ProcessorSDKRadar_UserGuide Processor SDKRadar User Guide
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Processor SDK – Radar (v03.03) User Guide Copyright © 2016-2018 Texas Instruments Incorporated. All rights reserved. Information in this document is subject to change without notice. Texas Instruments may have pending patent applications, trademarks, copyrights, or other intellectual property rights covering matter in this document. The furnishing of this documents is given for usage with Texas Instruments products only and does not give you any license to the intellectual property that might be contained within this document. Texas Instruments makes no implied or expressed warranties in this document and is not responsible for the products based from this document. 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Also see: Standard Terms and Conditions of Sale for Semiconductor Products. www.ti.com/sc/docs/stdterms.htm Mailing Address: Texas Instruments Post Office Box 655303 Dallas, Texas 75265 Copyright © 2016-2018, Texas Instruments Incorporated Page 2 of 31 TABLE OF CONTENTS 1 1.1 1.2 Introduction ................................................................................................. 4 References ...................................................................................................... 4 Directory Structure ........................................................................................... 5 2 2.1 2.2 2.3 2.4 System Requirements .................................................................................. 7 Windows Installation......................................................................................... 7 Linux Installation ................................................................................................. 7 Hardware Requirements .................................................................................... 9 Software Installation ...................................................................................... 15 3 3.1 3.2 3.3 3.4 3.5 3.6 3.7 3.8 3.9 Build and Run ............................................................................................. 17 Overview of application in release .................................................................... 17 Building the application ................................................................................... 17 Console Output .............................................................................................. 19 Boot Modes ................................................................................................... 20 Load using QSPI............................................................................................. 20 Load using QSPI and SD boot .......................................................................... 20 Load using SD Card ........................................................................................ 21 Load using CCS .............................................................................................. 21 Run the demo ................................................................................................ 22 4 Frequently Asked Questions ....................................................................... 29 5 Revision History ......................................................................................... 31 Page 3 of 31 1 Introduction Processor SDK Radar is a multi-processor software development package for TI’s family of ADAS SoCs. The software framework allows users to create different Radar application data flows involving integration of FMCW transceiver, radar signal processing, and visualization on a display device. The framework has sample Radar processing data flows which exercises different CPUs and HW accelerators in the ADAS SoC and demonstrates how to effectively use different sub-systems within the SoC. Frame work is generic enough to plug in application specific algorithms in the system. This document explains the HW/SW setup for TDA based Radar Platform. 