Get firmware software version.
获取硬件及软件版本。
fw_ver
Version: 0.9.5
Build Data: Jul 7 2020
Build Time: 20:58:32
System Name:Calterah_Radar_System
Build commit ID: commit
无
转储。。。
mem_dump [address] [length(word)]
address:内存地址
length:转储数据长度(以字为单位)
。。。
。。。
擦出flash中指定地址的指定字节数的数据
flash_erase [address] [length(byte)]
address:内存地址
length:数据长度(以字节为单位)
。。。
。。。
写入flash内存
flash_memory_write [address] [length(byte)]
address:
length:
。。。
。。。
读flash内存
flash_memory_read [address] [length(byte)]
address:
length:
。。。
。。。
Write or read track cfg information.
写或读跟踪配置信息
track [[param] value]
。。。
。。。
Start sensor scanning operation.
开启传感器扫描操作。
scan [start/stop]
例1:scan start
例2:scan stop
例1:
FT = 0.05
--- F 0 0 0/0/0! ---
BK
AK
#
FT = 0.05
--- F 1 0 0/0/0! ---
BK
AK
#
FT = 0.05
--- F 2 0 0/0/0! ---
BK
AK
#
... ...
例2:(停止扫描和输出)
。。。
Write or read baseband register.
写或读基带寄存器。
bb_reg [addr] < data>
addr:寄存器地址
data:写入寄存器的数据
if data not NULL, then write data in [addr], or read register.
。。。
读写基带寄存器
Dump all baseband register.
转储所有基带寄存器。
bb_regdump
BB_REG_SYS_START 0xc00000 0x00000000
BB_REG_SYS_BNK_MODE 0xc00004 0x00000002
BB_REG_SYS_BNK_ACT 0xc00008 0x00000000
BB_REG_SYS_BNK_QUE 0xc0000c 0x00000001
BB_REG_SYS_BNK_RST 0xc00010 0x00000000
BB_REG_SYS_MEM_ACT 0xc00014 0x00000004
BB_REG_SYS_ENABLE 0xc00018 0x00000004
BB_REG_SYS_TYPE_FMCW 0xc0001c 0x00000000
BB_REG_SYS_SIZE_RNG_PRD 0xc00020 0x00000423
BB_REG_SYS_SIZE_FLT 0xc00024 0x00000000
BB_REG_SYS_SIZE_RNG_SKP 0xc00028 0x0000003b
BB_REG_SYS_SIZE_RNG_BUF 0xc0002c 0x00000199
BB_REG_SYS_SIZE_RNG_FFT 0xc00030 0x000001f
... ...
读取基带寄存器中的所有值,并保存至内存。。。
Dump baseband memory/LUT.
转储基带存储器/ LUT。
bb_tbldump
table_id:
offset: 偏移量
length:
。。。
。。。
读取基带寄存器中的部分值,并保存至内存。。。
Baseband initialization.
初始化基带。
bb_init
/*** Baseband HW init... ***/
/*** sys params programmed! ***/
/*** agc params programmed! ***/
/*** amb params programmed! ***/
/*** debpm params programmed! ***/
/*** spk_rmv params programmed! ***/
/*** sam params programmed! ***/
/*** fft params programmed! ***/
/*** inteference params programmed! ***/
/*** velamb params programmed! ***/
/*** cfar params programmed! ***/
/*** doa params programmed! ***/
/*** shadow bank programmed! ***/
/*** dc calib done! ***/
/*** interframe powersaving feature is on! ***/
/*** Baseband HW init done... ***/
。。。
Dump baseband data
转储基带数据
bb_datdump
adc/fft1d/fft2d:转储的内容
tone:no FMCW, only baseband
normal:包括FMCW在内
例1:
bb_datdump_serport adc uart bpm_index0 4 1
例2:
bb_datdump_serport cfar uart 1
可能是输出缓存中数据,或是dump数据到缓存。。。
Output DC offset.
