From 387d1ffc16ce9e050403baee0ed07f3d9accf632 Mon Sep 17 00:00:00 2001
From: chen <15335560115@163.com>
Date: 星期五, 04 七月 2025 14:55:15 +0800
Subject: [PATCH] 初步移植完成0.6.8SDK，但发送有len太长未找到原因
---
keil/include/drivers/mk_radar.c | 154 ++++++++++++++++++++++++++++++++++++--------------
1 files changed, 110 insertions(+), 44 deletions(-)
diff --git a/keil/include/drivers/mk_radar.c b/keil/include/drivers/mk_radar.c
index 354db5a..0999530 100644
--- a/keil/include/drivers/mk_radar.c
+++ b/keil/include/drivers/mk_radar.c
@@ -1,5 +1,5 @@
/*
- * Copyright (c) 2019-2023 Beijing Hanwei Innovation Technology Ltd. Co. and
+ * Copyright (c) 2019-2025 Beijing Hanwei Innovation Technology Ltd. Co. and
* its subsidiaries and affiliates (collectly called MKSEMI).
*
* All rights reserved.
@@ -82,46 +82,43 @@
#endif
#if OVERLAY_FRAME_LENGTH == 256
-#if (64 == N_SNAPSHOTS)
-#elif (128 == N_SNAPSHOTS)
-#elif (256 == N_SNAPSHOTS)
-#else
-#error "N_SNAPSHOTS is not supported"
-#endif
#elif OVERLAY_FRAME_LENGTH == 128
-#if (128 == N_SNAPSHOTS)
-#elif (256 == N_SNAPSHOTS)
-#elif (512 == N_SNAPSHOTS)
-#else
-#error "N_SNAPSHOTS is not supported"
-#endif
#else
#error "Frame length is not supported"
#endif
-/* Radar RX window, unit: us */
-#define UWB_RADAR_RX_WINDOW (100)
/* Radar event prefetch time, unit: us */
#define UWB_RADAR_PREFETCH_TIME (100)
-#if UWB_RADAR_1TNR_MODE == 1
-#if UWB_RADAR_STS_LENGTH == 2
+/* Radar RX window, unit: us */
+#if UWB_RADAR_STS_LENGTH == 3
+#define UWB_RADAR_RX_WINDOW 170
+#define UWB_RADAR_RX_WINDOW2 98
+#define UWB_RADAR_RX_WINDOW3 64
+#elif UWB_RADAR_STS_LENGTH == 2
+#define UWB_RADAR_RX_WINDOW 100
#define UWB_RADAR_RX_WINDOW2 64
#define UWB_RADAR_RX_WINDOW3 48
#else
+#define UWB_RADAR_RX_WINDOW 68
#define UWB_RADAR_RX_WINDOW2 48
#define UWB_RADAR_RX_WINDOW3 40
-#endif
#endif
/* 1TnR Frame interval for Overlay work mode, unit: us */
#define FRAME_INTERVAL 300
-/* The factors influencing the peak index value are twofold:
+/* 1ns per sample, 24 ~ 27 */
+#define DISCARD_SYMBOLS 25
+
+#if UWB_RADAR_2G_MODE_EN
+
+/* There are two factors that affect the peak index value:
* 1) the scheduled transmission time (The configuration of the low 2 bits of the 0x40000424 register)
- * 2) the value of the discard (0x40002040 bit8~19)
+ * 2) the value of the discard symbols (0x40002040 bit8~19)
*/
-/* The low 2 bits of the 0x40000424 register are set to 0
+
+/*
* |----------------------------------------------------------------------------|
* | Discard Symbols(24/25/26/27/28/29) | 24 | 25 | 26 | 27 | 28 | 29 | |
* |----------------------------------------------------------------------------|
@@ -141,20 +138,33 @@
* |----------------------------------------------------------------------------|
*/
-#if UWB_RADAR_2G_MODE_EN
-
-/* 1ns per sample, 24 ~ 27 */
-#define DISCARD_SYMBOLS 25
-
/* pusle peak postion table */