1.1 References Refer the below additional documents for more information about Processor SDK Radar Document Description ProcessorSDKRadar_ReleaseNotes.pdf Release specific information VisionSDK_UserGuide_TDA3xx.pdf This document contains install, build, execution information for TDA3xx ADAS SoC VisionSDK_UserGuide_TDA2xx.pdf This document contains install, build and execution information on the TDA2xx ADAS SoC. VisionSDK_ApiGuide.CHM User API interface details VisionSDK_SW_Architecture.pdf Overview of software architecture VisionSDK_DevelopmentGuide.pdf Details how to create data flow (s) & add new functionality ProcessorSDKRadar_DevelopmentGuide.pdf Details how to create data flow (s) & add new functionality specific to Radar data processing. ProcessorSDKRadar_Datasheet.pdf Performance and benchmark information for Radar Usecases. Page 4 of 31 1.2 Directory Structure Once Processor SDK Radar is installed, two main directories are created namely vision_sdk and ti_components. Directory Description vision_sdk Root directory of Processor SDK Radar vision_sdk/build Support files for building entire release package vision_sdk/build/rtos/makerules Make rules for components and cores for RTOS applications vision_sdk/build/rtos/tda3xx Rules specifically for TDA3xx device vision_sdk/build/rtos/tda2xx Rules specifically for TDA3xx device vision_sdk/apps/configs Build configuration option folders and configuration files vision_sdk/docs Documentation for Processor SDK Radar. Use the Index.html file to navigate through all the documentation. vision_sdk/sample_app Sample Use case to get started vision_sdk/apps Applications and Usecase Examples, Use case for TDA2xxx and TDA3xx device vision_sdk/apps/include Include files needed for use case support infrastructure vision_sdk/apps/src Source files needed for use case support infrastructure vision_sdk/apps/src/rtos/radar/ include vision_sdk/apps/src/rtos/radar/ src vision_sdk/apps/src/rtos/radar/ src/alg_plugins vision_sdk/apps/src/rtos/radar/ src/alg_plugins/alg_fxns vision_sdk/apps/src/rtos/radar/ src/usecase All include files related to radar framework All the source files for the radar framework All the source files for the radar algorithm plugin All the source files for the radar algorithm functions Usecase folders for different Radar Data Processing flows. vision_sdk/links_fw/include All the include files for the framework vision_sdk/links_fw/include/link_api Interface files for all the links vision_sdk/links_fw/src All the source files for the framework vision_sdk/links_fw/src/links_commo n Files which are for common across all links vision_sdk/links_fw/src/links_dsp Source files for individual links present on DSP vision_sdk/links_fw/src/links_eve Source files for individual links present on EVE vision_sdk/links_fw/src/links_ipu Source files for individual links present on IPU vision_sdk/links_fw/src/main_app Folder for main() functionality vision_sdk/links_fw/src/utils_commo n Common utilities used in framework ti_components Root directory of tools accompanying vision SDK ti_components/algorithms/eve_sw_x x_xx_xx_xx EVE Kernels Library ti_components/cg_tools All the code gen tools ti_components/cg_tools/windows/ar m_x_x_x ti_components/cg_tools/windows/arp 32_x_x_x Tools needed for ARM CPU cores Tools needed for ARP32 core Page 5 of 31 ti_components/cg_tools/windows/c60 00_x.x.x Tools needed for C66x DSP ti_components/drivers All the drivers used in Vision SDK ti_components/drivers/pdk_xx_xx_xx _xx ti_components/drivers/edma3_lld_xx _xx_xx_xx Driver components for all the peripherals along with Lowest level SW interface for programming HW registers ti_components/networking Networking related tools ti_components/networking/ndk_x_xx _xx_xx ti_components/networking/nsp_vayu _x_xx_xx_xx ti_components/radar/mmwave_ dfp_xx_xx_xx_xx ti_components/os_tools ti_components/os_tools/bios_x_xx_x x_xx ti_components/os_tools/windows/xdc tools_x_xx_xx_xx Driver for system DMA usage Network Development Kit Network Development Kit Support Package mmWave device firmware package Operating System related tools BIOS operating sytem used in Vision SDK XDC tools related files Page 6 of 31 2 System Requirements This chapter provides a brief description of the system requirements (hardware and software) and instructions for installing Processor SDK Radar. 2.1 Windows Installation 2.1.1 PC Requirements Installation of this release needs a windows machine with about 8GB of free disk space. Building of the SDK is supported on windows environment. 2.1.2 Software Requirements All software packages required to build and run the Processor SDK Radar are included as part of the SDK release package. 2.1.3 A15 Compiler, Linker The windows installer for the linaro tools should be downloaded from below link https://launchpad.net/gcc-arm-embedded/+milestone/4.9-2015-q3-update The tools need to be installed in “/ti_components/cg_tools/windows/gccarm-none-eabi-4_9-2015q3” location. IMPORTANT NOTE: A15 Compiler and linker MUST be installed before proceeding else compile will fail. Also make sure the compiler is installed at the exact path mentioned above 2.1.4 Code Composer Studio CCS is needed to load, run and debug the software. CCS can be downloaded from the below link. CCS version CCS version 6.0.1.00040 or higher should be installed. http://processors.wiki.ti.com/index.php/Download_CCS 2.2 Linux Installation 2.2.1 PC Requirements Installation of this release needs a Linux Ubuntu 14.04 machine. IMPORTANT NOTE: If you are installing Ubuntu on a virtual machine, ensure it is a 64 bit Ubuntu. 