initial commit

.gitignore

+# Prerequisites
+*.d
+
+# Compiled Object files
+*.slo
+*.lo
+*.o
+*.obj
+
+# Precompiled Headers
+*.gch
+*.pch
+
+# Compiled Dynamic libraries
+*.so
+*.dylib
+*.dll
+
+# Fortran module files
+*.mod
+*.smod
+
+# Compiled Static libraries
+*.lai
+*.la
+*.a
+*.lib
+
+# Executables
+*.exe
+*.out
+*.app
+
+# Folder
+.settings/
+Debug/
+.xdchelp
+.ccsproject
+.cproject
+.project

mss/pcount3D_mss.cfg

+/*
+ *  Copyright 2011 by Texas Instruments Incorporated.
+ *
+ *  All rights reserved. Property of Texas Instruments Incorporated.
+ *  Restricted rights to use, duplicate or disclose this code are
+ *  granted through contract.
+ *
+ */
+environment['xdc.cfg.check.fatal'] = 'false';
+
+/********************************************************************
+ ************************** BIOS Modules ****************************
+ ********************************************************************/
+var Memory    = xdc.useModule('xdc.runtime.Memory');
+var BIOS      = xdc.useModule('ti.sysbios.BIOS');
+var HeapMem   = xdc.useModule('ti.sysbios.heaps.HeapMem');
+var HeapBuf   = xdc.useModule('ti.sysbios.heaps.HeapBuf');
+var Task      = xdc.useModule('ti.sysbios.knl.Task');
+var Idle      = xdc.useModule('ti.sysbios.knl.Idle');
+var SEM       = xdc.useModule('ti.sysbios.knl.Semaphore');
+var Event     = xdc.useModule('ti.sysbios.knl.Event');
+var Hwi       = xdc.useModule('ti.sysbios.family.arm.v7r.vim.Hwi');
+var System    = xdc.useModule('xdc.runtime.System');
+var SysStd    = xdc.useModule('xdc.runtime.SysStd');
+var clock     = xdc.useModule('ti.sysbios.knl.Clock');
+var Pmu       = xdc.useModule('ti.sysbios.family.arm.v7a.Pmu');
+var Load      = xdc.useModule('ti.sysbios.utils.Load');
+
+System.SupportProxy = SysStd;
+
+/* FIQ Stack Usage: */
+Hwi.fiqStackSize                = 2048;
+Hwi.fiqStackSection            = ".myFiqStack"
+Program.sectMap[".myFiqStack"] = "DATA_RAM";
+
+/* Default Heap Creation: Local L2 memory */
+var heapMemParams           = new HeapMem.Params();
+heapMemParams.size          = 130*1024;
+heapMemParams.sectionName   = "systemHeap";
+Program.global.heap0        = HeapMem.create(heapMemParams);
+Memory.defaultHeapInstance  = Program.global.heap0;
+System.extendedFormats = '%$L%$S%$F%f';
+
+/* Enable BIOS Task Scheduler */
+BIOS.taskEnabled	= true;
+
+/* Reduce the size of BIOS */
+BIOS.swiEnabled        = false; /* We don't use SWIs */
+BIOS.libType           = BIOS.LibType_Custom;
+Program.stack          = 2048; /* for isr context */
+Task.idleTaskStackSize = 800;
+var Text               = xdc.useModule('xdc.runtime.Text');
+Text.isLoaded          = false;
+
+/* do not call update for load - Application will call it at inter-frame boundary */
+Load.updateInIdle = false; 
+
+/* Install idle function to sleep the R4F (using WFI instruction). Note above
+   Load.updateInIdle is false which allows to sleep the R4F in idle. 
+   Also, no other book-keeping etc functions should be installed in the idle thread */
+Idle.addFunc('&Pcount3DDemo_sleep');
+
+Program.sectMap[".vecs"]	= "VECTORS";
+
+/* Make sure libraries are built with 32-bit enum types to be compatible with DSP enum types*/
+BIOS.includeXdcRuntime  = true; 
+BIOS.libType            = BIOS.LibType_Custom;
+BIOS.customCCOpts      += " --enum_type=int ";
+
+/********************************************************************
+ * Enabling DebugP Log Support
+ ********************************************************************/
+var Log         = xdc.useModule('xdc.runtime.Log');
+var Main        = xdc.useModule('xdc.runtime.Main');
+var Diags       = xdc.useModule('xdc.runtime.Diags');
+var LoggerBuf   = xdc.useModule('xdc.runtime.LoggerBuf');
+
+/* Configure the Logger Buffer: */
+var loggerBufParams             = new LoggerBuf.Params();
+loggerBufParams.bufType         = LoggerBuf.BufType_CIRCULAR;
+loggerBufParams.exitFlush       = false;
+loggerBufParams.instance.name   = "_logInfo";
+loggerBufParams.numEntries      = 200;
+
+/* Create the Logger and attach this to the application */
+MyAppLogger                     = LoggerBuf.create(loggerBufParams);
+Main.common$.logger             = MyAppLogger;
+Main.common$.diags_USER1        = Diags.RUNTIME_ON;
+Task.common$.diags_USER1        = Diags.RUNTIME_ON;
+

