TI毫米波雷达开发-6843 High Accuracy Demo 串口数据接收及TLV协议解析 matlab 源码

function [] = read_serial_port_and_showFFT(comportSnum) global load_parking_assist load_point_cloud_srr load_point_cloud_usrr load_clusters load_trackers view_range use_perspective_projection; global platformType MAX_NUM_OBJECTS OBJ_STRUCT_SIZE_BYTES MAX_NUM_CLUSTERS; global CLUSTER_STRUCT_SIZE_BYTES TOTAL_PAYLOAD_SIZE_BYTES MAX_NUM_TRACKERS; global TRACKER_STRUCT_SIZE_BYTES STATS_SIZE_BYTES bytevec_log readUartFcnCntr; global ELEV_VIEW EXIT_KEY_PRESSED BYTE_VEC_ACC_MAX_SIZE bytevecAcc; global BYTES_AVAILABLE_FCN_CNT BYTES_AVAILABLE_FLAG bytevecAccLen StatsInfo; global activeFrameCPULoad interFrameCPULoad guiCPULoad guiProcTime; global loggingEnable fidLog recordingHandle; % The SRR demo only works on the 1642. platformType = hex2dec('1642'); MMWDEMO_UART_MSG_DETECTED_POINTS = 1; MMWDEMO_UART_MSG_CLUSTERS = 2; MMWDEMO_UART_MSG_TRACKED_OBJ = 3; MMWDEMO_UART_MSG_PARKING_ASSIST = 4; MMWDEMO_UART_MSG_TRACKED_OBJ = 5; MMWDEMO_UART_MSG_STATS = 6; MMWDEMO_UART_MSG_STATS = 7; load_point_cloud_srr = 1; load_point_cloud_usrr = 1; load_clusters = 1; load_trackers = 1; view_range = 0; load_parking_assist = 0; view_range_curr = view_range; %% Initialize some constants. MAX_NUM_OBJECTS = 200; OBJ_STRUCT_SIZE_BYTES = 8; MAX_NUM_CLUSTERS = 24; CLUSTER_STRUCT_SIZE_BYTES = 8; MAX_NUM_TRACKERS = 24; TRACKER_STRUCT_SIZE_BYTES = 12; STATS_SIZE_BYTES = 16; bytevec_log = zeros(0,1,'single'); readUartFcnCntr = 0; ELEV_VIEW = 3; EXIT_KEY_PRESSED = 0; BYTES_AVAILABLE_FLAG = 0; BYTES_AVAILABLE_FCN_CNT = 32*8; BYTE_VEC_ACC_MAX_SIZE = 2^20; bytevecAcc = zeros(BYTE_VEC_ACC_MAX_SIZE,1); bytevecAccLen = 0; %% Some more Initialisations StatsInfo.interFrameProcessingTime = 0; StatsInfo.transmitOutputTime = 0; StatsInfo.interFrameProcessingMargin = 0; StatsInfo.interChirpProcessingMargin = 0; StatsInfo.interFrameCPULoad = 0; StatsInfo.activeFrameCPULoad = 0; activeFrameCPULoad = zeros(100,1,'single'); interFrameCPULoad = zeros(100,1,'single'); guiCPULoad = zeros(100,1,'single'); view_range = 0; guiProcTime = 0; displayUpdateCntr = 0; timeout_ctr = 0; bytevec_cp_max_len = 2^18; bytevec_cp = zeros(bytevec_cp_max_len,1,'uint8'); bytevec_cp_len = 0; packetNumberPrev = 0; loggingEnable = 0; fidLog = 0; use_perspective_projection = 0; prev_use_perspective_projection = use_perspective_projection; % %% Parse CLI parameters % Params = generate_params_for_SRR(); %% 雷达参数设置 % parameter = generateParameter(); % numADCSamples = parameter.Samples; % number of ADC samples per chirp % numADCBits = 16; % number of ADC bits per sample % numRx = 4; % number of receivers % numTx =1; % numLanes = 2; % do not change. number of lanes is always 2 % isReal = 0; % set to 1 if real only data, 0 if complex data0 % chirpLoop = parameter.Chirps; %% Configure monitoring UART port sphandle = configureSport(comportSnum); recordingHandle.enable = 1; if recordingHandle.enable == 1 recordingHandle.size = 2^18; recordingHandle.indx = 1; recordingHandle.array = zeros(recordingHandle.size,1,'uint8'); end % % Initialize the GUI. % guiMonitor = gui_initializer(Params, dim); magicNotOkCntr=0; % Every packet from the AWR1642 has the following