输出DC偏移。
bb_dc
例1:
bb_dc voltage
例2:
bb_dc leakage
// 参数为voltage 时,输出格式如下
DC offset CH0:%d CH1:%d CH2:%d CH3:%d
// 例1输出:
fdb_bnk_act = 0
bb_hw->frame_type_id = 0
radio->frame_type_id = 0
frame type 0: channel 0 before modification, old_dc_high8 = 0x7e, old_dc_low8 = 0xc6
frame type 0: channel 0 after modification, new_dc_high8 = 0x0, new_dc_low8 = 0x0
frame type 0: channel 1 before modification, old_dc_high8 = 0x7e, old_dc_low8 = 0xf3
frame type 0: channel 1 after modification, new_dc_high8 = 0x0, new_dc_low8 = 0x0
frame type 0: channel 2 before modification, old_dc_high8 = 0x7e, old_dc_low8 = 0xb5
frame type 0: channel 2 after modification, new_dc_high8 = 0x0, new_dc_low8 = 0x0
frame type 0: channel 3 before modification, old_dc_high8 = 0x7f, old_dc_low8 = 0xb
frame type 0: channel 3 after modification, new_dc_high8 = 0x0, new_dc_low8 = 0x0
offset_vbar_cfg = 256, adc_buf_num = 410
frame type 0: channel 0 before modification, old_dc_high8 = 0x0, old_dc_low8 = 0x0
frame type 0: channel 0 after modification, new_dc_high8 = 0x7e, new_dc_low8 = 0xc6
frame type 0: channel 1 before modification, old_dc_high8 = 0x0, old_dc_low8 = 0x0
frame type 0: channel 1 after modification, new_dc_high8 = 0x7e, new_dc_low8 = 0xf2
frame type 0: channel 2 before modification, old_dc_high8 = 0x0, old_dc_low8 = 0x0
frame type 0: channel 2 after modification, new_dc_high8 = 0x7e, new_dc_low8 = 0xb7
frame type 0: channel 3 before modification, old_dc_high8 = 0x0, old_dc_low8 = 0x0
frame type 0: channel 3 after modification, new_dc_high8 = 0x7f, new_dc_low8 = 0xc
DC offset CH0:0x4e8 CH1:0x438 CH2:0x526 CH3:0x3d3
DC offset CH0:1256 CH1:1080 CH2:1318 CH3:979
/*** dc calib done! ***/
例2:
// 参数为leakage 时,输出格式如下
DC leakage CH0-%.3f CH1-%.3f CH2-%.3f CH3-%.3f
// 例2输出:
fdb_bnk_act = 0
bb_hw->frame_type_id = 0
radio->frame_type_id = 0
frame type 0: channel 0 before modification, old_dc_high8 = 0x7e, old_dc_low8 = 0xc6
frame type 0: channel 0 after modification, new_dc_high8 = 0x0, new_dc_low8 = 0x0
frame type 0: channel 1 before modification, old_dc_high8 = 0x7e, old_dc_low8 = 0xf2
frame type 0: channel 1 after modification, new_dc_high8 = 0x0, new_dc_low8 = 0x0
frame type 0: channel 2 before modification, old_dc_high8 = 0x7e, old_dc_low8 = 0xb7
frame type 0: channel 2 after modification, new_dc_high8 = 0x0, new_dc_low8 = 0x0
frame type 0: channel 3 before modification, old_dc_high8 = 0x7f, old_dc_low8 = 0xc
frame type 0: channel 3 after modification, new_dc_high8 = 0x0, new_dc_low8 = 0x0
offset_vbar_cfg = 256, adc_buf_num = 410
frame type 0: channel 0 before modification, old_dc_high8 = 0x0, old_dc_low8 = 0x0
frame type 0: channel 0 after modification, new_dc_high8 = 0x7e, new_dc_low8 = 0xc6
frame type 0: channel 1 before modification, old_dc_high8 = 0x0, old_dc_low8 = 0x0
frame type 0: channel 1 after modification, new_dc_high8 = 0x7e, new_dc_low8 = 0xf2
frame type 0: channel 2 before modification, old_dc_high8 = 0x0, old_dc_low8 = 0x0
frame type 0: channel 2 after modification, new_dc_high8 = 0x7e, new_dc_low8 = 0xb7