mss/pcount3D_mss.h

+/**
+ *   @file  pcount3D_mss.h
+ *
+ *   @brief
+ *      This is the main header file for the 3D people counting demo
+ *
+ *  \par
+ *  NOTE:
+ *      (C) Copyright 2016 Texas Instruments, Inc.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *    Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ *
+ *    Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in the
+ *    documentation and/or other materials provided with the
+ *    distribution.
+ *
+ *    Neither the name of Texas Instruments Incorporated nor the names of
+ *    its contributors may be used to endorse or promote products derived
+ *    from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+ *  A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+ *  OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *  SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *  LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+ *  DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+ *  THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ *  (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ *  OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+#ifndef MMW_MSS_H
+#define MMW_MSS_H
+
+#include <ti/sysbios/knl/Semaphore.h>
+#include <ti/sysbios/knl/Task.h>
+
+#include <ti/common/mmwave_error.h>
+#include <ti/drivers/osal/DebugP.h>
+#include <ti/drivers/soc/soc.h>
+#include <ti/drivers/uart/UART.h>
+#include <ti/drivers/gpio/gpio.h>
+#include <ti/drivers/mailbox/mailbox.h>
+
+#include <people_counting/68xx_3D_people_counting/src/common/mmwdemo_adcconfig.h>
+//#include <ti/demo/utils/mmwdemo_monitor.h>
+
+#include <common/src/dpc/objdetrangehwa/objdetrangehwa.h>
+#include <people_counting/68xx_3D_people_counting/src/common/pcount3D_output.h>
+#include <people_counting/68xx_3D_people_counting/src/common/pcount3D_config.h>
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/*! @brief For advanced frame config, below define means the configuration given is
+ * global at frame level and therefore it is broadcast to all sub-frames.
+ */
+#define PCOUNT3DDEMO_SUBFRAME_NUM_FRAME_LEVEL_CONFIG (-1)
+
+/**
+ * @defgroup configStoreOffsets     Offsets for storing CLI configuration
+ * @brief    Offsets of config fields within the parent structures, note these offsets will be
+ *           unique and hence can be used to differentiate the commands for processing purposes.
+ * @{
+ */
+#define PCOUNT3DDEMO_ADCBUFCFG_OFFSET                 (offsetof(Pcount3DDemo_SubFrameCfg, adcBufCfg))
+
+#define PCOUNT3DDEMO_SUBFRAME_DSPDYNCFG_OFFSET        (offsetof(Pcount3DDemo_SubFrameCfg, objDetDynCfg) + \
+                                                  offsetof(Pcount3DDemo_DPC_ObjDet_DynCfg, dspDynCfg))
+
+#define PCOUNT3DDEMO_SUBFRAME_R4FDYNCFG_OFFSET        (offsetof(Pcount3DDemo_SubFrameCfg, objDetDynCfg) + \
+                                                  offsetof(Pcount3DDemo_DPC_ObjDet_DynCfg, r4fDynCfg))
+
+#define PCOUNT3DDEMO_CALIBDCRANGESIG_OFFSET           (PCOUNT3DDEMO_SUBFRAME_R4FDYNCFG_OFFSET + \
+                                                  offsetof(DPC_ObjectDetectionRangeHWA_DynCfg, calibDcRangeSigCfg))
+
+#define PCOUNT3DDEMO_CAPONCHAINCFG_OFFSET              (PCOUNT3DDEMO_SUBFRAME_DSPDYNCFG_OFFSET + \
+                                                  offsetof(DPC_ObjectDetection_DynCfg, caponChainCfg))
+
+#define PCOUNT3DDEMO_DYNRACFARCFG_OFFSET            (PCOUNT3DDEMO_CAPONCHAINCFG_OFFSET + \
+                                                  offsetof(caponChainCfg, dynamicCfarConfig))
+
+#define PCOUNT3DDEMO_STATICRACFARCFG_OFFSET              (PCOUNT3DDEMO_CAPONCHAINCFG_OFFSET + \
+                                                  offsetof(caponChainCfg, staticCfarConfig))
+
+#define PCOUNT3DDEMO_DOACAPONCFG_OFFSET                (PCOUNT3DDEMO_CAPONCHAINCFG_OFFSET + \
+                                                  offsetof(caponChainCfg, doaConfig))
+
+#define PCOUNT3DDEMO_DOACAPONRACFG_OFFSET                    (PCOUNT3DDEMO_DOACAPONCFG_OFFSET + \
+                                                  offsetof(doaConfig, rangeAngleCfg))
+
+#define PCOUNT3DDEMO_DOA2DESTCFG_OFFSET                 (PCOUNT3DDEMO_DOACAPONCFG_OFFSET + \
+                                                  offsetof(doaConfig, angle2DEst))
+
+#define PCOUNT3DDEMO_DOAFOVCFG_OFFSET                 (PCOUNT3DDEMO_DOACAPONCFG_OFFSET + \
+                                                  offsetof(doaConfig, fovCfg))
+
+#define PCOUNT3DDEMO_STATICANGESTCFG_OFFSET       (PCOUNT3DDEMO_DOACAPONCFG_OFFSET + \
+                                                  offsetof(doaConfig, staticEstCfg))
+
+#define PCOUNT3DDEMO_DOPCFARCFG_OFFSET       	(PCOUNT3DDEMO_DOACAPONCFG_OFFSET + \
+                                                  offsetof(doaConfig, dopCfarCfg))
+
+
+
+/** @}*/ /* configStoreOffsets */
+
+/**
+ * @brief
+ *  3D people counting Demo Sensor State
+ *
+ * @details
+ *  The enumeration is used to define the sensor states used in 3D people counting Demo
+ */
+typedef enum Pcount3DDemo_SensorState_e
+{
+    /*!  @brief Inital state after sensor is initialized.
+     */
+    Pcount3DDemo_SensorState_INIT = 0,
+
+    /*!  @brief Indicates sensor is started */
+    Pcount3DDemo_SensorState_STARTED,
+
+    /*!  @brief  State after sensor has completely stopped */
+    Pcount3DDemo_SensorState_STOPPED
+}Pcount3DDemo_SensorState;
+
+/**
+ * @brief
+ *  3D people counting Demo statistics
+ *
+ * @details
+ *  The structure is used to hold the statistics information for the
+ *  3D people counting Demo
+ */
+typedef struct Pcount3DDemo_MSS_Stats_t
+{
+    /*! @brief   Counter which tracks the number of frame trigger events from BSS */
+    uint64_t     frameTriggerReady;
+    
+    /*! @brief   Counter which tracks the number of failed calibration reports
+     *           The event is triggered by an asynchronous event from the BSS */
+    uint32_t     failedTimingReports;
+
+    /*! @brief   Counter which tracks the number of calibration reports received
+     *           The event is triggered by an asynchronous event from the BSS */
+    uint32_t     calibrationReports;
+
+     /*! @brief   Counter which tracks the number of sensor stop events received
+      *           The event is triggered by an asynchronous event from the BSS */
+    uint32_t     sensorStopped;
+
+    /*! @brief   Counter which tracks the number of dpm stop events received
+     *           The event is triggered by DPM_Report_DPC_STOPPED from DPM */
+    uint32_t     dpmStopEvents;
+
+    /*! @brief   Counter which tracks the number of dpm start events received
+    *           The event is triggered by DPM_Report_DPC_STARTED from DPM */
+    uint32_t     dpmStartEvents;
+
+}Pcount3DDemo_MSS_Stats;
+
+/**
+ * @brief
+ *  3D people counting Demo Data Path Information.
+ *
+ * @details
+ *  The structure is used to hold all the relevant information for
+ *  the data path.
+ */
+typedef struct Pcount3DDemo_SubFrameCfg_t
+{
+    /*! @brief ADC buffer configuration storage */
+    MmwDemo_ADCBufCfg adcBufCfg;
+
+    /*! @brief Flag indicating if @ref adcBufCfg is pending processing. */
+    uint8_t isAdcBufCfgPending : 1;
+
+    /*! @brief Dynamic configuration storage for object detection DPC */
+    Pcount3DDemo_DPC_ObjDet_DynCfg objDetDynCfg;
+
+    /*! @brief  ADCBUF will generate chirp interrupt event every this many chirps - chirpthreshold */
+    uint8_t     numChirpsPerChirpEvent;
+
+    /*! @brief  Number of bytes per RX channel, it is aligned to 16 bytes as required by ADCBuf driver  */
+    uint32_t    adcBufChanDataSize;
+
+    /*! @brief  Number of ADC samples */
+    uint16_t    numAdcSamples;
+
+    /*! @brief  Number of chirps per sub-frame */
+    uint16_t    numChirpsPerSubFrame;
+    
+    /*! @brief  Number of virtual antennas */
+    uint8_t     numVirtualAntennas; 
+} Pcount3DDemo_SubFrameCfg;
+
+/*!
+ * @brief
+ * Structure holds message stats information from data path.
+ *
+ * @details
+ *  The structure holds stats information. This is a payload of the TLV message item
+ *  that holds stats information.
+ */
+typedef struct Pcount3DDemo_SubFrameStats_t
+{
+    /*! @brief   Frame processing stats */
+    Pcount3DDemo_output_message_stats    outputStats;
+
+    /*! @brief   Dynamic CLI configuration time in usec */
+    uint32_t                        pendingConfigProcTime;
+
+    /*! @brief   SubFrame Preparation time on MSS in usec */
+    uint32_t                        subFramePreparationTime;
+} Pcount3DDemo_SubFrameStats;
+
+/**
+ * @brief Task handles storage structure
+ */
+typedef struct Pcount3DDemo_TaskHandles_t
+{
+    /*! @brief   MMWAVE Control Task Handle */
+    Task_Handle mmwaveCtrl;
+
+    /*! @brief   ObjectDetection DPC related dpmTask */
+    Task_Handle objDetDpmTask;
+
+    /*! @brief   Demo init task */
+    Task_Handle initTask;
+} Pcount3DDemo_taskHandles;
+
+typedef struct Pcount3DDemo_DataPathObj_t
+{
+    /*! @brief Handle to hardware accelerator driver. */
+    HWA_Handle          hwaHandle;
+
+    /*! @brief   Handle of the EDMA driver. */
+    EDMA_Handle         edmaHandle;
+
+    /*! @brief   Radar cube memory information from range DPC */
+    DPC_ObjectDetectionRangeHWA_preStartCfg_radarCubeMem radarCubeMem;
+
+    /*! @brief   Memory usage after the preStartCfg range DPC is applied */
+    DPC_ObjectDetectionRangeHWA_preStartCfg_memUsage memUsage;
+
+    /*! @brief   EDMA error Information when there are errors like missing events */
+    EDMA_errorInfo_t    EDMA_errorInfo;
+
+    /*! @brief EDMA transfer controller error information. */
+    EDMA_transferControllerErrorInfo_t EDMA_transferControllerErrorInfo;
+
+} Pcount3DDemo_DataPathObj;
+
+/**
+ * @brief
+ *  3D people counting Demo  MCB
+ *
+ * @details
+ *  The structure is used to hold all the relevant information for the
+ *  3D people counting Demo
+ */
+typedef struct Pcount3DDemo_MSS_MCB_t
+{
+    /*! @brief      Configuration which is used to execute the demo */
+    Pcount3DDemo_Cfg                 cfg;
+
+    /*! * @brief    Handle to the SOC Module */
+    SOC_Handle                  socHandle;
+
+    /*! @brief      UART Logging Handle */
+    UART_Handle                 loggingUartHandle;
+
+    /*! @brief      UART Command Rx/Tx Handle */
+    UART_Handle                 commandUartHandle;
+
+    /*! @brief      This is the mmWave control handle which is used
+     * to configure the BSS. */
+    MMWave_Handle               ctrlHandle;
+
+    /*! @brief      ADCBuf driver handle */
+    ADCBuf_Handle               adcBufHandle;
+
+    /*! @brief      DSP chain DPM Handle */
+    DPM_Handle                  objDetDpmHandle;
+
+    /*! @brief      Object Detection DPC common configuration */
+    Pcount3DDemo_DPC_ObjDet_CommonCfg objDetCommonCfg;
+
+    /*! @brief      Data path object */
+    Pcount3DDemo_DataPathObj         dataPathObj;
+
+    /*! @brief   Tracker DPU Static Configuration */
+    DPC_ObjectDetection_TrackerConfig trackerCfg;
+
+    /*! @brief      Object Detection DPC subFrame configuration */
+    Pcount3DDemo_SubFrameCfg         subFrameCfg[RL_MAX_SUBFRAMES];
+
+    /*! @brief      sub-frame stats */
+    Pcount3DDemo_SubFrameStats       subFrameStats[RL_MAX_SUBFRAMES];
+
+    /*! @brief      Demo Stats */
+    Pcount3DDemo_MSS_Stats           stats;
+
+    Pcount3DDemo_output_message_UARTpointCloud   pointCloudToUart;
+    DPIF_DetMatrix                      heatMapOutFromDSP;
+    DPIF_PointCloudSpherical            *pointCloudFromDSP;
+    DPIF_PointCloudSideInfo             *pointCloudSideInfoFromDSP;
+    DPC_ObjectDetection_Stats           *frameStatsFromDSP;
+    uint32_t                            currSubFrameIdx;
+
+    trackerProc_TargetDescrHandle       trackerOutput;
+    uint8_t                             numTargets;
+    uint16_t                            numIndices;
+    bool                                presenceDetEnabled;
+    uint32_t                            presenceInd;
+    uint16_t                            numDetectedPoints;
+    uint32_t                            trackerProcessingTimeInUsec;
+    uint32_t                            uartProcessingTimeInUsec;
+
+
+    /*! @brief      Task handle storage */
+    Pcount3DDemo_taskHandles         taskHandles;
+
+    /*! @brief   RF frequency scale factor, = 2.7 for 60GHz device, = 3.6 for 76GHz device */
+    double                      rfFreqScaleFactor;
+
+    /*! @brief   Semaphore handle to signal DPM started from DPM report function */
+    Semaphore_Handle            DPMstartSemHandle;
+
+    /*! @brief   Semaphore handle to signal DPM stopped from DPM report function. */
+    Semaphore_Handle            DPMstopSemHandle;
+
+    /*! @brief   Semaphore handle to signal DPM ioctl from DPM report function. */
+    Semaphore_Handle            DPMioctlSemHandle;
+
+    /*! @brief   Semaphore handle to run UART DMA task. */
+    Semaphore_Handle            uartTxSemHandle;
+
+    /*! @brief   Semaphore handle to trigger tracker DPU. */
+    Semaphore_Handle            trackerDPUSemHandle;
+
+    /*! @brief    Sensor state */
+    Pcount3DDemo_SensorState         sensorState;
+
+    /*! @brief   Tracks the number of sensor start */
+    uint32_t                    sensorStartCount;
+
+    /*! @brief   Tracks the number of sensor sop */
+    uint32_t                    sensorStopCount;
+
+} Pcount3DDemo_MSS_MCB;
+
+/**************************************************************************
+ *************************** Extern Definitions ***************************
+ **************************************************************************/
+
+/* Functions to handle the actions need to move the sensor state */
+extern int32_t Pcount3DDemo_openSensor(bool isFirstTimeOpen);
+extern int32_t Pcount3DDemo_configSensor(void);
+extern int32_t Pcount3DDemo_startSensor(void);
+extern void Pcount3DDemo_stopSensor(void);
+
+/* functions to manage the dynamic configuration */
+extern uint8_t Pcount3DDemo_isAllCfgInPendingState(void);
+extern uint8_t Pcount3DDemo_isAllCfgInNonPendingState(void);
+extern void Pcount3DDemo_resetStaticCfgPendingState(void);
+extern void Pcount3DDemo_CfgUpdate(void *srcPtr, uint32_t offset, uint32_t size, int8_t subFrameNum);
+
+extern void Pcount3DDemo_CLIInit (uint8_t taskPriority);
+
+/* Debug Functions */
+extern void _Pcount3DDemo_debugAssert(int32_t expression, const char *file, int32_t line);
+#define Pcount3DDemo_debugAssert(expression) {                                      \
+                                         _Pcount3DDemo_debugAssert(expression,      \
+                                                  __FILE__, __LINE__);         \
+                                         DebugP_assert(expression);             \
+                                        }
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* MMW_MSS_H */
+