2.2.2 Software Requirements All software packages required to build and run the Vision SDK are included as part of the SDK release package except for the ones mentioned below 2.2.2.1 A15 Compiler, Linker The Linux installer should be downloaded from below link https://launchpad.net/gcc-arm-embedded/+milestone/4.9-2015-q3-update The tools need to be installed in $INSTALL_DIR/ti_components/os_tools/linux/ location. IMPORTANT NOTE: A15 Compiler and linker MUST be installed before initiating the build else compilation will fail. Also make sure the compiler is installed at the exact path mentioned above after installation of vision sdk. Use following steps to install the toolchain Page 7 of 31 2.2.3 Other software packages for build depending upon OS baseline Ensure these packages/tools are installed on the installation machine uname, sed, mkimage, dos2unix, dtrx, mono-complete, git, lib32z1 lib32ncurses5 lib32bz2-1.0 libc6:i386 libc6-i386 libstdc++6:i386 libncurses5:i386 libz1:i386 libc6-dev-i386 device-tree-compiler monocomplete To install $>sudo apt-get install Page 8 of 31 2.3 Hardware Requirements Hardware setup for different use-cases is described in this section 2.3.1 AWR12 Sensor Setup with TDA3xx EVM The TDA3xx EVM and DIB, VAB & Booster Pack add-on boards are shown in the following figures: Figure 2.1 15x15 TDA3x EVM (FRONT SIDE) Figure 2.2 15x15 TDA3x EVM (BACK SIDE) Page 9 of 31 Figure 2.3 AWR12 Booster Pack & Debug DEV Pack Figure 2.4 AWR1243 DIB & VAB EVM 1 board mounted on TDA3xx EVM Page 10 of 31 Figure 2.5 AWR1243 VAB EVM-1 board 2.3.1.1 Required H/W modification / Configurations 2.3.1.1.1 TDA3XX EVM Modifications for Radar Usecase Hardware Modifications on TDA3xx EVM are as below: Resistor TDA3xx TDA3x Signal EVM Change Done R9057 R9067 Removed Removed H_RGMII0_TXC/GPIO3_19 H_RGMII0_RXD1/GPIO3_29 AWR12xx Signal TDA3xx EVM NRESET SPI_HOST_INTR_1 J28 J28 2.3.1.1.2 AWR1XX EVM Jumper settings for TDA3xx setup The following jumper settings are required for AWR1xx EVM to work with Processor SDK for tda3xx AR1443EVM-010 (Booster Pack) (REV E1) With reference to Figure 2.3, Sense on Power (SOP) Settings in the Functional Mode are: SOP0 – Closed SOP1 – Open SOP2 – Open AWR1XXXEVM-012 (Debug Dev Pack) (REV E1) With reference to Figure 2.3, Jumpers settings to select digital signal MUX between FTDI chip and 120pin connector on Mux_Sel_Jumpers are: Page 11 of 31 JP1 JP2 JP3 JP4 -> -> -> -> PIN PIN PIN PIN 1-2 1-2 1-2 1-2 connected connected connected connected (jumpers (jumpers (jumpers (jumpers towards towards towards towards the the the the FTDI FTDI FTDI FTDI marking). marking). marking). marking). AWR1243 DIB EVM-1 P12 Jumper Settings With reference to the Figure 2.4 the Jumper settings for the DIB board to connect AWR12 and TDA3 signals are: Center Center Center Center Center Center Center pin pin pin pin pin pin pin to to to to to to to WARM_RESET SPI_MISO_1 SPI_HOST_INTR_1 SPI_CS_1 SPI_MOSI_1 SPI_CLK_1 NRESET NOTE: For the reset line to propagate connect a blue wire from P8 (TDA3X_3V3) Supply to P6 (VDDIO_IN). 3.3V Supply Voltage of tda3xx is at P8 is to be connected to P6 VDDIO_IN. 2.3.1.2 Power Supply Information The TDA3xx EVM requires a 12 V power supply provided as a part of the TDA3xx EVM Kit. The AR1443EVM-010 (Booster Pack) requires a 5 V power supply provided as part of the kit. The AWR1XXXEVM-012 (Debug Dev Pack) requires the micro USB connection to the PC for its power supply. 2.3.1.3 Erasing the AWR12x Booster Pack onboard serial flash Before you load your own code to the serial flash or connect the board to Radar Studio it’s recommended to completely erase the on board serial flash. This can be done using the FlashProgrammer utility that’s present as part of the Radar studio tool. Following the following steps to erase the flash: 1. Install Flash programmer from http://www.ti.com/tool/mmwave-dfp. The Flash programmer is part of the folder mmwave_dfp_ \rf_eval\radarstudio\FlashProgrammer 2. Provide the 5V supply to the BoosterPack and connect the micro USB cable to the PC. 3. Keep the following SOP jumper configuration to enter flash mode P3 (SOP2) : closed , P2(SOP1): Open , P1(SOP 0): closed to put the device in SOP mode 5. 4. Press the NRST switch SW2. 