frame type 0: channel 3 before modification, old_dc_high8 = 0x0, old_dc_low8 = 0x0
frame type 0: channel 3 after modification, new_dc_high8 = 0x7f, new_dc_low8 = 0xc
frame type 0: channel 0 before modification, old_dc_high8 = 0x7e, old_dc_low8 = 0xc6
frame type 0: channel 0 after modification, new_dc_high8 = 0x0, new_dc_low8 = 0x0
frame type 0: channel 1 before modification, old_dc_high8 = 0x7e, old_dc_low8 = 0xf2
frame type 0: channel 1 after modification, new_dc_high8 = 0x0, new_dc_low8 = 0x0
frame type 0: channel 2 before modification, old_dc_high8 = 0x7e, old_dc_low8 = 0xb7
frame type 0: channel 2 after modification, new_dc_high8 = 0x0, new_dc_low8 = 0x0
frame type 0: channel 3 before modification, old_dc_high8 = 0x7f, old_dc_low8 = 0xc
frame type 0: channel 3 after modification, new_dc_high8 = 0x0, new_dc_low8 = 0x0
offset_vbar_cfg = 256, adc_buf_num = 410
DC leakage CH0--0.001 CH1--0.001 CH2-0.001 CH3-0.001
/*** dc calib done! ***/
直流校准
Multi-frame type DC calibration (dc_offset is influenced by ADC sampling freq)
多帧类型DC校准(dc_offset受ADC采样频率的影响)
Baseband initialization.(Antenna)
天线校准
ant_calib
180.09 0.00 0.00 0.08 0.00 0.00 180.09 0.22 rng_index 0 range 0.00 master
180.09 0.00 0.00 0.10 0.00 0.01 180.09 0.20 rng_index 0 range 0.00 master
180.09 0.00 0.00 0.07 0.00 0.00 180.09 0.19 rng_index 0 range 0.00 master
180.09 0.00 0.00 0.15 0.00 0.00 180.09 0.22 rng_index 0 range 0.00 master
0.00 0.00 0.00 0.12 0.00 0.00 180.09 0.22 rng_index 0 range 0.00 master
0.00 0.00 0.00 0.10 0.00 0.00 180.09 0.21 rng_index 0 range 0.00 master
180.09 0.00 0.00 0.09 0.00 0.00 180.09 0.19 rng_index 0 range 0.00 master
0.00 0.00 0.00 0.07 0.00 0.01 180.09 0.20 rng_index 0 range 0.00 master
0.00 0.00 0.00 0.08 0.00 0.00 180.09 0.19 rng_index 0 range 0.00 master
180.09 0.00 0.00 0.08 0.00 0.00 180.09 0.17 rng_index 0 range 0.00 master
。。。
Output tx_ant_phase_calib result.
输出发射天线校准相位。
tx_ant_phase_calib
例:tx_ant_phase_calib
------ important notice ------
make sure you put the corner reflector at most 15.48 meters away
make sure you put the corner reflector far away enough to elevate the precision
at least 4.42 meters away
---tx antenna 0 phase calibration start
---tx antenna 0 phase calibration result 185.501725
---tx antenna 1 phase calibration start
---tx antenna 1 phase calibration result 188.688050
---tx antenna 2 phase calibration start
---tx antenna 2 phase calibration result 177.536713
---tx antenna 3 phase calibration start
---tx antenna 3 phase calibration result 189.118638
。。。
Dump n frame data through SPI or UART
通过SPI或UART转储n个frame数据
bb_datdump_serport <'adc'/'fft1d'/'fft2d'> <'spi'>
or bb_datdump_serport <'adc'/'fft1d'/'fft2d'> <'uart'>
or bb_datdump_serport <'adc'/'fft1d'/'fft2d'> <'uart'> < '4' >
or bb_datdump_serport <'cfar'/'bfm'> <'uart'>
<‘adc’/‘fft1d’/‘fft2d’> :选择需要转储的数据···
<‘spi’>:通过SPI转储
<‘uart’>:通过UART转储
例1:bb_datdump_serport adc uart bpm_index0 4 1
例2:bb_datdump_serport cfar uart 1
例1:
# data_type is 0, dump_type is 1
# current frame_type = 0
# ch_index_input = -1, dump_channel_num = 4
ADC(:, :, 1, 1) = [ 262144 ...