mss/pcount3D_mss_linker.cmd

+/*----------------------------------------------------------------------------*/
+/* Linker Settings                                                            */
+--retain="*(.intvecs)"
+
+/*----------------------------------------------------------------------------*/
+/* Section Configuration                                                      */
+SECTIONS
+{
+     systemHeap : {} > DATA_RAM
+    .hwaBufs: load = HWA_RAM, type = NOINIT
+    .dpcLocalRam: {} > DATA_RAM
+    .l3ram: {} >> L3_RAM
+    .demoSharedMem: { } >> HS_RAM
+}
+/*----------------------------------------------------------------------------*/
+

mss/r4f_linker.cmd

+/*----------------------------------------------------------------------------*/
+/* r4f_linker.cmd                                                                 */
+/*                                                                            */
+/* (c) Texas Instruments 2016, All rights reserved.                           */
+/*                                                                            */
+
+/* USER CODE BEGIN (0) */
+/* USER CODE END */
+
+
+/*----------------------------------------------------------------------------*/
+/* Linker Settings                                                            */
+--retain="*(.intvecs)"
+
+/*----------------------------------------------------------------------------*/
+/* Memory Map                                                                 */
+#define MMWAVE_L3RAM_SIZE (MMWAVE_L3RAM_NUM_BANK*MMWAVE_SHMEM_BANK_SIZE - MMWAVE_MSSUSED_L3RAM_SIZE)
+MEMORY{
+PAGE 0:
+    VECTORS  (X)  : origin=0x00000000 length=0x00000100
+    PROG_RAM (RX) : origin=0x00000100 length=0x0007FF00+(MMWAVE_SHMEM_TCMA_NUM_BANK*MMWAVE_SHMEM_BANK_SIZE)
+    DATA_RAM (RW) : origin=0x08000000 length=0x00030000+(MMWAVE_SHMEM_TCMB_NUM_BANK*MMWAVE_SHMEM_BANK_SIZE)
+    L3_RAM (RW)   : origin=0x51000000 length=0x00000000+(MMWAVE_MSSUSED_L3RAM_SIZE)
+    HWA_RAM (RW)  : origin=0x52030000 length=0x00010000
+    HS_RAM (RW)   : origin=0x52080000 length=0x8000
+PAGE 1:
+    L3_RAM (RW)   : origin=0x51000000 length=0x00000000+(MMWAVE_MSSUSED_L3RAM_SIZE)
+}
+
+/*----------------------------------------------------------------------------*/
+/* Section Configuration                                                      */
+SECTIONS{
+    .intvecs : {} > VECTORS
+    .text    : {} > PROG_RAM
+    .const   : {} > PROG_RAM
+    .cinit   : {} > PROG_RAM
+    .pinit   : {} > PROG_RAM
+    .bss     : {} > DATA_RAM
+    .data    : {} > DATA_RAM
+    .stack   : {} > DATA_RAM
+}
+/*----------------------------------------------------------------------------*/
+

mss/src/.exclude

+This file exists to prevent Eclipse/CDT from adding the C sources contained in this directory (or below) to any enclosing project.

