctrlAlloc(numElements*sizeInBytes, 0);
}
void gtrack_free(void *pFree, unsigned int sizeInBytes)
{
gGtrackMemoryUsed -= sizeInBytes;
MemoryP_ctrlFree(pFree,sizeInBytes);
gGtrackMemoryUsed -= sizeInBytes;
MemoryP_ctrlFree(pFree,sizeInBytes);
}
void gtrack_log(GTRACK_VERBOSE_TYPE level, const char *format, ...)
{
#if 0
va_list args;
va_list args;
va_start(args, format);
vprintf(format, args);
va_end(args);
vprintf(format, args);
va_end(args);
#endif
}
@ -219,15 +219,15 @@ int32_t MmwDemo_CLITrackingCfg (int32_t argc, char* argv[])
case TRACKING_TRAFFIC_MONITORING_PARAM_SET:
/* Initialize CLI configuration: */
config.initialRadialVelocity = -8.0f; // for TM, detected targets are approaching
config.maxAcceleration[0] = 2.0f; // for TM, maximum acceleration in lateral direction is set to 2m/s2
config.maxAcceleration[1] = 20.0f; // for TM, maximum acceleration is longitudinal direction set to 20m/s2
config.maxAcceleration[2] = 0.f; // ignored
config.initialRadialVelocity = -8.0f; // for TM, detected targets are approaching
config.maxAcceleration[0] = 2.0f; // for TM, maximum acceleration in lateral direction is set to 2m/s2
config.maxAcceleration[1] = 20.0f; // for TM, maximum acceleration is longitudinal direction set to 20m/s2
config.maxAcceleration[2] = 0.f; // ignored
break;
case TRACKING_PEOPLE_COUNTING_PARAM_SET:
/* Initialize CLI configuration: */
config.initialRadialVelocity = 0; //For PC, detected target velocity is unknown
config.initialRadialVelocity = 0; //For PC, detected target velocity is unknown
config.maxAcceleration[0] = 0.1f;
config.maxAcceleration[1] = 0.1f;
config.maxAcceleration[2] = 0.1f;
@ -235,11 +235,11 @@ int32_t MmwDemo_CLITrackingCfg (int32_t argc, char* argv[])
case TRACKING_OUTDOOR_PARAM_SET:
/* Initialize CLI configuration: */
config.initialRadialVelocity = 0; // for OUTDOOR, detected targets velocity is unknown
config.initialRadialVelocity = 0; // for OUTDOOR, detected targets velocity is unknown
config.maxAcceleration[0] = 1.0f;
config.maxAcceleration[1] = 1.0f;
config.maxAcceleration[2] = 1.0f;
break;
break;
case TRACKING_CEILING_MOUNT_PARAM_SET:
/* Initialize CLI configuration: */
@ -255,18 +255,18 @@ int32_t MmwDemo_CLITrackingCfg (int32_t argc, char* argv[])
return -1;
}
#ifdef GTRACK_3D
config.stateVectorType = GTRACK_STATE_VECTORS_3DA; // Track three dimensions with acceleration
config.stateVectorType = GTRACK_STATE_VECTORS_3DA; // Track three dimensions with acceleration
#else
config.stateVectorType = GTRACK_STATE_VECTORS_2DA; // Track two dimensions with acceleration
config.stateVectorType = GTRACK_STATE_VECTORS_2DA; // Track two dimensions with acceleration
#endif
config.verbose = GTRACK_VERBOSE_NONE;
config.maxNumPoints = (uint16_t) atoi(argv[3]);
config.maxNumTracks = (uint16_t) atoi(argv[4]);
config.maxRadialVelocity = (float) atoi(argv[5]) *0.1f;
config.verbose = GTRACK_VERBOSE_NONE;
config.maxNumPoints = (uint16_t) atoi(argv[3]);
config.maxNumTracks = (uint16_t) atoi(argv[4]);
config.maxRadialVelocity = (float) atoi(argv[5]) *0.1f;
#ifndef GTRACK_3D
config.radialVelocityResolution = (float) atoi(argv[6]) *0.001f;
config.radialVelocityResolution = (float) atoi(argv[6]) *0.001f;
#endif
config.deltaT = (float) atoi(argv[7]) *0.001f;
config.deltaT = (float) atoi(argv[7]) *0.001f;
/* Save Configuration to use later */
memcpy((void *)&gMmwMssMCB.trackerCfg.trackerDpuCfg.staticCfg.gtrackModuleConfig, (void *)&config, sizeof(GTRACK_moduleConfig));

2
objdetrangehwa.c
View File

@ -909,7 +909,7 @@ static int32_t DPC_ObjectDetection_ioctl
DebugP_log0("ObjDet DPC: Pre-start Common Config IOCTL processed\n");
}
#ifdef TRACKERPROC_EN
else if (cmd == DPC_OBJDETRANGEHWA_IOCTL__STATIC_TRACKER_CFG)
else if (cmd == DPC_OBJDETRANGEHWA_IOCTL__STATIC_TRACKER_CFG)
{
//System_printf("Entering Tracker Config");
DPC_ObjectDetection_TrackerConfig *cfg;