3211180 5570520 3145804 2883648 5242940 4293394504 4284284920 7929808
4291297404 4291100608 4293132328 5046160 4293459912 3145760 7667628
4292083728 4281598024 4293722060 262180 6815760 ...
例2:
# data_type is 3, dump_type is 1
# current frame_type = 0
frame_type = 0
--------- Object num is 0 -------
------- objects info list: --------
。。。
——————————————————————————————————————————
Dump 1 frame debug data through UART
通过UART转储1个frame的调试数据
step1: bb_dbg_urt <'cfar'/'dbf'> : turn on debug mode
step2: scan start 1 : bb run one frame
step3: bb_dbg_urt <'cfar'/'dbf'> <'dump'> : dump debug data
step4: bb_dbg_urt <'off'> : turn off debug mode
。。。
。。。
Show radar system parameters
显示雷达系统参数
radar_param
carrier_freq = 78.500GHz
bandwidth = 254.410MHz
chirp_rampup = 48.023us
chirp_period = 53.001us
Fs = 20.000MHz
rng_nfft = 512
vel_nfft = 256
doa_npoint = (360,360)
bfm_az_left = -60.000deg
bfm_az_right = 60.000deg
bfm_ev_up = 10.000deg
bfm_ev_down = -10.000deg
rng_delta = 1.105m
vel_delta = 0.141m/s
az_delta = 0.333deg (0.006rad)
ev_delta = 0.056deg (0.001rad)
trk_fov_az_left = -60.000deg
trk_fov_az_right = 60.000deg
trk_nf_thres = 10.000m
trk_drop_delay = 0.500sec
trk_capt_delay = 0.150sec
trk_fps = 20frm/sec
trk_fov_ev_down = -8.000deg
trk_fov_ev_up = 8.000deg
-----------SYS-PARAM-EOF 0----------
显示参数配置结果
Dump FFT memory data
转储FFT的缓存数据
bb_fftdump [ant_index] [bpm_index] [chirp_index] [sample_offset] [sample_len]
。。。
。。。
输出fft数据某点周围矩阵的值
fftp [rng_center] [vel_center] [frame_num]
fftp 50 50 1
rng\dpl 45 46 47 48 49 50 51 52 53 54 55
45: 0.12 0.09 0.23 0.38 0.33 0.18 0.08 0.15 0.29 0.45 0.41
46: 0.09 0.07 0.28 0.38 0.26 0.11 0.08 0.10 0.32 0.63 0.39
47: 0.08 0.07 0.26 0.31 0.23 0.19 0.21 0.09 0.37 0.76 0.39
48: 0.16 0.10 0.16 0.25 0.37 0.45 0.28 0.08 0.37 0.70 0.39
49: 0.16 0.12 0.22 0.33 0.49 0.49 0.23 0.09 0.33 0.53 0.31
50: 0.14 0.08 0.15 0.29 0.48 0.42 0.21 0.10 0.25 0.30 0.23
51: 0.16 0.08 0.06 0.12 0.40 0.50 0.33 0.16 0.29 0.26 0.23