static const uint8_t peak_idx_table[5][4] = {{4, 12, 4, 12}, {20, 28, 4, 12}, {36, 44, 52, 60}, {100, 108, 116, 124}, {228, 236, 244, 252}};
+
#else
-/* 2ns per sample, 12 ~ 15 */
-#define DISCARD_SYMBOLS 12
+/*
+ * |----------------------------------------------------------------------------|
+ * | Discard Symbols(24/25/26/27) | 24 | 25 | 26 | 27 | |
+ * |----------------------------------------------------------------------------|
+ * | Pulse period 16ns (0 Delay Point) | 0 | 4 | 0 | 4 | |
+ * |----------------------------------------------------------------------------|
+ * |----------------------------------------------------------------------------|
+ * | Pulse period 32ns (0 Delay Point) | 0 | 4 | 8 | 12 | |
+ * |----------------------------------------------------------------------------|
+ * |----------------------------------------------------------------------------|
+ * | Pulse period 64ns (0 Delay Point) | 24 | 28 | 0 | 4 | |
+ * |----------------------------------------------------------------------------|
+ * |----------------------------------------------------------------------------|
+ * | Pulse period 128ns (0 Delay Point) | 56 | 60 | 0 | 4 | |
+ * |----------------------------------------------------------------------------|
+ * |----------------------------------------------------------------------------|
+ * | Pulse period 256ns (0 Delay Point) | 120 | 124 | 0 | 4 | |
+ * |----------------------------------------------------------------------------|
+ */
/* pusle peak postion table */
-static const uint8_t peak_idx_table[5][4] = {{1, 5, 1, 5}, {0, 4, 8, 12}, {8, 12, 16, 20}, {8, 12, 16, 20}, {72, 76, 80, 84}};
+static const uint8_t peak_idx_table[5][4] = {{0, 4, 0, 4}, {0, 4, 8, 12}, {24, 28, 0, 4}, {56, 60, 0, 4}, {120, 124, 0, 4}};
#endif
/* 1TnR Rx port list */
@@ -166,7 +176,7 @@
static struct UWB_RADAR_T default_radar_cfg = {
.channel_num = 9,
- .rx_gain_level = 14,
+ .filter_gain_level = 14,
.lna_gain_level = 5,
.pulse_period = UWB_RADAR_PULSE_PERIOD_64NS,
.bandwidth = 0x02,
@@ -320,7 +330,7 @@
}
}
- calibration_peak_idx = calibration_peak_idx - ((calibration_peak_idx - 4) % 8);
+ // calibration_peak_idx = calibration_peak_idx - ((calibration_peak_idx - 4) % 8);
LOG_INFO(TRACE_MODULE_APP, "ANT%d Raw max index %d\n", n, calibration_peak_idx);
}
#endif
@@ -364,7 +374,7 @@
*/
// 8KW each block
uint32_t seg_in_blk = 1024 * 8;
- if ((sts_seg_len == UWB_RADAR_STS_SEGLEN64) || (sts_seg_len == UWB_RADAR_STS_SEGLEN32))
+ if ((sts_seg_len == UWB_RADAR_STS_SEGLEN128) || (sts_seg_len == UWB_RADAR_STS_SEGLEN64) || (sts_seg_len == UWB_RADAR_STS_SEGLEN32))
{
seg_in_blk = seg_in_blk >> (UWB_RADAR_RX_PORT_NUM - 1);
if (seg_in_blk < 1024 * 2)
@@ -372,20 +382,32 @@
return;
}
}
- else
+ else if (UWB_RADAR_RX_PORT_NUM > 1)
{
return;
}
for (uint8_t i = 0; i < UWB_RADAR_RX_PORT_NUM; i++)
{
+#if UWB_RADAR_STS_LENGTH == 3