5. Create a file (if not already present) AR1X_Package.txt with the following contents: FORMAT,SFLASH 6. Open a windows command prompt and type cd mmwave_dfp_ \rf_eval\radarstudio\FlashProgrammer mmwaveprog_cmdline.exe -c -p [COM#] -b AR1X_Package.txt The [COM#] is the COM port that comes up as the XDS110 Class Application/User UART in the device manager. Page 12 of 31 2.3.2 TDA3xx ALPS Board The TDA3xx ALPS Board is a compact hardware which houses the AWR12 sensor mounted on the TDA3xx board. It takes a 5-6V input supply. The image of the board is as below: Figure 2.6 AWR12 + TDA3xx ALPS Board setup The connection between the TDA3xx and the AWR12xx on the ALPS board is as shown below: Figure 2.7 AWR12 + TDA3xx Connection on the ALPS Board setup NOTE: This board does not have a UART or Display Connection from TDA3xx. Page 13 of 31 NOTE: Users should use either CCS logs or Network Console to be able to see the console logs. Kindly have a look at the run instructions in Section 3.9. 2.3.3 AWR1243 Satellite Radar Module + RVP-TDA3x via FPD-Link III Satellite Radar use case is developed with the evaluation platform from D3 Engineering. The full platform includes the following components: AWR1243 Satellite Radar Module (with Serializer UB953) AWR1243 Module UB953 Serializer Daughter Card With Enclosure FPD-Link III Power Supply Figure 2.8 AWR1243 Satellite Radar Module Page 14 of 31 RVP-TDA3x (with Deserializer Hub UB960) Figure 2.9 RVP-TDA3x Satellite Radar Input NOTE: Satellite Radar module should be connected to VIN4 on RVP-TDA3x as shown in Fig 2.9. 2.4 Software Installation PROCESSOR_SDK_RADAR_xx_xx_xx_xx_setupwin.exe is the SDK package installer. Copy the installer to the path of your choice. NOTE: For windows command prompt build install preferably at C: or D: top level folders to keep the overall path length small. Double click the installer to begin the installation. Follow the self-guided installer for installation. IMPORTANT NOTE: On some computers running as administrator is needed. Right click on the installer and select option of “Run as administrator”. If this is not done then you may see a message like “This program might not have installed correctly On completion of installation a folder by name PROCESSOR_SDK_RADAR would have been created in the installation path. Page 15 of 31 2.4.1 Uninstall Procedure To uninstall, double click on uninstall.exe created during installation in the folder PROCESSOR_SDK_RADAR. At the end of uninstall, PROCESSOR_SDK_RADAR folder still remains. It is just an empty folder. It can be deleted manually. Page 16 of 31 3 Build and Run This chapter provides a brief overview of the sample applications or use cases present in the SDK and procedure to build and run it. 3.1 Overview of application in release The Processor SDK Radar supports the following use-cases RADAR Usecases --------------ALPS Board: 1: AWR12 Firmware Flash (ALPS board Only) 2: Radar (Single AR1243) Capture + Null (TDA3xx Only) 4: Radar (Single AR1243) Capture + Radar Object Detect (EVE1) + Null (TDA3xx Only) 5: Radar (Single AR1243) Capture + Radar Frame Copy (DSP1) + Null (TDA3xx Only) TDA3xx EVM + DIB + VAB + AWR12 Booster Pack: 2: Radar (Single AR1243) Capture + Null (TDA3xx Only) 3: Radar (Single AR1243) Capture + Radar Object Detect (EVE1) + Display (TDA3xx Only) 4: Radar (Single AR1243) Capture + Radar Object Detect (EVE1) + Null (TDA3xx Only) 5: Radar (Single AR1243) Capture + Radar Frame Copy (DSP1) + Null (TDA3xx Only) TDA3xx EVM (no AWR12) or TDA2xx EVM (no AWR12): 6: Null Source (SD/Network) Input + Radar FFT (EVE1) + Null (SD/Network) TDA3xx RVP 3: Radar (Single AR1243) Capture + Radar Object Detect (EVE1) + Display (TDA3xx Only) 7: Multi Radar (AR1243) Capture + Radar FFT (EVE1) + Display (TDA3xx Only) Use option "s" on the main menu in UART to view PRCM Statistics and Bandwidth usage 3.2 Building the application 1. On windows command prompt, go inside the directory PROCESSOR_SDK_RADAR/vision_sdk/build. 2. Open file /vision_sdk/build/Rules.make and set MAKEAPPNAME=apps For TDA3xx EVM + VIB + DAB: MAKECONFIG=tda3xx_evm_bios_radar For TDA3xx RVP: MAKECONFIG=tda3xx_rvp_bios_radar For ALPS: MAKECONFIG= tda3xx_alps_bios_radar For TDA2xx EVM (no AWR12): MAKECONFIG= tda2xx_evm_bios_radar For TDA2px EVM (no AWR12): MAKECONFIG= tda2px_evm_bios_radar For TDA3xx EVM (no AWR12): MAKECONFIG=tda3xx_evm_bios_radar and modify configs/tda3xx_evm_bios_radar/cfg.mk with RADAR_BOARD=none (perform a clean build if already built for TDA3xx + DIB + VAB) Page 17 of 31 3. Build is done by executing gmake. “gmake” is present inside XDC package. For “gmake” to be available in windows command prompt, the XDC path must be set in the windows system path. IMPORTANT NOTE: xdc path is needed to be set in environment variables. If not, then set it using the set PATH = /ti_components/os_tools/windows/xdctools_x_xx_xx_ xx;%PATH% in command prompt IMPORTANT NOTE: If on Windows you are facing build issues, try by first setting the path to only the following: set Path=C:\PROCESSOR_SDK_RADAR_ \ti_components\os_tools\wind