52: 0.20 0.11 0.17 0.09 0.27 0.49 0.38 0.26 0.47 0.32 0.21
53: 0.23 0.18 0.28 0.26 0.25 0.27 0.25 0.33 0.58 0.43 0.20
54: 0.18 0.18 0.23 0.27 0.16 0.13 0.22 0.28 0.54 0.54 0.25
55: 0.10 0.18 0.15 0.15 0.13 0.22 0.27 0.23 0.47 0.58 0.43
sample buffer data print
显示sample缓存数据
bb_sambuf
// adc data is 16 bits, 2 adc data in one memory entry(32 bits)
// 实际执行函数bb_sambuf_command_handler(),包含3个for循环
// 因此,输出数据整体可分为v * a * r个部分,v是速度index个数,a是天线index个数,r是距离index个数。
// sample buffer中只存储一个frame内最多两个chirp的ADC信息。
// ADC数据 // RA, [Velocity][Range][Antenna]
0xf6b0f4ac, 0xfc10fe94, 0xf494f6d4, 0xf664f52c
0xf9e4fe20, 0xf52cf65c, 0xf6d4f480, 0xfd30fe28
0xf460f710, 0xf604f5c0, 0xf840003c, 0xf600f624
0xf6d0f4e0, 0xfa40fe78, 0xf504f690, 0xf65cf560
0xf9980134, 0xf4f0f71c, 0xf56cf704, 0xf52402f0
0xf8fcf5b4, 0xf624f6cc, 0xf4c4fb70, 0xfd60f510
0xf670f6c4, 0xf498fe64, 0xfc24f4e4, 0xf67cf6c4
0xf480fd68, 0xff00f444, 0xf720f5dc, 0xf5f8f7f4
0x0278f5a4, 0xf6d4f5a8, 0xf6d0f544, 0x000cf878
0xf59cf66c, 0xf644f5cc, 0xff70f8e8, 0xf54cf6b0
0xf5e8f6ac, 0x0104f740, 0xf604f610, 0xf6a0f54c
0xffe0f8c0, 0xf568f698, 0xf610f614, 0xfed8f858
0xf538f710, 0xf530f864, 0xff4cf60c, 0xf61cf67c
0xf58cf874, 0x014cf584, 0xf6ccf59c, 0xf6ecf544
0x0110f8cc, 0xf5d8f5f8, 0xf6fcf45c, 0xffacfe18
0xf484f6fc, 0xf608f5c4, 0xf7f8ff30, 0xf5d4f61c
0xf6f4f49c, 0xfb58fe24, 0xf4e8f684, 0xf684f4f4
0xfb5400a4, 0xf460f75c, 0xf558f6f0, 0xf560009c
0xf82cf5c0, 0xf65cf654, 0xf5e00158, 0xf81cf5e4
0xf5f0f70c, 0xf464004c, 0xfbdcf4b8, 0xf6c4f650
0xf550f988, 0xffa8f564, 0xf664f6ac, 0xf4ecfa98
0xfe14f518, 0xf670f6b8, 0xf4b8fc34, 0xfdc4f4d4
0xf69cf698, 0xf4d8fc70, 0xfbf0f4f4, 0xf67cf6bc
0xf498feb4, 0xfc70f4a8, 0xf6c4f664, 0xf528fa2c
0xff48f528, 0xf680f698, 0xf4f4fab4, 0xff5cf51c
0xf68cf67c, 0xf520fa00, 0xff1cf4ec, 0xf6c4f638
0xf5a0f854, 0xff50f5e8, 0xf628f6a4, 0xf528f9cc
0x00b8f4cc, 0xf72cf55c, 0xf710f4f4, 0xff58f8f8
0xf56cf6a0, 0xf5fcf64c, 0xff54f80c, 0xf578f6a4
0xf5e0f704, 0x0274f6cc, 0xf660f5ac, 0xf734f45c