mss/src/makefile.libs

+#
+# This file was generated based on the configuration script:
+#     C:\Users\Daunair\workspace_v10\3D_people_count_68xx_mss\mss\pcount3D_mss.cfg
+#
+# This makefile may be included in other makefiles that need to build
+# the libraries containing the compiled source files generated as
+# part of the configuration step.
+
+#
+# ======== GEN_SRC_DIR =========
+# The path to the sources generated during configuration
+#
+# This path must be either absolute or relative to the build directory.
+#
+# The absolute path to the generated source directory (at the time the
+# sources were generated) is:
+#    C:\Users\Daunair\workspace_v10\3D_people_count_68xx_mss\mss\src
+#
+GEN_SRC_DIR ?= ../mss/src
+
+ifeq (,$(wildcard $(GEN_SRC_DIR)))
+$(error "ERROR: GEN_SRC_DIR must be set to the directory containing the generated sources")
+endif
+
+#
+# ======== .force ========
+# The .force goal is used to force the build of any goal that names it as
+# a prerequisite
+#
+.PHONY: .force
+      
+#
+# ======== library macros ========
+#
+sysbios_SRC = $(GEN_SRC_DIR)/sysbios
+sysbios_LIB = $(GEN_SRC_DIR)/sysbios/sysbios.aer4ft
+
+#
+# ======== dependencies ========
+#
+all: $(sysbios_LIB)
+clean: .sysbios_clean
+
+
+# ======== convenient build goals ========
+.PHONY: sysbios
+sysbios: $(GEN_SRC_DIR)/sysbios/sysbios.aer4ft
+
+# CDT managed make executables depend on $(OBJS)
+OBJS += $(sysbios_LIB)
+
+#
+# ======== rules ========
+#
+$(sysbios_LIB): .force 
+	@echo making $@ ...
+	@$(MAKE) -C $(sysbios_SRC)
+
+.sysbios_clean:
+	@echo cleaning $(sysbios_SRC) ...
+	-@$(MAKE) --no-print-directory -C $(sysbios_SRC) clean
+

mss/src/sysbios/makefile

+#  This is a generated file.
+#
+#  Do not edit this file. Any modifications to this file
+#  will be overwritten whenever makefiles are re-generated.
+#
+#  template: ti.sysbios/makefile.xdt
+#  target: ti.targets.arm.elf.R4Ft
+
+vpath % C:/ti/bios_6_73_01_01/packages/ti/sysbios/
+vpath %.c C:/ti/xdctools_3_50_08_24_core/packages/
+
+XOPTS = -I"C:/ti/xdctools_3_50_08_24_core/packages/" -Dxdc_target_types__=C:/ti/bios_6_73_01_01/packages/ti/targets/arm/elf/std.h -Dxdc_target_name__=R4Ft
+
+BIOS_DEFS =  -Dti_sysbios_BIOS_swiEnabled__D=FALSE -Dti_sysbios_BIOS_taskEnabled__D=TRUE -Dti_sysbios_BIOS_clockEnabled__D=TRUE -Dti_sysbios_BIOS_runtimeCreatesEnabled__D=TRUE -Dti_sysbios_knl_Task_moduleStateCheckFlag__D=FALSE -Dti_sysbios_knl_Task_objectCheckFlag__D=FALSE -Dti_sysbios_hal_Hwi_DISABLE_ALL_HOOKS -Dti_sysbios_knl_Swi_DISABLE_ALL_HOOKS -Dti_sysbios_BIOS_smpEnabled__D=FALSE -Dti_sysbios_BIOS_mpeEnabled__D=FALSE -Dti_sysbios_Build_useHwiMacros -Dti_sysbios_knl_Swi_numPriorities__D=16 -Dti_sysbios_knl_Task_deleteTerminatedTasks__D=FALSE -Dti_sysbios_knl_Task_numPriorities__D=16 -Dti_sysbios_knl_Task_checkStackFlag__D=TRUE -Dti_sysbios_knl_Task_initStackFlag__D=TRUE -Dti_sysbios_knl_Clock_TICK_SOURCE=ti_sysbios_knl_Clock_TickSource_TIMER -Dti_sysbios_knl_Clock_TICK_MODE=ti_sysbios_knl_Clock_TickMode_PERIODIC -Dti_sysbios_hal_Core_delegate_getId=ti_sysbios_family_arm_v7r_tms570_Core_getId__E -Dti_sysbios_hal_Core_delegate_interruptCore=ti_sysbios_family_arm_v7r_tms570_Core_interruptCore__E -Dti_sysbios_hal_Core_delegate_lock=ti_sysbios_family_arm_v7r_tms570_Core_lock__E -Dti_sysbios_hal_Core_delegate_unlock=ti_sysbios_family_arm_v7r_tms570_Core_unlock__E -Dti_sysbios_hal_Core_numCores__D=1 -Dti_sysbios_family_arm_v7r_tms570_Core_numCores__D=1 -Dti_sysbios_utils_Load_taskEnabled__D=TRUE -Dti_sysbios_utils_Load_swiEnabled__D=FALSE -Dti_sysbios_utils_Load_hwiEnabled__D=FALSE -Dti_sysbios_family_arm_v7r_vim_Hwi_dispatcherSwiSupport__D=FALSE -Dti_sysbios_family_arm_v7r_vim_Hwi_dispatcherTaskSupport__D=TRUE -Dti_sysbios_family_arm_v7r_vim_Hwi_dispatcherAutoNestingSupport__D=TRUE -Dti_sysbios_family_arm_v7r_vim_Hwi_dispatcherIrpTrackingSupport__D=TRUE -Dti_sysbios_knl_Semaphore_supportsEvents__D=FALSE -Dti_sysbios_knl_Semaphore_supportsPriority__D=TRUE 
+
+CCOPTS = --code_state=16 --float_support=vfpv3d16 --endian=little -mv7R4 --abi=eabi -q -ms --opt_for_speed=2  --program_level_compile -o3 -g  --enum_type=int  -Dti_sysbios_family_arm_exc_Exception_enableDecode__D=TRUE -Dti_sysbios_knl_Clock_stopCheckNext__D=FALSE -Dti_sysbios_family_arm_v7r_vim_Hwi_lockstepDevice__D=TRUE -Dti_sysbios_family_arm_v7r_vim_Hwi_errataInitEsm__D=TRUE -Dti_sysbios_family_arm_v7r_vim_Hwi_resetVIM__D=TRUE -Dti_sysbios_hal_Core_numCores__D=1 -Dti_sysbios_knl_Task_ENABLE_SWITCH_HOOKS -Dti_sysbios_knl_Task_minimizeLatency__D=FALSE
+
+BIOS_INC = -I"C:/ti/bios_6_73_01_01/packages/"
+ANNEX_INCS = 
+INCS = $(BIOS_INC) $(ANNEX_INCS) -I"C:/ti/bios_6_73_01_01/packages/" -I"C:/ti/xdctools_3_50_08_24_core/packages/" -I"../" -I"/packages//"  -IC:/ti/ti-cgt-arm_16.9.6.LTS/include 
+
+CC = C:/ti/ti-cgt-arm_16.9.6.LTS/bin/armcl -c $(CCOPTS)
+ASM = C:/ti/ti-cgt-arm_16.9.6.LTS/bin/armcl -c $(CCOPTS)
+AR = C:/ti/ti-cgt-arm_16.9.6.LTS/bin/armar rq
+
+DEL = C:/ti/xdctools_3_50_08_24_core/packages/../bin/rm -f
+CP = C:/ti/xdctools_3_50_08_24_core/packages/../bin/cp -f
+
+define RM
+	$(if $(wildcard $1),$(DEL) $1,:)
+endef
+
+define ASSEMBLE
+	@echo asmer4ft $< ...
+	@$(ASM) $(BIOS_DEFS) $(XOPTS) $(INCS) $<
+endef
+
+all: sysbios.aer4ft
+
+arm_IntrinsicsSupport_asm.obj: family/arm/IntrinsicsSupport_asm.asm makefile
+	@-$(call RM, $@)
+	$(ASSEMBLE) --output_file=arm_IntrinsicsSupport_asm.obj
+
+arm_TaskSupport_asm.obj: family/arm/TaskSupport_asm.asm makefile
+	@-$(call RM, $@)
+	$(ASSEMBLE) --output_file=arm_TaskSupport_asm.obj
+
+vim_Hwi_asm.obj: family/arm/v7r/vim/Hwi_asm.sv7R makefile
+	@-$(call RM, $@)
+	$(ASSEMBLE) --output_file=vim_Hwi_asm.obj
+
+vim_Hwi_asm_switch.obj: family/arm/v7r/vim/Hwi_asm_switch.sv7R makefile
+	@-$(call RM, $@)
+	$(ASSEMBLE) --output_file=vim_Hwi_asm_switch.obj
+
+exc_Exception_asm.obj: family/arm/exc/Exception_asm.asm makefile
+	@-$(call RM, $@)
+	$(ASSEMBLE) --output_file=exc_Exception_asm.obj
+
+tms570_Core_asm.obj: family/arm/v7r/tms570/Core_asm.sv7R makefile
+	@-$(call RM, $@)
+	$(ASSEMBLE) --output_file=tms570_Core_asm.obj
+
+a15_TimestampProvider_asm.obj: family/arm/a15/TimestampProvider_asm.asm makefile
+	@-$(call RM, $@)
+	$(ASSEMBLE) --output_file=a15_TimestampProvider_asm.obj
+
+
+BIOS.obj: BIOS.c family/arm/IntrinsicsSupport.c family/arm/TaskSupport.c knl/Clock.c knl/Idle.c knl/Intrinsics.c knl/Event.c knl/Queue.c knl/Semaphore.c knl/Task.c heaps/HeapBuf.c heaps/HeapMem.c family/arm/v7r/vim/Hwi.c family/arm/exc/Exception.c hal/Cache.c hal/CacheNull.c hal/Core.c hal/Hwi.c hal/Hwi_stack.c hal/Hwi_startup.c family/arm/v7a/Pmu.c utils/Load.c utils/Load_CPU.c gates/GateHwi.c gates/GateMutex.c family/arm/v7r/tms570/Core.c timers/rti/Timer.c family/arm/a15/TimestampProvider.c xdc/runtime/xdc_noinit.c xdc/runtime/Assert.c xdc/runtime/Core-mem.c xdc/runtime/Core-smem.c xdc/runtime/Core-label.c xdc/runtime/Core-params.c xdc/runtime/Diags.c xdc/runtime/Error.c xdc/runtime/Gate.c xdc/runtime/Log.c xdc/runtime/LoggerBuf.c xdc/runtime/Memory.c xdc/runtime/Registry.c xdc/runtime/Startup.c xdc/runtime/System.c xdc/runtime/SysStd.c xdc/runtime/Text.c xdc/runtime/Timestamp.c xdc/runtime/TimestampNull.c makefile
+	@-$(call RM, $@)
+	@echo cler4ft $< ...
+	@$(CC) $(BIOS_DEFS) $(XOPTS) $(INCS) $(subst makefile,,$^)
+
+sysbios.aer4ft: BIOS.obj arm_IntrinsicsSupport_asm.obj arm_TaskSupport_asm.obj vim_Hwi_asm.obj vim_Hwi_asm_switch.obj exc_Exception_asm.obj tms570_Core_asm.obj a15_TimestampProvider_asm.obj
+	@-$(call RM, $@)
+	@echo arer4ft $^ ...
+	@$(AR) $@ $^
+
+
+clean:
+	@$(DEL) ..\makefile.libs
+	@-$(call RM, *)