ows\xdctools_ _core;C:\windows\system32;C:\windows;C:\window s\System32\Wbem;C:\windows\System32\WindowsPowerShell\v1.0\ IMPORTANT NOTE: If the installation folder depth is high then windows cmd prompt fails with error that it cannot find a file, even in file is present in mentioned path, this is because Windows has a limitation of 8191 characters for the commands that can execute. In such a situation as a workaround either restrict the folder depth to d:/ or if it cannot be restricted use git bash to build. Refer https://support.microsoft.com/en-in/kb/830473 for more details. (Always point to xdc path gmake only) 4. Under vision_sdk directory a. When building first time run the below sequence of commands > gmake –s –j depend > gmake –s –j b. When building after the first time or incremental build, run the below command > gmake –s –j Executing “gmake –s –j depend” will build all the necessary components (PDK drivers, EDMA drivers) and “gmake –s –j” will build the SDK framework and examples. IMPORTANT NOTE: For incremental build, make sure to do "gmake -s –j depend" before "gmake –s -j” when below variables specified in /vision_sdk/apps/configs/$(MAKECONFIG)/*cfg.mk are changed when PROC_$(CPU)_INCLUDE is changed when DDR_MEM is changed when PROFILE is changed when ALG plugin or usecase is enabled or disabled in /vision_sdk/apps/configs/$(MAKECONFIG) /*_cfg.mk when any .h or .c file in TI component is installed in ti_components is changed when any new TI component is installed in ti_components Page 18 of 31 If "gmake -s –j depend" not done in these cases then build and/or execution may fail. IMPORTANT NOTE: When options (other than those specified above) are changed in /vision_sdk/apps/configs/$(MAKECONFIG)/cfg.mk a clean build is recommended for the updated settings to take effect. 5. On a successful build completion, the executables will be generated in the below path /vision_sdk/binaries/apps/$(MAKECONFIG)/vision_sdk/bin/tda3xx-evm 6. The build config that is selected in config file can be confirmed by doing below > gmake –s showconfig 7. Cleaning the build can be done by following command > gmake –s clean Alternatively, below folder can be deleted to delete all generated files > make –j –s clean > rm –rf binaries 3.3 Console Output IMPORTANT NOTE: TDA3xx EVM Setup uses UART 2 and SBL uses UART 3. SDK logs appear on UART 2. TDA2xx EVM Setup uses UART 1. TDA3xx ALPS Board does not have UART. Refer docs/FeatureSpecificUserGuides/VisionSDK_UserGuide_NetworkTools.pdf Section 5. Network CONS Tool should be used to see the Logs on a network console. Connect a serial cable to the UART port of the EVM and the other end to the serial port of the PC (configure the HyperTerminal at 115200 baud rate) to obtain logs and select demo. EVM it detects 4 UART ports, you need to select the 2nd one. IMPORTANT NOTE: On some EVMs we were observing that UART terminal does not work. Updating the USB to UART driver on PC made UART work on the failings PCs. You can download the drivers from the below links. http://www.ftdichip.com/Drivers/VCP.htm http://www.ftdichip.com/Drivers/CDM/CDM%20v2.10.00%20WHQL%20Certified.exe Page 19 of 31 For RVP-TDA3x refer 3.3 UART settings in VisionSDK_UserGuide_TDA3xx_RVP.pdf 3.4 Boot Modes For TDA3xx refer 3.4 Boot Modes in VisionSDK_UserGuide_TDA3xx.pdf NOTE: With AWR12 setup and TDA3x board modification QSPI_SD boot mechanism will not be functional NOTE: On the ALPS board the Boot Mode is always set to QSPI. NOTE: On the RVP-TDA3x board the Boot Mode is always set to QSPI_SD. For TDA2xx refer 3.4 Boot Modes in VisionSDK_UserGuide_TDA2xx.pdf 3.5 Load using QSPI For TDA3xx refer 3.5 Load using QSPI in VisionSDK_UserGuide_TDA3xx.pdf For TDA2xx refer 3.6 Load using QSPI in VisionSDK_UserGuide_TDA2xx.pdf 3.6 Load using QSPI and SD boot [Applicable only to TDA3xx] Refer 3.6 Load using QSPI and SD boot in VisionSDK_UserGuide_TDA3xx.pdf NOTE: With AWR12 setup and TDA3x board modification this boot mode will not be functional Page 20 of 31 For RVP-TDA3x refer 3.4 Load using QSPI and SD boot in VisionSDK_UserGuide_TDA3xx_RVP.pdf 3.7 Load using SD Card [Applicable only to TDA2xx] Refer 3.5 Load using SD card in VisionSDK_UserGuide_TDA2xx.pdf 3.8 Load using CCS For TDA3xx refer 3.7 Load using CCS in VisionSDK_UserGuide_TDA3xx.pdf For TDA2xx refer 3.8 Load using CCS in VisionSDK_UserGuide_TDA2xx.pdf For TDA3xx refer 3.5 Load using CCS in VisionSDK_UserGuide_TDA3xx_RVP.pdf Page 21 of 31 3.9 Run the demo 1. Power-on the Board after loading binaries by (SD, QSPI or CCS) and follow UART settings to setup the console for logs and selecting demo. a. For the ALPS board first find the IP address of the board and then run the network console tool to get the logs on a network