0xfd98fb78, 0xf50cf678, 0xf6a8f4b8, 0xff40fbc0
0xf4c0f6bc, 0xf660f538, 0xf9e8ff90, 0xf504f6b4
0xf628f5bc, 0xf86401a4, 0xf5a8f6d0, 0xf59cf6f0
0xf5280270, 0xf908f5b4, 0xf618f6e8, 0xf490fce8
0xfca8f4d8, 0xf694f69c, 0xf4ccfe4c, 0xfb10f4fc
0xf67cf6c0, 0xf490ff28, 0xfbfcf4b4, 0xf6b4f680
0xf4fcfadc, 0xfed0f508, 0xf680f694, 0xf4ecfb40
0x00b4f470, 0xf74cf578, 0xf6bcf5b8, 0x0034f7d8
0xf5a8f6bc, 0xf58cf778, 0xff28f690, 0xf5e4f6b4
0xf554f894, 0xfed0f5c0, 0xf644f688, 0xf554f900
0xfff0f5a8, 0xf660f658, 0xf594f878, 0x00fcf53c
0xf6f4f578, 0xf71cf4dc, 0x00e0f8d8, 0xf5b4f610
0xf6ecf474, 0xfef4fbc4, 0xf4a8f6cc, 0xf650f554
0xf964ff64, 0xf548f66c, 0xf68cf51c, 0xfa38017c
0xf490f750, 0xf544f72c, 0xf4dc0020, 0xf92cf58c
0xf658f680, 0xf54c0178, 0xf92cf56c, 0xf648f6c8
0xf4c8fb6c, 0xfdccf52c, 0xf650f6d4, 0xf478fd68
0xff08f438, 0xf734f5b8, 0xf63cf728, 0x0114f5c8
0xf6b0f5c4, 0xf6b4f56c, 0x0074f86c, 0xf598f670
0xf634f5e4, 0xff74f844, 0xf564f6b8, 0xf5c4f708
0x0118f6d4, 0xf620f628, 0xf658f5e0, 0xfef8f848
0xf540f70c, 0xf520f8bc, 0x0030f5ac, 0xf684f604
0xf640f68c, 0x001cf73c, 0xf5dcf694, 0xf5acf760
0xff38f680, 0xf5f4f6a4, 0xf568f878, 0xff40f5e0
0xf644f65c, 0xf5acf800, 0x00bcf584, 0xf6c0f5b8
0xf6b4f584, 0xff80f84c, 0xf598f674, 0xf624f640
0x0134f7f0, 0xf5e4f604, 0xf6e4f4c8, 0x007cfa18
0xf550f644, 0xf6dcf47c, 0xfe20fe0c, 0xf4a8f6c4
0xf648f54c, 0xf9d0012c, 0xf4d0f70c, 0xf5c4f664
0xf654ffe8, 0xf71cf5cc, 0xf6c4f550, 0xf87c0064
0xf654f610, 0xf6a0f554, 0xf8b4ffcc, 0xf598f65c
0xf684f550, 0xf908ffdc, 0xf5c0f638, 0xf6bcf4e8
0xfa3cfe74, 0xf510f67c, 0xf6a4f4e0, 0xfb2cfda4
0xf4fcf67c, 0xf6b8f4a4, 0xfc78fda4, 0xf4b4f6b0
0x0180f6bc, 0xf6f0f72c, 0xf62cffe4, 0xfc24f510
0xf884f4e8, 0xfe50fde0, 0xf520f848, 0xf560fa5c
0x0140f720, 0xf6c4f754, 0xf604001c, 0xfb8cf4e4
0xf8d8f46c, 0xfee40034, 0xf5dcf744, 0xf724f5dc
0xfe2cfe50, 0xf4a0f8e8, 0xf4a0fd2c, 0x0254f708
0xf69cf7c0, 0xf52cfe50, 0x004cf540, 0xf7e4f678
0xf7040044, 0xfa90f540, 0xf880f4cc, 0xff24fe24
0xf530f800, 0xf5ecf8a0, 0x00bcf7a4, 0xf6bcf6f8