+#if UWB_RADAR_RX_PORT_NUM == 3
+ seg_in_blk = (i == 1) ? seg_in_blk >> (UWB_RADAR_RX_PORT_NUM - 2) : 0;
+#elif UWB_RADAR_RX_PORT_NUM == 2
+ seg_in_blk = 0;
+#endif
+#endif
+ /* Find the start address of segment in block for each port */
mem_data = &data_in[seg_in_blk * (UWB_RADAR_RX_PORT_NUM - 1 - i)];
acc_out = &data_out[i * OVERLAY_FRAME_LENGTH * 2];
/* Outer loop for the 4 banks, each bank will have 32 kbytes or 8 kwords */
for (uint32_t blocks = 0; blocks < BANK_NUM; blocks++)
{
+#if UWB_RADAR_STS_LENGTH == 3
+ offset = (i == 0) ? (blocks * 1024 * 8 + 1024 * 16) : (blocks * 1024 * 8);
+#else
offset = blocks * 1024 * 8;
+#endif
/* Inner loop for words in that bank, each word has 2 samples (IQ) */
/* 1 snapshot will be 16 words, so accumulate every 16 words */
@@ -394,13 +416,35 @@
/* Remove head 4KB and tail 2KB */
for (uint32_t rows = CUT_OFF_LINES(HEAD_LEN); rows < (acc_columns - CUT_OFF_LINES(TAIL_LEN)); rows++)
{
+#if UWB_RADAR_STS_LENGTH == 3 && UWB_RADAR_RX_PORT_NUM == 1
+ if (rows == CUT_OFF_LINES(HEAD_LEN))
+ {
+ offset = blocks * 1024 * 8;
+ }
+ else if (rows == acc_columns >> 1)
+ {
+ offset = blocks * 1024 * 8 + 1024 * 8;
+ }
+#endif
data_read = mem_data[offset + rows * (OVERLAY_FRAME_LENGTH / BANK_NUM / 2) + columns];
// Extract two samples from this word
samp_array_d1[rows] = (int16_t)((data_read) & (0xffff));
samp_array_d2[rows] = (int16_t)((data_read >> (16)) & (0xffff));
}
+ /*
+ I = a, a1, a2...
+ Q = b, b1, b2
+ c = 1, 1, 1
+ d = 0, 0, 0
+ (a + jb) * (c - jd) = ac -jad + jbc + bd = a + jb
+ (a1 + jb1) * (c - jd) = a1c -ja1d + jb1c + b1d = a1 + jb1
+ (a2 + jb2) * (c - jd) = a2c -ja2d + jb2c + b2d = a2 + jb2
+
+ a, b, a1, b1, a2, b2....
+ 1, 0, 1, 0, 1, 0 ...
+ */
/* Accumulate across snapshots , complex so will output 2 values */
lsp_cmplx_inner_product_int8((const int8_t *)&samp_array_d1[CUT_OFF_LINES(HEAD_LEN)], (const int8_t *)allones,
(int32_t *)(acc_out + (4 * (BANK_NUM * columns + blocks))),
@@ -515,13 +559,35 @@
/* Discard the first 4KB data and the end 2KB data */
for (uint32_t rows = CUT_OFF_LINES(HEAD_LEN); rows < acc_columns - CUT_OFF_LINES(TAIL_LEN); rows++)
{
+#if UWB_RADAR_STS_LENGTH == 3
+ if (rows == CUT_OFF_LINES(HEAD_LEN))
+ {
+ offset = blocks * 1024 * 8;
+ }
+ else if (rows == acc_columns >> 1)
+ {
+ offset = blocks * 1024 * 8 + 1024 * 8;
+ }
+#endif
data_read = mem_data[offset + rows * (OVERLAY_FRAME_LENGTH / BANK_NUM / 2) + columns];
// Extract two samples from this word
samp_array_d1[rows] = (int16_t)((data_read) & (0xffff));
samp_array_d2[rows] = (int16_t)((data_read >> (16)) & (0xffff));
}
+ /*
+ I = a, a1, a2...
+ Q = b, b1, b2
+ c = 1, 1, 1
+ d = 0, 0, 0
+ (a + jb) * (c - jd) = ac -jad + jbc + bd = a + jb
+ (a1 + jb1) * (c - jd) = a1c -ja1d + jb1c + b1d = a1 + jb1
+ (a2 + jb2) * (c - jd) = a2c -ja2d + jb2c + b2d = a2 + jb2
+
+ a, b, a1, b1, a2, b2....
+ 1, 0, 1, 0, 1, 0 ...