console. Refer Section 5. Network CONS Tool in docs/FeatureSpecificUserGuides/VisionSDK_UserGuide_NetworkTools.pdf Select demo required from the menu by keying in corresponding option from uart menu. 3.9.1 Usecase Specific Steps to run 3.9.1.1 Radar (Single AWR1243) Capture + Null (TDA3xx Only) This usecase is used to capture from AWR12 hardware and Null. User can dump the data from Null using CCS and feed the data to Radar Studio or any other PC tool for analysis. Connect the AWR12xx hardware as per the guide (EVM User’s Guide V0.1 August 9, 2016) provided along with hardware. Change the hardware jumper settings as mentioned in Required H/W modification / Configurations. (Section 2.3.1.1) Select the usecase 1 (RADAR Use cases) and ‘2’ (Capture Null) in usecase menu. [IPU1-0] [IPU1-0] [IPU1-0] mode!! [IPU1-0] [IPU1-0] [IPU1-0] [IPU1-0] [IPU1-0] [IPU1-0] [IPU1-0] [IPU1-0] [IPU1-0] [IPU1-0] [IPU1-0] [IPU1-0] [IPU1-0] [IPU1-0] 87.683279 s: 87.683370 s: CHAINS: Init AR12xx ... 87.683614 s: UTILS_MCSPI: McSPI is configured in interrupt 89.040627 89.042670 89.042762 89.042823 89.042884 s: s: s: s: s: AWR12XX: ES1.0 Device detected!! AWR12XX: Version Master : X.X.X.X AWR12XX: Version RF:X.X.X.X CHAINS: Config AR12xx ... =========================== Select Frame Configuration =========================== 1: Normal Frame 2: Advanced Frame Enter Choice: Select ‘1’ for normal frame configuration. This will allow you to first check if the board is operational with the normal frame capture. To ensure demo functional Print Performance Statistics and verify the capture fps is 15+ [IPU1-0] [IPU1-0] [IPU1-0] [IPU1-0] [ ISSCAPTURE ] Link Statistics, ****************************** Elapsed time = 11243 msec Page 22 of 31 [IPU1-0] [IPU1-0] [IPU1-0] [IPU1-0] [IPU1-0] [IPU1-0] [IPU1-0] [IPU1-0] [IPU1-0] [IPU1-0] [IPU1-0] [IPU1-0] [IPU1-0] [IPU1-0] [IPU1-0] [IPU1-0] [IPU1-0] [IPU1-0] Get Full Buf Cb Put Empty Buf Cb Driver/Notify Cb = = = 15.15 fps 15.15 fps 15.15 fps Input Statistics, CH | In Recv | In Drop | In User Drop | In Process | FPS | FPS | FPS | FPS -------------------------------------------------0 | 15.15 0. 0 0. 0 15.15 Output Statistics, CH | Out | Out | Out Drop | Out User Drop | ID | FPS | FPS | FPS --------------------------------------------0 | 0 15.15 0. 0 0. 0 If you are able to see 15 FPS capture for the normal frame configuration, you can confirm this demo is working correctly. In order to save the data from CCS, you can follow the steps: 1. Place a break point at NullLink_drvDumpFrames in IPU1_0. 2. Once you hit the breakpoint, place the expression in CCS Expressions window – “((System_VideoFrameBuffer *)pBuf->payload)->bufAddr[0]”. This contains the address of the buffer where the captured data is shown. 3.9.1.2 Radar (Single AR1243) Capture + Radar Object Detect (EVE1) + Display (TDA3xx Only) This usecase is used to capture from AWR12 hardware Radar FFT Algo + Peak detection + Beam Forming on EVE, Radar Draw Objects on DSP and Display. Connect the AWR12xx hardware as per the guide (EVM User’s Guide V0.1 August 9, 2016) provided along with hardware. Change the hardware jumper settings as mentioned in Required H/W modification / Configurations (Section 2.3.1.1) Select the usecase 3 (RADAR Use cases) in usecase menu Output is as shown similar to below based on the objects placed in-front of the radar and the current radar parameters. The maximum range and velocity vary based on the radar parameters. The latest SDK supports maximum range of 4 m for in room demonstrations and ultra-short range radar. Page 23 of 31 3.9.1.3 Radar (Single AWR1243) Capture + Radar FFT (EVE1) + DSP (FFT Heat Map) + Null (TDA3xx Only) This usecase is used to capture from AWR12 hardware Radar FFT + Peak Detection + Beam Forming Algo on EVE, Radar Object Draw on DSP and Send out the data using Ethernet. Connect the ALPS module to a 12 V power supply and the Ethernet cable to the network router. Once the application has booted up you should see the IP address in the CCS console. If you are using QSPI boot, modify the application before building for static IP to not have to connect to CCS and read the IP address. Once you have got the board IP address, open the command prompt in the PC and type: >> network_cons.exe --ipaddr Ensure the AWR12 firmware is flashed by selecting ‘1’ (Radar Usecases), ‘1’ AWR12 Firmware Flash, ‘2’ Flash AWR12xx Firmware. Note this is one time operation and need not be done unless you plan to upgrade to a different AWR12 firmware. [IPU1-0] [IPU1-0] [IPU1-0] [IPU1-0] [IPU1-0] [IPU1-0] [IPU1-0] [IPU1-0] AWR12XX Flash Programming Menu ----------------------------1: Erase AWR12xx Flash. 