mss/tracker_output.h

+/**
+ *   @file  mmw_output.h
+ *
+ *   @brief
+ *      This is the interface/message header file for the Millimeter Wave Demo
+ *
+ *  \par
+ *  NOTE:
+ *      (C) Copyright 2016 Texas Instruments, Inc.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *    Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ *
+ *    Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in the
+ *    documentation and/or other materials provided with the
+ *    distribution.
+ *
+ *    Neither the name of Texas Instruments Incorporated nor the names of
+ *    its contributors may be used to endorse or promote products derived
+ *    from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+ *  A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+ *  OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *  SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *  LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+ *  DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+ *  THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ *  (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ *  OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+#ifndef TRACKER_OUTPUT_H
+#define TRACKER_OUTPUT_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/** @brief Output packet length is a multiple of this value, must be power of 2*/
+#define TRACKERDEMO_OUTPUT_MSG_SEGMENT_LEN 32
+/*!
+ * @brief
+ *  Message header for reporting detection information from data path.
+ *
+ * @details
+ *  The structure defines the message header.
+ */
+typedef struct TrackerDemo_output_message_header_t
+{
+    /*! @brief   Output buffer magic word (sync word). It is initialized to  {0x0102,0x0304,0x0506,0x0708} */
+    uint16_t    magicWord[4];
+
+    /*! @brief SW Version: : MajorNum * 2^24 + MinorNum * 2^16 + BugfixNum * 2^8 + BuildNum   */
+    uint32_t    version;
+
+    /*! @brief HW platform type */
+    uint32_t    platform;
+
+    /*! @brief Time in CPU cycles when the message was created, R4F CPU cycles */
+    uint32_t    timeStamp;
+
+    /*! @brief   Total packet length including header in Bytes */
+    uint32_t    totalPacketLen;
+    
+    /*! @brief   Frame number */
+    uint32_t    frameNumber;
+
+    /*! @brief   For Advanced Frame config, this is the sub-frame number in the range
+     * 0 to (number of subframes - 1). For frame config (not advanced), this is always
+     * set to 0. */
+    uint32_t    subFrameNumber;
+
+    /*! @brief Detection Layer Margins */
+    uint32_t    chirpProcessingMargin;
+    uint32_t    frameProcessingMargin;
+    
+    /*! @brief Localization Layer Timing */
+    uint32_t    trackingProcessingTime;
+    uint32_t    uartSendingTime;
+
+    /*! @brief Number of TLVs in this message*/
+    uint16_t    numTLVs;
+    /*! @brief Header checksum */
+    uint16_t    checksum;
+
+} TrackerDemo_output_message_header;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* MMW_OUTPUT_H */