0xf73c0040, 0xf834f688, 0xf724f6ec, 0x012cfa60
0xf594f844, 0xf4e4ff18, 0xff0cf54c, 0xf7f8f608
0xf8a003e4, 0xfa1cf60c, 0xf7a8f604, 0xf9840264
0xf8a4f664, 0xf78cf5f8, 0x0304fb2c, 0xf5a0f7d8
0xf618f880, 0x0178f818, 0xf640f7c0, 0xf5a00124
0xffccf650, 0xf74cf6c8, 0xf6d40188, 0xfaccf568
0xf848f518, 0xff50fd50, 0xf510f864, 0xf530fb24
0x00ecf6a0, 0xf718f6f0, 0xf6b00000, 0xfa74f554
0xf878f4f0, 0x0290fcd0, 0xf5b8f758, 0xf6f8f648
0xffc80040, 0xf64cf794, 0xf660f7d0, 0x0230f91c
0xf5b8f854, 0xf4c0ff58, 0x002cf5bc, 0xf764f700
0xf608fec4, 0xfd10f4e4, 0xf8a0f4f0, 0xfd30fd88
0xf4f8f890, 0xf4ccfd40, 0x034cf770, 0xf6c8f758
0xf5f4fa4c, 0x00acf560, 0xf830f5ac, 0xf97c01d8
0xf7f0f62c, 0xf808f4fc, 0xffd40014, 0xf5a8f788
0xf6d4f664, 0x004cfc9c, 0xf504f88c, 0xf4f4fd34
0xff9cf5a8, 0xf7d8f5f8, 0xf8e4019c, 0xf8b8f62c
0xf7b8f5a8, 0xfe80fbdc, 0xf514f884, 0xf4ecffa0
0xfd60f574, 0xf7ecf5e8, 0xf8fc02dc, 0xf984f5dc
0xf810f520, 0xfdc4fe84, 0xf4ecf860, 0xf568fa20
0x0064f668, 0xf758f678, 0xf82403e0, 0xf8d4f65c
0xf760f660, 0xf8600200, 0xf888f66c, 0xf770f624
0x007cfb54, 0xf550f858, 0xf500fda8, 0xfe7cf524
0xf84cf560, 0xfa5402dc, 0xf798f680, 0xf798f5a8
0xfb4c00a8, 0xf5b4f7d0, 0xf638f7f0, 0x00ecf8d4
0xf5e8f808, 0xf53cfe10, 0xfef0f530, 0xf838f590
0xf9880150, 0xf758f698, 0xf778f5d8, 0xff14fcb0
0xf504f888, 0xf4ecfd3c, 0xff94f5b0, 0xf7ccf608
0xf8a003d0, 0xf8acf618, 0xf7e0f594, 0xfa68015c
0xf630f708, 0xf760f5ac, 0x00780018, 0xf644f720
0xf73cf5dc, 0x0284fc84, 0xf564f7e4, 0xf630f804
0x0100f884, 0xf658f760, 0xf67800b0, 0xfa40f58c
0xf844f504, 0xfe50fdd0, 0xf544f810, 0xf5c8f954
0x021cf974, 0xf5f8f7ec, 0xf55cfe10, 0xfe74f4f0
0xf894f500, 0xfb9400c4, 0xf670f70c, 0xf724f62c
0xfffcfd0c, 0xf514f870, 0xf518fc74, 0x0038f5a4
0xf80cf594, 0xf9d40228, 0xf72cf6a0, 0xf790f5a0
0xfcac0060, 0xf588f810, 0xf5c0f960, 0x01ccf898
0xf628f7d0, 0xf57c0248, 0xfb78f554, 0xf814f5cc
0xf9040170, 0xf7acf684, 0xf778f5f8, 0x0078fb84
0xf538f860, 0xf520fbc4, 0x00d8f694, 0xf718f700
0xf67c00a0, 0xfb0cf538, 0xf87cf4ec, 0xfd2cff3c