+ */
/* Accumulate across up to 512 snapshots , complex so will output 2 values */
lsp_cmplx_inner_product_int8((const int8_t *)&samp_array_d1[CUT_OFF_LINES(HEAD_LEN)], (const int8_t *)allones,
(int32_t *)((uint32_t)accum_out + (16 * (BANK_NUM * columns + blocks))),
@@ -567,17 +633,13 @@
default_radar_cfg.bandwidth = radar_cfg->bandwidth;
default_radar_cfg.channel_num = radar_cfg->channel_num;
default_radar_cfg.lna_gain_level = radar_cfg->lna_gain_level;
- default_radar_cfg.rx_gain_level = radar_cfg->rx_gain_level;
+ default_radar_cfg.filter_gain_level = radar_cfg->filter_gain_level;
default_radar_cfg.tx_power_level = radar_cfg->tx_power_level;
default_radar_cfg.sts_len = radar_cfg->sts_len;
default_radar_cfg.pulse_period = radar_cfg->pulse_period;
default_radar_cfg.ranging_tx_power_level = radar_cfg->ranging_tx_power_level;
-#if UWB_RADAR_2G_MODE_EN
calibration_peak_idx = peak_idx_table[default_radar_cfg.pulse_period][DISCARD_SYMBOLS - 24];
-#else
- calibration_peak_idx = peak_idx_table[default_radar_cfg.pulse_period][DISCARD_SYMBOLS - 12];
-#endif
// LOG_INFO(TRACE_MODULE_APP | TRACE_NO_OPTION, "Raw max index %d\n", calibration_peak_idx);
// 1T1R mode, the ant id can be configured from host
@@ -623,16 +685,17 @@
/**************************************SYS RADIO REG*********************************************/
reg = 0x40000404;
val = REG_READ(reg);
+ reg_save.reg_count = 0;
reg_save.reg_store[reg_save.reg_count][STORE_REG] = reg;
reg_save.reg_store[reg_save.reg_count][STORE_VAL] = val;
- reg_save.reg_count = 1;
+ reg_save.reg_count++;
val = val & ~0xF0000U;
#if UWB_RADAR_2G_MODE_EN
- // Set LPF_BW 500M | RX ADC sample rate 2Gs/s | pulse width 0:2ns(500M), 1:0.92ns(1G), 2:0.75ns(1.3G)
+ // Set LPF_BW 500M | RX ADC sample rate 2Gs/s | pulse width 0:2ns(500M), 3:0.92ns(900M), 2:0.75ns(1.3G)
val |= ((1U << 18) | ((default_radar_cfg.bandwidth & 0x3U) << 16));
#else
- // Set LPF_BW 250M | RX ADC sample rate 1Gs/s | pulse width 0:2ns(500M), 1:0.92ns(1G), 2:0.75ns(1.3G)
+ // Set LPF_BW 250M | RX ADC sample rate 1Gs/s | pulse width 0:2ns(500M), 3:0.92ns(900M), 2:0.75ns(1.3G)
val |= ((1U << 19) | ((default_radar_cfg.bandwidth & 0x3U) << 16));
#endif
REG_WRITE(reg, val);
@@ -689,7 +752,7 @@
reg_save.reg_store[reg_save.reg_count][STORE_VAL] = val;
reg_save.reg_count++;
// Disable RX AGC, and use register to configure the gain of LNA and filter;
- val = (1U << 31) | ((default_radar_cfg.rx_gain_level & 0x1FU) << 16) | (default_radar_cfg.lna_gain_level & 0x7U);
+ val = (1U << 31) | ((default_radar_cfg.filter_gain_level & 0x1FU) << 16) | (default_radar_cfg.lna_gain_level & 0x7U);
REG_WRITE(reg, val);
/******************************************TXBE REG*********************************************/
@@ -969,6 +1032,7 @@
enter_debug_mode();
#if UWB_RADAR_1TNR_MODE == 1
+ uint32_t val;
static uint32_t loopback_anchor_point;
uint32_t rx_win = US_TO_PHY_TIMER_COUNT(UWB_RADAR_RX_WINDOW);
@@ -990,8 +1054,10 @@
uint32_t target = loopback_anchor_point + US_TO_PHY_TIMER_COUNT(FRAME_INTERVAL * ant_idx);
// Delay discard_symbols, dump data
- uint32_t val = (uint32_t)(4 | (1 << 3) | (1 << 7) | ((DISCARD_SYMBOLS & 0xfff) << 8));
- REG_WRITE(0x40002040, val);
+ // val = REG_READ(0x40002040);
+ // val = val & ~(0xfffU << 8);
+ // val |= (uint32_t)((DISCARD_SYMBOLS & 0xfff) << 8);
+ // REG_WRITE(0x40002040, val);
// TXSTS
val = REG_READ(0x40001008);
--
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