mss/tracker_utils.c

+/**
+ *   @file  task_mbox.c
+ *
+ *   @brief
+ *     MSS main implementation of the millimeter wave Demo
+ *
+ *  Copyright (C) 2017 Texas Instruments Incorporated - http://www.ti.com/
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *    Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ *
+ *    Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in the
+ *    documentation and/or other materials provided with the
+ *    distribution.
+ *
+ *    Neither the name of Texas Instruments Incorporated nor the names of
+ *    its contributors may be used to endorse or promote products derived
+ *    from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+ *  A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+ *  OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *  SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *  LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+ *  DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+ *  THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ *  (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ *  OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+/**************************************************************************
+ *************************** Include Files ********************************
+ **************************************************************************/
+
+/* Standard Include Files. */
+#include <stdint.h>
+#include <stdlib.h>
+#include <stddef.h>
+#include <string.h>
+#include <stdio.h>
+#include <math.h>
+
+
+/* BIOS/XDC Include Files. */
+#include <xdc/runtime/System.h>
+
+/* mmWave SDK Include Files: */
+#include <ti/common/sys_common.h>
+#include <ti/drivers/uart/UART.h>
+#include <ti/utils/cli/cli.h>
+#include <ti/alg/gtrack/gtrack.h>
+#include <ti/drivers/osal/MemoryP.h>
+#include "float.h"
+
+/* Demo Include Files */
+#include <people_counting/68xx_3D_people_counting/src/mss/pcount3D_mss.h>
+
+
+/**************************************************************************
+ *************************** Local Definitions ****************************
+ **************************************************************************/
+
+/**************************************************************************
+ *************************** Global Definitions ***************************
+ **************************************************************************/
+
+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_ADVANCED_PARAM_SET;
+
+typedef enum {
+    TRACKING_PARAM_SET_TM = 0,
+    TRACKING_PARAM_SET_PC,
+    TRACKING_PARAM_SET_OUTDOOR,
+    TRACKING_PARAM_SET_CEILING_MOUNT
+} TRACKING_ADVANCED_PARAM_SET_TABLE;
+#if 0
+/* 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}}
+};
+
+/* 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 */
+    {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 */
+    {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}}
+};
+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 */
+};
+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 */
+};
+/* 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}
+};
+
+float maxAccelerationParams[3] = {1, 1, 1};
+#endif
+/**
+ * @brief
+ *  Global Variable for tracking information required by the mmw Demo
+ */
+extern Pcount3DDemo_MSS_MCB  gMmwMssMCB;
+
+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;
+    return MemoryP_ctrlAlloc(numElements*sizeInBytes, 0);
+}
+void gtrack_free(void *pFree, unsigned int sizeInBytes)
+{
+	gGtrackMemoryUsed -= sizeInBytes;
+	MemoryP_ctrlFree(pFree,sizeInBytes);
+}
+void gtrack_log(GTRACK_VERBOSE_TYPE level, const char *format, ...)
+{
+#if 0
+	va_list args;
+    va_start(args, format);
+	vprintf(format, args);
+	va_end(args);
+#endif
+}
+
+/**
+ *  @b Description
+ *  @n
+ *      This is the CLI Handler for tracking configuration
+ *
+ *  @param[in] argc
+ *      Number of arguments
+ *  @param[in] argv
+ *      Arguments
+ *
+ *  @retval
+ *      Success -   0
+ *  @retval
+ *      Error   -   <0
+ */
+int32_t MmwDemo_CLITrackingCfg (int32_t argc, char* argv[])
+{
+    GTRACK_moduleConfig         config;
+
+
+    TRACKING_ADVANCED_PARAM_SET trackingParamSet;
+
+    //Memory_Stats            startMemoryStats;
+    //Memory_Stats            endMemoryStats;
+
+    if (argc >= 1) {
+        gMmwMssMCB.trackerCfg.trackerDpuCfg.staticCfg.trackerEnabled = (uint16_t) atoi (argv[1]);
+    }
+
+    if(gMmwMssMCB.trackerCfg.trackerDpuCfg.staticCfg.trackerEnabled != 1) {
+        return 0;
+    }
+
+    /* Sanity Check: Minimum argument check */
+    if (argc != 8)
+    {
+        CLI_write ("Error: Invalid usage of the CLI command\n");
+        return -1;
+    }
+#if 0
+    System_printf("Debug: Heap before creating a tracker\n");
+    MmwDemo_printHeapStats();
+#endif
+    /* Initialize CLI configuration: */
+    memset ((void *)&config, 0, sizeof(GTRACK_moduleConfig));
+
+    trackingParamSet = (TRACKING_ADVANCED_PARAM_SET) atoi (argv[2]);
+    gMmwMssMCB.trackerCfg.trackerDpuCfg.staticCfg.trackingParamSet = trackingParamSet;
+
+    switch(trackingParamSet)
+    {
+        case TRACKING_DEFAULT_PARAM_SET:
+            // Do not configure advanced parameters, use library default parameters
+            config.advParams = 0;
+            break;
+
+        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
+            break;
+
+        case TRACKING_PEOPLE_COUNTING_PARAM_SET:
+            /* Initialize CLI configuration: */
+            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;
+            break;
+
+        case TRACKING_OUTDOOR_PARAM_SET:
+            /* Initialize CLI configuration: */
+            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;			
+
+        case TRACKING_CEILING_MOUNT_PARAM_SET:
+            /* Initialize CLI configuration: */
+            config.initialRadialVelocity = 0;
+            config.maxAcceleration[0] = 0.1f;
+            config.maxAcceleration[1] = 0.1f;
+            config.maxAcceleration[2] = 0.1f;
+            break;
+
+
+        default:
+            CLI_write ("Error: Invalid usage of the CLI command\n");
+            return -1;
+    }
+#ifdef GTRACK_3D
+    config.stateVectorType      	= GTRACK_STATE_VECTORS_3DA; // Track three dimensions with acceleration
+#else
+    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;
+#ifndef GTRACK_3D
+    config.radialVelocityResolution	= (float) atoi(argv[6]) *0.001f;
+#endif
+    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));
+
+    return 0;
+}
+
+int32_t MmwDemo_CLIStaticBoundaryBoxCfg (int32_t argc, char* argv[])
+{
+    /* Sanity Check: Minimum argument check */
+#ifdef GTRACK_3D
+    if (argc != 7)
+#else
+    if (argc != 5)
+#endif
+    {
+        CLI_write ("Error: Invalid usage of the CLI command\n");
+        return -1;
+    }
+
+    /* Initialize the ADC Output configuration: */
+    //memset ((void *)&sceneryParams, 0, sizeof(GTRACK_sceneryParams));
+    
+    /* Populate configuration: */
+    gMmwMssMCB.trackerCfg.trackerDpuCfg.staticCfg.sceneryParams.numStaticBoxes = 1;
+    gMmwMssMCB.trackerCfg.trackerDpuCfg.staticCfg.sceneryParams.staticBox[0].x1 = (float) atof (argv[1]);
+    gMmwMssMCB.trackerCfg.trackerDpuCfg.staticCfg.sceneryParams.staticBox[0].x2 = (float) atof (argv[2]);
+    gMmwMssMCB.trackerCfg.trackerDpuCfg.staticCfg.sceneryParams.staticBox[0].y1 = (float) atof (argv[3]);
+    gMmwMssMCB.trackerCfg.trackerDpuCfg.staticCfg.sceneryParams.staticBox[0].y2 = (float) atof (argv[4]);
+    
+#ifdef GTRACK_3D
+    gMmwMssMCB.trackerCfg.trackerDpuCfg.staticCfg.sceneryParams.staticBox[0].z1 = (float) atof (argv[5]);
+    gMmwMssMCB.trackerCfg.trackerDpuCfg.staticCfg.sceneryParams.staticBox[0].z2 = (float) atof (argv[6]);
+#endif
+
+    return 0;
+    
+}
+
+int32_t MmwDemo_CLIBoundaryBoxCfg (int32_t argc, char* argv[])
+{
+    /* Sanity Check: Minimum argument check */
+#ifdef GTRACK_3D
+    if (argc != 7 && argc != 13)
+#else
+    if (argc != 5)
+#endif
+    {
+        CLI_write ("Error: Invalid usage of the CLI command\n");
+        return -1;
+    }
+
+    /* Initialize the ADC Output configuration: */
+    //memset ((void *)&sceneryParams, 0, sizeof(GTRACK_sceneryParams));
+    
+    /* Populate configuration: */
+    gMmwMssMCB.trackerCfg.trackerDpuCfg.staticCfg.sceneryParams.numBoundaryBoxes = 1;
+    gMmwMssMCB.trackerCfg.trackerDpuCfg.staticCfg.sceneryParams.boundaryBox[0].x1 = (float) atof (argv[1]);
+    gMmwMssMCB.trackerCfg.trackerDpuCfg.staticCfg.sceneryParams.boundaryBox[0].x2 = (float) atof (argv[2]);
+    gMmwMssMCB.trackerCfg.trackerDpuCfg.staticCfg.sceneryParams.boundaryBox[0].y1 = (float) atof (argv[3]);
+    gMmwMssMCB.trackerCfg.trackerDpuCfg.staticCfg.sceneryParams.boundaryBox[0].y2 = (float) atof (argv[4]);
+#ifdef GTRACK_3D
+    gMmwMssMCB.trackerCfg.trackerDpuCfg.staticCfg.sceneryParams.boundaryBox[0].z1 = (float) atof (argv[5]);
+    gMmwMssMCB.trackerCfg.trackerDpuCfg.staticCfg.sceneryParams.boundaryBox[0].z2 = (float) atof (argv[6]);
+#endif
+    if (argc == 13) {  //second boundary box
+        gMmwMssMCB.trackerCfg.trackerDpuCfg.staticCfg.sceneryParams.numBoundaryBoxes = 2;
