-
Notifications
You must be signed in to change notification settings - Fork 23
/
Copy pathrealTimeProc_AWR2243.py
140 lines (122 loc) · 5.63 KB
/
realTimeProc_AWR2243.py
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
import traceback
import time
from mmwave.dataloader import DCA1000
import fpga_udp as radar
import numpy as np
import datetime
'''
# AWR2243采集原始数据的一般流程
1. 重置雷达与DCA1000(reset_radar、reset_fpga)
2. 通过SPI初始化雷达并配置相应参数(AWR2243_init、AWR2243_setFrameCfg)(linux下需要root权限)
3. 通过网口udp发送配置fpga指令(config_fpga)
4. 通过网口udp发送配置record数据包指令(config_record)
5. 通过网口udp发送开始采集指令(stream_start)
6. 通过SPI启动雷达(AWR2243_sensorStart)
7. UDP循环接收数据包+解析出原始数据+数据实时处理(fastRead_in_Cpp、postProc)
8.1. (optional, 若numFrame==0则必须有)通过SPI停止雷达(AWR2243_sensorStop)
8.2. (optional, 若numFrame==0则不能有)等待雷达采集结束(AWR2243_waitSensorStop)
9. (optional, 若numFrame==0则必须有)通过网口udp发送停止采集指令(stream_stop)
10. 通过SPI关闭雷达电源与配置文件(AWR2243_poweroff)
# "mmwaveconfig.txt"毫米波雷达配置文件要求
TBD
# "cf.json"数据采集卡配置文件要求
具体信息请查阅TI_DCA1000EVM_CLI_Software_UserGuide.pdf
lvds Mode:
LVDS mode specifies the lane config for LVDS. This field is valid only when dataTransferMode is "LVDSCapture".
The valid options are
• 1 (4lane)
• 2 (2lane)
packet delay:
In default conditions, Ethernet throughput varies up to 325 Mbps speed in a 25-µs Ethernet packet delay.
The user can change the Ethernet packet delay from 5 µs to 500 µs to achieve different throughputs.
"packetDelay_us": 5 (us) ~ 706 (Mbps)
"packetDelay_us": 10 (us) ~ 545 (Mbps)
"packetDelay_us": 25 (us) ~ 325 (Mbps)
"packetDelay_us": 50 (us) ~ 193 (Mbps)
'''
dca = None
def postProc(adc_data,ADC_PARAMS_l):
adc_data=np.reshape(adc_data,(-1,ADC_PARAMS_l['chirps'],ADC_PARAMS_l['tx'],ADC_PARAMS_l['samples'],ADC_PARAMS_l['IQ'],ADC_PARAMS_l['rx']))
#100Frames*128Chirps*3TX*256Samples*2IQ*4RX(Lanes)
# print(adc_data.shape)
adc_data=np.transpose(adc_data,(0,1,2,5,3,4))
#100Frames*128Chirps*3TX*4RX(Lanes)*256Samples*2IQ
# print(adc_data.shape)
adc_data = (1j * adc_data[...,1] + adc_data[...,0]).astype(np.complex64) # I first
#100Frames*128Chirps*3TX*4RX*256Samples复数形式
# print(adc_data.shape)
# Range-FFT
range_fft = np.fft.fft(adc_data, axis=-1)
# Cluster Removal
range_fft_avg = np.mean(range_fft,1)#沿chirp计算均值
range_fft_avg=range_fft-np.tile(np.expand_dims(range_fft_avg,1),(1,ADC_PARAMS_l['chirps'],1,1,1))#与均值相消
# Doppler-FFT
range_doppler = np.fft.fft(range_fft_avg, axis=1)
range_doppler = np.fft.fftshift(range_doppler, axes=1)
try:
dca = DCA1000()
# 1. 重置雷达与DCA1000
dca.reset_radar()
dca.reset_fpga()
print("wait for reset")
time.sleep(1)
# 2. 通过SPI初始化雷达并配置相应参数
radar_config_file = "configFiles/AWR2243_mmwaveconfig.txt" # laneEn=15则LVDS为4 lane模式
dca_config_file = "configFiles/cf.json" # 若LVDS设置为4 lane模式，记得将cf.json中的lvdsMode设为1
radar.AWR2243_init(radar_config_file)
numLoops=50
frameNumInBuf=16
numframes=16 # numframes必须<=frameNumInBuf
radar.AWR2243_setFrameCfg(0) # Valid Range 0 to 65535 (0 for infinite frames)
# 检查LVDS参数
LVDSDataSizePerChirp_l,maxSendBytesPerChirp_l,ADC_PARAMS_l,CFG_PARAMS_l=dca.AWR2243_read_config(radar_config_file)
dca.refresh_parameter()
print(ADC_PARAMS_l)
print(CFG_PARAMS_l)
print("LVDSDataSizePerChirp:%d must <= maxSendBytesPerChirp:%d"%(LVDSDataSizePerChirp_l,maxSendBytesPerChirp_l))
# 检查fpga是否连通正常工作
print("System connection check:",dca.sys_alive_check())
print(dca.read_fpga_version())
# 3. 通过网口udp发送配置fpga指令
print("Config fpga:",dca.config_fpga(dca_config_file))
# 4. 通过网口udp发送配置record数据包指令
print("Config record packet delay:",dca.config_record(dca_config_file))
# 按回车开始采集
input("press ENTER to start capture...")
# 5. 通过网口udp发送开始采集指令
dca.stream_start()
dca.fastRead_in_Cpp_thread_start(frameNumInBuf) # 启动udp采集线程
# 6. 通过SPI启动雷达
radar.AWR2243_sensorStart()
# 7. UDP接收数据包+解析出原始数据+数据实时处理
start = time.time()
for i in range(numLoops):
print("current loop:",i)
# start1 = time.time()
# data_buf = dca.fastRead_in_Cpp(1,sortInC=True)
# data_buf = dca.fastRead_in_Cpp_noDisp(1)
data_buf = dca.fastRead_in_Cpp_thread_get(numframes,verbose=True,sortInC=True)
# end1 = time.time()
# print("capture time elapsed(s):",end1-start1)
# print("capture performance: %.2f FPS"%(numframes/(end1-start1)))
# start2 = time.time()
postProc(data_buf,ADC_PARAMS_l)
# end2 = time.time()
# print("postProc time elapsed(s):",end2-start2)
# print("postProc performance: %.2f FPS"%(numframes/(end2-start2)))
end = time.time()
print("Performance: %.2f Loops per Sec"%(numLoops/(end-start)))
except Exception as e:
traceback.print_exc()
finally:
# 8.1 通过SPI停止雷达
radar.AWR2243_sensorStop()
# 8.2 等待雷达采集结束
radar.AWR2243_waitSensorStop()
if dca is not None:
# 9. 通过网口udp发送停止采集指令
dca.fastRead_in_Cpp_thread_stop() # 停止udp采集线程(必须先于stream_stop调用，即UDP接收时不能同时发送)
dca.stream_stop() # DCA停止采集
dca.close()
# 10. 通过SPI关闭雷达电源与配置文件
radar.AWR2243_poweroff()