2: Flash AWR12xx Firmware. x: Exit Wait for the flashing to complete. This may take over 2-3 mins: [IPU1-0] [IPU1-0] [IPU1-0] [IPU1-0] [IPU1-0] [IPU1-0] [IPU1-0] [IPU1-0] 34.812755 34.812785 36.139083 49.296895 49.296986 49.297078 95.136033 95.136125 s: s: s: s: s: s: s: s: CHAINS: Started erasing the AWR12 flash memory.... AWR12XX: ES1.0 Device detected!! CHAINS: Erasing AWR12 flash memory completed. CHAINS: Started flashing the AWR12 firmware.... AWR12XX: Flashing BSS... AWR12XX: Flashing BSS finished. AWR12XX: Flashing MSS... Page 24 of 31 [IPU1-0] [IPU1-0] [IPU1-0] [IPU1-0] [IPU1-0] 117.495180 117.495272 117.933660 117.933752 117.933813 s: s: s: s: s: AWR12XX: Flashing MSS finished. AWR12XX: Flashing Config... AWR12XX: Flashing Config finished. CHAINS: Finished flashing the AWR12 firmware. Exit out of the flashing menu and Select Usecase ‘4’ for the usecase. You would see the print below: [IPU1-0] [IPU1-0] [IPU1-0] mode!! [IPU1-0] [IPU1-0] [IPU1-0] [IPU1-0] [IPU1-0] [IPU1-0] [IPU1-0] [IPU1-0] [IPU1-0] [IPU1-0] [IPU1-0] [IPU1-0] 87.683279 s: 87.683370 s: CHAINS: Init AWR12xx ... 87.683614 s: UTILS_MCSPI: McSPI is configured in interrupt 89.040627 89.042670 89.042762 89.042823 89.042884 s: s: s: s: s: AWR12XX: ES1.0 Device detected!! AWR12XX: Version Master : X.X.X.X AWR12XX: Version RF:X.X.X.X CHAINS: Config AWR12xx ... =========================== Select Frame Configuration =========================== 1: Normal Frame 2: Advanced Frame Select ‘1’ for normal frame configuration or ‘2’ for the advanced frame. [IPU1-0] [IPU1-0] [IPU1-0] [IPU1-0] [IPU1-0] [IPU1-0] Select Network Mode, -------------------1: TFDTP 2: TCP/IP Enter Choice: Select TFDTP or TCP/IP for the network transmit of the Object Detection output. Once the usecase starts running you can use the following menu options to interact with the usecase: [IPU1-0] ==================== [IPU1-0] Chains Run-time Menu [IPU1-0] ==================== [IPU1-0] [IPU1-0] 0: Stop Chain [IPU1-0] [IPU1-0] c: Read-back and Check AR params [IPU1-0] [IPU1-0] Change display: [IPU1-0] 1: Profile 0 [IPU1-0] 2: Profile 1 [IPU1-0] 3: Profile 2 [IPU1-0] 4: Profile 3 [IPU1-0] [IPU1-0] d: Dynamically change slope [IPU1-0] [IPU1-0] p: Print Performance Statistics Page 25 of 31 First use ‘p’ to check the capture FPS is as expected (15 FPS for normal frame), (15 FPS for advanced frame). Use ‘c’ to check if the AWR12 parameters are applied as expected. Note this works only for AWR12 ES2.0 samples. [IPU1-0] 116194.933233 s: CHAINS: Parameters have matched with programmed!! Use ‘d’ to dynamically change the Profile [IPU1-0] [IPU1-0] 115768.469438 s: CHAINS: [IPU1-0] 115768.471542 s: CHAINS: [IPU1-0] 115768.503965 s: CHAINS: [IPU1-0] 115768.508113 s: CHAINS: [IPU1-0] 115768.508296 s: CHAINS: [IPU1-0] 115768.512017 s: CHAINS: [IPU1-0] 115768.512078 s: parameter slope: AWR12xx Stopping Radar Sensor ... AWR12xx Radar Stopped ... Reconfiguring Parameters ... Reconfigured Parameters ... AWR12xx Re-starting Radar Sensor ... AWR12xx Radar Started ... In order to see the output from the network, in the PC command prompt type: For TFDTP : network_rx --host_ip --target_ip -usetfdtp --files For TCP/IP : network_rx --host_ip --target_ip --files This will save an RGB 565 image each of size 1920x1080. You can use an RGB viewer to visualize the output. 3.9.1.4 Null Source (SD/Network) (SD/Network) Input + Radar FFT (EVE1) + Null Note: This usecase doesn’t require AWR12xx Hardware and any board Modification When using SD card, the card needs to be in FAT32 file system Input Clips can be found at vision_sdk/apps/src/rtos/radar/src/usecases/radar_read_fft_write/Input_512x128_4Rx_1Tx _1TS_10Frm.bin Details regarding this input file are captured in vision_sdk/apps/src/rtos/radar/src/usecases/radar_read_fft_write/Input_512x128_4Rx_1Tx _1TS_10Frm_cfg.txt This usecase does file read and write from either network or SD Card. The user can select the mode of operation at run time using the following Menu option: Note: On TDA3x EVM Network and FATFS cannot be enabled at the same time. At compile time you can select one of the two. Ensure your choice is consistent with the build time option. On TDA2xx EVM there is no compile time restriction. You can choose the option at run time. Select Data Read/Write Mode, ---------------------------1: SD CARD 2: NETWORK Page 26 of 31 Enter Choice: Once the mode has been selected, based on the selection the source and destination of the FFT processing would be derived either from network or SD card. 3.9.1.4.1 SD Card If SD Card is selected, ensure that the file Input_512x128_4Rx_1Tx_1TS_10Frm.bin is present on the SD Card. The following Menu option is then displayed. [IPU1-0] [IPU1-0] [IPU1-0] [IPU1-0] [IPU1-0] [IPU1-0] [IPU1-0] ==================== Chains Run-time Menu ==================== 0: Stop Chain p: Print Performance Statistics