+        gMmwMssMCB.trackerCfg.trackerDpuCfg.staticCfg.sceneryParams.boundaryBox[1].x1 = (float) atof (argv[7]);
+        gMmwMssMCB.trackerCfg.trackerDpuCfg.staticCfg.sceneryParams.boundaryBox[1].x2 = (float) atof (argv[8]);
+        gMmwMssMCB.trackerCfg.trackerDpuCfg.staticCfg.sceneryParams.boundaryBox[1].y1 = (float) atof (argv[9]);
+        gMmwMssMCB.trackerCfg.trackerDpuCfg.staticCfg.sceneryParams.boundaryBox[1].y2 = (float) atof (argv[10]);
+    #ifdef GTRACK_3D
+        gMmwMssMCB.trackerCfg.trackerDpuCfg.staticCfg.sceneryParams.boundaryBox[1].z1 = (float) atof (argv[11]);
+        gMmwMssMCB.trackerCfg.trackerDpuCfg.staticCfg.sceneryParams.boundaryBox[1].z2 = (float) atof (argv[12]);
+    #endif
+    }
+    
+    return 0;
+    
+}
+
+int32_t MmwDemo_CLISensorPositionCfg(int32_t argc, char* argv[])
+{
+    if (argc != 4)
+    {
+        CLI_write("Error: Invalid usage of the CLI Command\n");
+        return -1;
+    }
+
+    /* Assume sensor position as the origin in the xy plane so x=0, y=0*/
+    /*populate sensor position configuration*/
+    gMmwMssMCB.trackerCfg.trackerDpuCfg.staticCfg.sceneryParams.sensorPosition.x = 0;
+    gMmwMssMCB.trackerCfg.trackerDpuCfg.staticCfg.sceneryParams.sensorPosition.y = 0;
+    gMmwMssMCB.trackerCfg.trackerDpuCfg.staticCfg.sceneryParams.sensorPosition.z = (float) atof (argv[1]);
+    /*populate sensor orientation configuration*/
+    gMmwMssMCB.trackerCfg.trackerDpuCfg.staticCfg.sceneryParams.sensorOrientation.azimTilt = (float) atof (argv[2]);
+    gMmwMssMCB.trackerCfg.trackerDpuCfg.staticCfg.sceneryParams.sensorOrientation.elevTilt = (float) atof (argv[3]);
+    /*demo parameters*/
+    gMmwMssMCB.trackerCfg.trackerDpuCfg.staticCfg.sensorAzimuthTilt = atoi(argv[2])*3.14f/180;
+    gMmwMssMCB.trackerCfg.trackerDpuCfg.staticCfg.sensorElevationTilt = atoi(argv[3])*3.14f/180;
+    gMmwMssMCB.trackerCfg.trackerDpuCfg.staticCfg.sensorHeight = (float)atof(argv[1]);
+
+    return 0;
+}
+/**
+ *  @b Description
+ *  @n
+ *      This is the CLI Handler for GatingParam configuration
+ *
+ *  @param[in] argc
+ *      Number of arguments
+ *  @param[in] argv
+ *      Arguments
+ *
+ *  @retval
+ *      Success -   0
+ *  @retval
+ *      Error   -   <0
+ */
+int32_t MmwDemo_CLIGatingParamCfg (int32_t argc, char* argv[])
+{
+    /* Sanity Check: Minimum argument check */
+#ifdef GTRACK_3D
+    if (argc != 6)
+#else
+    if (argc != 5)
+#endif
+    {
+        CLI_write ("Error: Invalid usage of the CLI command\n");
+        return -1;
+    }
+    /* Initialize the ADC Output configuration: */
+    //memset ((void *)&gatingParams, 0, sizeof(GTRACK_gatingParams));
+    
+    /* Populate configuration: */
+    gMmwMssMCB.trackerCfg.trackerDpuCfg.staticCfg.gatingParams.gain = (float) atof (argv[1]);
+    gMmwMssMCB.trackerCfg.trackerDpuCfg.staticCfg.gatingParams.limits.width = (float) atof (argv[2]);
+    gMmwMssMCB.trackerCfg.trackerDpuCfg.staticCfg.gatingParams.limits.depth = (float) atof (argv[3]);
+#ifdef GTRACK_3D
+    gMmwMssMCB.trackerCfg.trackerDpuCfg.staticCfg.gatingParams.limits.height = (float) atof (argv[4]);
+    gMmwMssMCB.trackerCfg.trackerDpuCfg.staticCfg.gatingParams.limits.vel = (float) atof (argv[5]);
+#else
+    gMmwMssMCB.trackerCfg.trackerDpuCfg.staticCfg.gatingParams.limits.vel = (float) atof (argv[4]);
+#endif
+
+    return 0;
+    
+}
+
+
+/**
+ *  @b Description
+ *  @n
+ *      This is the CLI Handler for StateParam configuration
+ *
+ *  @param[in] argc
+ *      Number of arguments
+ *  @param[in] argv
+ *      Arguments
+ *
+ *  @retval
+ *      Success -   0
+ *  @retval
+ *      Error   -   <0
+ */
+int32_t MmwDemo_CLIStateParamCfg (int32_t argc, char* argv[])
+{
+    /* Sanity Check: Minimum argument check */
+    if (argc != 7)
+    {
+        CLI_write ("Error: Invalid usage of the CLI command\n");
+        return -1;
+    }
+
+    /* Initialize the ADC Output configuration: */
+    //memset ((void *)&stateParams, 0, sizeof(GTRACK_stateParams));
+    
+    /* Populate configuration: */
+    gMmwMssMCB.trackerCfg.trackerDpuCfg.staticCfg.stateParams.det2actThre = (uint16_t) atoi (argv[1]);
+    gMmwMssMCB.trackerCfg.trackerDpuCfg.staticCfg.stateParams.det2freeThre= (uint16_t) atoi (argv[2]);
+    gMmwMssMCB.trackerCfg.trackerDpuCfg.staticCfg.stateParams.active2freeThre= (uint16_t) atoi (argv[3]);
+    gMmwMssMCB.trackerCfg.trackerDpuCfg.staticCfg.stateParams.static2freeThre= (uint16_t) atoi (argv[4]);
+    gMmwMssMCB.trackerCfg.trackerDpuCfg.staticCfg.stateParams.exit2freeThre= (uint16_t) atoi (argv[5]);
+    gMmwMssMCB.trackerCfg.trackerDpuCfg.staticCfg.stateParams.sleep2freeThre = (uint16_t) atoi (argv[6]);
+
+    return 0;
+    
+}
+
+/**
+ *  @b Description
+ *  @n
+ *      This is the CLI Handler for AllocationParam configuration
+ *
+ *  @param[in] argc
+ *      Number of arguments
+ *  @param[in] argv
+ *      Arguments
+ *
+ *  @retval
+ *      Success -   0
+ *  @retval
+ *      Error   -   <0
+ */
+int32_t MmwDemo_CLIAllocationParamCfg (int32_t argc, char* argv[])
+{
+    /* Sanity Check: Minimum argument check */
+#ifdef GTRACK_3D
+    if (argc != 7)
+#else
+    if (argc != 6)
+#endif
+    {
+        CLI_write ("Error: Invalid usage of the CLI command\n");
+        return -1;
+    }
+
+    /* Initialize the ADC Output configuration: */
+    //memset ((void *)&allocationParams, 0, sizeof(GTRACK_allocationParams));
+
+    /* Populate configuration: */
+    gMmwMssMCB.trackerCfg.trackerDpuCfg.staticCfg.allocationParams.snrThre = (float) atof (argv[1]);
+#ifdef GTRACK_3D
+    gMmwMssMCB.trackerCfg.trackerDpuCfg.staticCfg.allocationParams.snrThreObscured = (float) atof (argv[2]);
+    gMmwMssMCB.trackerCfg.trackerDpuCfg.staticCfg.allocationParams.velocityThre = (float) atof (argv[3]);
+    gMmwMssMCB.trackerCfg.trackerDpuCfg.staticCfg.allocationParams.pointsThre = (uint16_t) atoi (argv[4]);
+    gMmwMssMCB.trackerCfg.trackerDpuCfg.staticCfg.allocationParams.maxDistanceThre = (float) atof (argv[5]);
+    gMmwMssMCB.trackerCfg.trackerDpuCfg.staticCfg.allocationParams.maxVelThre = (float) atof (argv[6]);
+#else
+    gMmwMssMCB.trackerCfg.trackerDpuCfg.staticCfg.allocationParams.velocityThre = (float) atof (argv[2]);
+    gMmwMssMCB.trackerCfg.trackerDpuCfg.staticCfg.allocationParams.pointsThre = (uint16_t) atoi (argv[3]);
+    gMmwMssMCB.trackerCfg.trackerDpuCfg.staticCfg.allocationParams.maxDistanceThre = (float) atof (argv[4]);
+    gMmwMssMCB.trackerCfg.trackerDpuCfg.staticCfg.allocationParams.maxVelThre = (float) atof (argv[5]);
+#endif
+
+    return 0;
+    
+}
+
+int32_t MmwDemoCLIMaxAccelerationParamCfg(int32_t argc, char* argv[])
+{
+#ifdef GTRACK_3D
+    if (argc != 4)
+#else
+    if (argc != 3)
+#endif
+    {
+        CLI_write ("Error: Invalid usage of the CLI command\n");
+        return -1;
+    }
+    
+    gMmwMssMCB.trackerCfg.trackerDpuCfg.staticCfg.accelerationParams[0] = (float) atof (argv[1]);
+    gMmwMssMCB.trackerCfg.trackerDpuCfg.staticCfg.accelerationParams[1] = (float) atof (argv[2]);
+#ifdef GTRACK_3D    
+    gMmwMssMCB.trackerCfg.trackerDpuCfg.staticCfg.accelerationParams[2] = (float) atof (argv[3]);
+#endif
+    
+    return 0;
+
+}
+
+/**
+ *  @b Description
+ *  @n
+ *      This is the CLI Handler for PresenceParams configuration
+ *
+ *  @param[in] argc
+ *      Number of arguments
+ *  @param[in] argv
+ *      Arguments
+ *
+ *  @retval
+ *      Success -   0
+ *  @retval
+ *      Error   -   <0
+ */
+int32_t MmwDemo_CLIPresenceParamCfg (int32_t argc, char* argv[])
+{
+    /* Sanity Check: Minimum argument check */
+    if (argc != 7)
+    {
+        CLI_write ("Error: Invalid usage of the CLI command\n");
+        return -1;
+    }
+
+    /* Hardcode presence detection thresholds */
+    gMmwMssMCB.trackerCfg.trackerDpuCfg.staticCfg.presenceParams.pointsThre= 3;//(uint16_t) atoi (argv[1]);
+    gMmwMssMCB.trackerCfg.trackerDpuCfg.staticCfg.presenceParams.velocityThre= 0.5;//(uint16_t) atoi (argv[2]);
+    gMmwMssMCB.trackerCfg.trackerDpuCfg.staticCfg.presenceParams.on2offThre= 10;//(uint16_t) atoi (argv[3]);
+    /* Only one presence detection boundary box supported for now */
+    gMmwMssMCB.trackerCfg.trackerDpuCfg.staticCfg.presenceParams.numOccupancyBoxes= 1;
+
+    /* Set presence detection enabled flag */
+    if( ( gMmwMssMCB.trackerCfg.trackerDpuCfg.staticCfg.sceneryParams.numBoundaryBoxes > 0)
+            && ( gMmwMssMCB.trackerCfg.trackerDpuCfg.staticCfg.presenceParams.pointsThre > 0))
+    {
+        gMmwMssMCB.presenceDetEnabled = true;
+    }
+    
+    /* Boundary Box configuration */
+    gMmwMssMCB.trackerCfg.trackerDpuCfg.staticCfg.presenceParams.occupancyBox[0].x1= (float) atof (argv[1]);
+    gMmwMssMCB.trackerCfg.trackerDpuCfg.staticCfg.presenceParams.occupancyBox[0].x2= (float) atof (argv[2]);
+    gMmwMssMCB.trackerCfg.trackerDpuCfg.staticCfg.presenceParams.occupancyBox[0].y1= (float) atof (argv[3]);
+    gMmwMssMCB.trackerCfg.trackerDpuCfg.staticCfg.presenceParams.occupancyBox[0].y2= (float) atof (argv[4]);
+    gMmwMssMCB.trackerCfg.trackerDpuCfg.staticCfg.presenceParams.occupancyBox[0].z1= (float) atof (argv[5]);
+    gMmwMssMCB.trackerCfg.trackerDpuCfg.staticCfg.presenceParams.occupancyBox[0].z2= (float) atof (argv[6]);
+
+    return 0;
+    
+}
+