barker code at the beginning. barker_code = char([2 1 4 3 6 5 8 7]); %-------------------- Main Loop ------------------------ while (~EXIT_KEY_PRESSED ) %Read bytes from the UART port. readUartCallbackFcn(sphandle, 0); disp("Waiting Buffer fill"); recordingHandle.indx % If bytes are available, append the new bytes to bytevec_cp if BYTES_AVAILABLE_FLAG == 1 BYTES_AVAILABLE_FLAG = 0; fprintf('bytevec_cp_len, bytevecAccLen = %d %d \n',bytevec_cp_len, bytevecAccLen) if (bytevec_cp_len + bytevecAccLen) < bytevec_cp_max_len bytevec_cp(bytevec_cp_len+1:bytevec_cp_len + bytevecAccLen) = bytevecAcc(1:bytevecAccLen); bytevec_cp_len = bytevec_cp_len + bytevecAccLen; bytevecAccLen = 0; else fprintf('Error: Buffer overflow, bytevec_cp_len, bytevecAccLen = %d %d \n',bytevec_cp_len, bytevecAccLen) bytevecAccLen = 0; bytevec_cp_len = 0; end end try bytevecStr = (bytevec_cp); magicOk = 0; % if the bytevecStr is atleast as large as the header, check if it contains the header. if (bytevec_cp_len > 72) && (size(bytevecStr,2) == 1) startIdx = strfind(bytevecStr', barker_code); else startIdx = []; end % abstruct a frame data from buff,startIdx is the first of the frame index. if ~isempty(startIdx) if startIdx(1) > 1 bytevec_cp(1: bytevec_cp_len-(startIdx(1)-1)) = bytevec_cp(startIdx(1):bytevec_cp_len); bytevec_cp_len = bytevec_cp_len - (startIdx(1)-1); end if bytevec_cp_len < 0 fprintf('Error: %d %d \n',bytevec_cp_len, bytevecAccLen) bytevec_cp_len = 0; end packetlenNum = single(bytevec_cp(8+4+[1:4])); totalPacketLen = sum(packetlenNum .* [1 256 65536 16777216]'); if bytevec_cp_len >= totalPacketLen magicOk = 1; else magicOk = 0; end end % parse the framedata byteVecIdx = 0; % index of the inner frame if(magicOk == 1) %tStart = tic; bytevec_cp_flt = single(bytevec_cp); % Extract the header. [Header, byteVecIdx] = getHeader(bytevec_cp_flt, byteVecIdx); sfIdx = Header.subframeNumber+1; if (sfIdx > 2) || (Header.numDetectedObj > MAX_NUM_OBJECTS) continue; end detObj.numObj = 0; clusterObj.numObj = 0; trackedObj.numObj = 0; detObj.peakIndex=zeros(1,3); % Extract each of the TLVs (type length value) in the current message. for tlvIdx = 1:Header.numTLVs [tlv, byteVecIdx] = getTlv(bytevec_cp_flt, byteVecIdx); switch tlv.type case MMWDEMO_UART_MSG_DETECTED_POINTS % if tlv.length >= OBJ_STRUCT_SIZE_BYTES % [detObj, byteVecIdx] = getDetObj(bytevec_cp_flt, ... % byteVecIdx, ... % tlv.length); % end case MMWDEMO_UART_MSG_CLUSTERS %ADC samples data output.512*4*2 complex data % if tlv.length >= CLUSTER_STRUCT_SIZE_BYTES % [clusterObj, byteVecIdx] = getClusters(bytevec_cp_flt, ... % byteVecIdx, ... % tlv.length); % end % if tlv.length >= CHIRP_STRUCT_SIZE_BYTES [RangeObj, byteVecIdx] = ChirpDataProcess(bytevec_cp_flt, ... byteVecIdx, ... tlv.length); detObj.peakIndexall=[detObj.peakIndex,RangeObj]; end case MMWDEMO_UART_MSG_TRACKED_OBJ % if tlv.length >= TRACKER_STRUCT_SIZE_BYTES % [trackedObj, byteVecIdx] = getTrackers(bytevec_cp_flt, byteVecIdx, tlv.length); % end case MMWDEMO_UART_MSG_PARKING_ASSIST % [parkingAssistRangeBins, byteVecIdx] = getParkingAssistBins(bytevec_cp_flt, byteVecIdx, tlv.length); case MMWDEMO_UART_MSG_STATS % [StatsInfo, byteVecIdx]