f: File IO Menu Enter Choice: For further SD File read and write options Enter ‘f’: [IPU1-0] ==================== [IPU1-0] FILE IO Run-time Menu [IPU1-0] ==================== [IPU1-0] [IPU1-0] a: Write Start [IPU1-0] b: Write Pause [IPU1-0] c: Write Resume [IPU1-0] d: Write Stop [IPU1-0] e: Write One Frame Select the desired write option. File write will create a file in sd card. 3.9.1.4.2 Network If the network option is selected, based on the compile options if the NSP_TFDTP_INCLUDE = yes, the following menu is displayed. Select Network Mode, -------------------1: TFDTP 2: TCP/IP Enter Choice: Enter the choice of TFDTP or TCP/IP. On the PC side run the following applications for TCP/IP: CONSOLE 1: vision_sdk/apps/tools/network_tools/bin> network_rx.exe --target_ip ../output_file.bin --host_ip --files Page 27 of 31 CONSOLE 2: vision_sdk/apps/tools/network_tools/bin> network_rx.exe --target_ip --host_ip --files / vision_sdk/apps/src/rtos/radar/src/usecases/radar_read_fft_write/Input_512x12 8_4Rx_1Tx_1TS_10Frm.bin On the PC side run the following applications for TFDFTP: CONSOLE 1: vision_sdk/apps/tools/network_tools/bin > network_rx.exe --target_ip --host_ip ../output_file.bin --usetfdtp --files CONSOLE 2: vision_sdk/apps/tools/network_tools/bin > network_rx.exe --target_ip --host_ip --usetfdtp --files / vision_sdk/apps/src/rtos/radar/src/usecases/radar_read_fft_write/Input_512x12 8_4Rx_1Tx_1TS_10Frm.bin For both SD Card and network, the display shows the output on FFT Heat Map layout for the input. 3.9.1.5 Satellite Radar (Single AWR1243) Capture + Radar FFT (EVE1) + DSP (FFT Heat Map) + Display (TDA3xx Only) This usecase is used to capture from AWR12 hardware Radar FFT Algo on EVE, Radar DrawFFTHeatMap on DSP and Display. Connect the AWR1243 satellite radar module to RVP-TDA3x VIN4 as per Chapter 2.3.3 in this guide. Select the usecase 7 (RADAR Use cases) in usecase menu Output is as shown similar to below based on the objects placed in-front of the radar and the current radar parameters. The maximum range and velocity vary based on the radar parameters. Page 28 of 31 Note: Intensity of detected object may vary depending on draw parameters and actual object reflection (Maximum Range and velocity and resolution subject to change) 4 Frequently Asked Questions Q. Always see the error as sd card read error please retry SD card must be in FAT32 format and SD card is not accessible if HW modification done for radar setup. Q. While building SBL, path not found errors appear….. will this be an issue ? This can be ignored as the following are not used for SBL build Q. While building we find error as file not present, when checked the file is present at the location is there something to be set? If the folder depth increases then windows cmd prompt fails with error cannot find file even in file is present in mentioned path, this is because of windows 8191 char limitation. Refer https://support.microsoft.com/en-in/kb/830473 Q. We see build error as Interrupt/Exception caught (code = xxxxxxxx, addr = xxxxxxxxx) This is because the gmake/make path is wrong. Set xpc_path as mentioned above and retry Q. I get the following warnings while building: vision_sdk/apps/configs/autorules_footer_cfg.mk:78: ipc_PATH does not exist! () vision_sdk/apps/configs/autorules_footer_cfg.mk:78: avbtp_PATH does not exist! (ti_components/networking/avbtp_0_10_00_00) vision_sdk/apps/configs/autorules_footer_cfg.mk:78: hdvicplib_PATH does not exist! (ti_components/codecs/ivahd_hdvicp20api_01_00_00_23_production) vision_sdk/apps/configs/autorules_footer_cfg.mk:78: jpegvdec_PATH does not exist! (ti_components/codecs/ivahd_jpegvdec_01_00_13_01_production) vision_sdk/apps/configs/autorules_footer_cfg.mk:78: jpegvenc_PATH does Page 29 of 31 not exist! (ti_components/codecs/ivahd_jpegvenc_01_00_16_01_production) vision_sdk/apps/configs/autorules_footer_cfg.mk:78: vlib_PATH does not exist! (ti_components/algorithms/vlib_c66x_3_3_0_3) vision_sdk/apps/configs/autorules_footer_cfg.mk:78: fc_PATH does not exist! (ti_components/codecs/framework_components_3_40_02_07) This is harmless. These are optional components which are not used by Processor SDK Radar. Also refer VisionSDK_FAQs.pdf Page 30 of 31 5 Revision History Version Date th Sept 2016 Revision History 1.0 29 1.1 1.2 30th Sept 2016 26th Oct 2016 Addressed Review comments Updates for Release 2.11 Initial Version 1.3 1.4 30th Jan 2017 26th June 2017 Updates for Release 2.12 Updates for Release 3.00 1.5 1.6 28th June 2017 14th Oct 2017 Updated linux installation steps Updates for Release 3.01 1.7 1.8 20th Dec 2017 4th April 2018 Updates for Release 3.02 Updates for Release 3.03 ««« § »»» Page 31 of 31
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