mss/tracker_utils.h

+/**
+ *   @file  task_mbox.c
+ *
+ *   @brief
+ *     MSS main implementation of the millimeter wave Demo
+ *
+ *  Copyright (C) 2017 Texas Instruments Incorporated - http://www.ti.com/
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *    Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ *
+ *    Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in the
+ *    documentation and/or other materials provided with the
+ *    distribution.
+ *
+ *    Neither the name of Texas Instruments Incorporated nor the names of
+ *    its contributors may be used to endorse or promote products derived
+ *    from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+ *  A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+ *  OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *  SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *  LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+ *  DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+ *  THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ *  (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ *  OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+/**************************************************************************
+ *************************** Include Files ********************************
+ **************************************************************************/
+
+/* Standard Include Files. */
+#include <stdint.h>
+#include <stdlib.h>
+#include <stddef.h>
+#include <string.h>
+#include <stdio.h>
+#include <math.h>
+
+/**************************************************************************
+ *************************** Local Definitions ****************************
+ **************************************************************************/
+
+/**************************************************************************
+ *************************** Global Definitions ***************************
+ **************************************************************************/
+
+void *gtrack_alloc(unsigned int numElements, unsigned int sizeInBytes);
+void gtrack_free(void *pFree, unsigned int sizeInBytes);
+
+/**
+ *  @b Description
+ *  @n
+ *      This is the CLI Handler for tracking configuration
+ *
+ *  @param[in] argc
+ *      Number of arguments
+ *  @param[in] argv
+ *      Arguments
+ *
+ *  @retval
+ *      Success -   0
+ *  @retval
+ *      Error   -   <0
+ */
+
+int32_t MmwDemo_CLITrackingCfg (int32_t argc, char* argv[]);
+/**
+ *  @b Description
+ *  @n
+ *      This is the CLI Handler for static boundary box configuration
+ *
+ *  @param[in] argc
+ *      Number of arguments
+ *  @param[in] argv
+ *      Arguments
+ *
+ *  @retval
+ *      Success -   0
+ *  @retval
+ *      Error   -   <0
+ */
+int32_t MmwDemo_CLIStaticBoundaryBoxCfg (int32_t argc, char* argv[]);
+
+/**
+ *  @b Description
+ *  @n
+ *      This is the CLI Handler for boundary box configuration
+ *
+ *  @param[in] argc
+ *      Number of arguments
+ *  @param[in] argv
+ *      Arguments
+ *
+ *  @retval
+ *      Success -   0
+ *  @retval
+ *      Error   -   <0
+ */
+int32_t MmwDemo_CLIBoundaryBoxCfg (int32_t argc, char* argv[]);
+
+/**
+ *  @b Description
+ *  @n
+ *      This is the CLI Handler for sensor position and orientation configuration
+ *
+ *  @param[in] argc
+ *      Number of arguments
+ *  @param[in] argv
+ *      Arguments
+ *
+ *  @retval
+ *      Success -   0
+ *  @retval
+ *      Error   -   <0
+ */
+int32_t MmwDemo_CLISensorPositionCfg (int32_t argc, char* argv[]);
+
+/**
+ *  @b Description
+ *  @n
+ *      This is the CLI Handler for GatingParam configuration
+ *
+ *  @param[in] argc
+ *      Number of arguments
+ *  @param[in] argv
+ *      Arguments
+ *
+ *  @retval
+ *      Success -   0
+ *  @retval
+ *      Error   -   <0
+ */
+int32_t MmwDemo_CLIGatingParamCfg (int32_t argc, char* argv[]);
+
+/**
+ *  @b Description
+ *  @n
+ *      This is the CLI Handler for StateParam configuration
+ *
+ *  @param[in] argc
+ *      Number of arguments
+ *  @param[in] argv
+ *      Arguments
+ *
+ *  @retval
+ *      Success -   0
+ *  @retval
+ *      Error   -   <0
+ */
+int32_t MmwDemo_CLIStateParamCfg (int32_t argc, char* argv[]);
+
+/**
+ *  @b Description
+ *  @n
+ *      This is the CLI Handler for AllocationParam configuration
+ *
+ *  @param[in] argc
+ *      Number of arguments
+ *  @param[in] argv
+ *      Arguments
+ *
+ *  @retval
+ *      Success -   0
+ *  @retval
+ *      Error   -   <0
+ */
+int32_t MmwDemo_CLIAllocationParamCfg (int32_t argc, char* argv[]);
+
+/**
+ *  @b Description
+ *  @n
+ *      This is the CLI Handler for tracker Acceleration configuration
+ *
+ *  @param[in] argc
+ *      Number of arguments
+ *  @param[in] argv
+ *      Arguments
+ *
+ *  @retval
+ *      Success -   0
+ *  @retval
+ *      Error   -   <0
+ */
+int32_t MmwDemoCLIMaxAccelerationParamCfg(int32_t argc, char* argv[]);
+
+/**
+ *  @b Description
+ *  @n
+ *      This is the CLI Handler for PresenceParam configuration
+ *
+ *  @param[in] argc
+ *      Number of arguments
+ *  @param[in] argv
+ *      Arguments
+ *
+ *  @retval
+ *      Success -   0
+ *  @retval
+ *      Error   -   <0
+ */
+int32_t MmwDemo_CLIPresenceParamCfg (int32_t argc, char* argv[]);