0xf5b0f7a8, 0xf668f788, 0x0138fa94, 0xf558f884
0xf4ac0018, 0xfdc0f544, 0xf7dcf654, 0xf77c017c
0xf9c8f594, 0xf840f528, 0xfc580034, 0xf5fcf778
0xf6a4f70c, 0x0164fad0, 0xf534f8a0, 0xf4a0fd7c
0xffc0f594, 0xf76cf708, 0xf604ff5c, 0xfd64f4e8
0xf88cf52c, 0xfb0803a4, 0xf790f6ac, 0xf768f5f4
0xfa1c0168, 0xf6d0f708, 0xf730f628, 0x0164fc00
0xf520f878, 0xf510fb8c, 0x01a8f680, 0xf718f710
0xf644ff30, 0xfb44f52c, 0xf878f4f8, 0xff64fcb8
0xf534f83c, 0xf570fa28, 0x01acf778, 0xf690f798
0xf598fd80, 0xfe6cf4f4, 0xf88cf508, 0xfc0c0398
0xf850f670, 0xf79cf5ac, 0xfad4010c, 0xf5d8f79c
0xf694f72c, 0x00c8fa48, 0xf574f850, 0xf4f8fe80
0xfd4cf518, 0xf838f58c, 0xf9e80018, 0xf648f7a0
0xffb8ffb8, 0xffb8ffb8, 0xffb8ffb8, 0xffb8ffb8
0xffb8ffb8, 0xffb8ffb8, 0xffb8ffb8, 0xffb8ffb8
0xffb8ffb8, 0xffb8ffb8, 0xffb8ffb8, 0xffb8ffb8
... ...
0xffb8ffb8, 0xffb8ffb8, 0xffb8ffb8, 0xffb8ffb8
0xffb8ffb8, 0xffb8ffb8, 0xffb8ffb8, 0xffb8ffb8
0xffb8ffb8, 0xffb8ffb8, 0xffb8ffb8, 0xffb8ffb8
0x01080108, 0x01080108, 0x01080108, 0x01080108
0x01080108, 0x01080108, 0x01080108, 0x01080108
0x01080108, 0x01080108, 0x01080108, 0x01080108
... ...
0x01080108, 0x01080108, 0x01080108, 0x01080108
0x01080108, 0x01080108, 0x01080108, 0x01080108
0x01080108, 0x01080108, 0x01080108, 0x01080108
0xf638f6b0, 0xf514f998, 0xff9cf584, 0xf64cf6b8
0xf4e0fabc, 0xfefcf504, 0xf690f68c, 0xf504fa80
0xfe90f52c, 0xf668f6c0, 0xf4a4fc70, 0xfe28f4ac
... ...
0xf828f5b0, 0xf96cffa0, 0xf618f7cc, 0xf5a4fa50
0xffd8f65c, 0xf730f6e8, 0xf69c0134, 0xfa58f548
0xf880f4cc, 0xfd0c0008, 0xf590f7a8, 0xf680f724
0xffb8ffb8, 0xffb8ffb8, 0xffb8ffb8, 0xffb8ffb8
0xffb8ffb8, 0xffb8ffb8, 0xffb8ffb8, 0xffb8ffb8
0xffb8ffb8, 0xffb8ffb8, 0xffb8ffb8, 0xffb8ffb8
... ...
0xffb8ffb8, 0xffb8ffb8, 0xffb8ffb8, 0xffb8ffb8
0xffb8ffb8, 0xffb8ffb8, 0xffb8ffb8, 0xffb8ffb8
0xffb8ffb8, 0xffb8ffb8, 0xffb8ffb8, 0xffb8ffb8
0x01080108, 0x01080108, 0x01080108, 0x01080108
0x01080108, 0x01080108, 0x01080108, 0x01080108
0x01080108, 0x01080108, 0x01080108, 0x01080108
... ...
0x01080108, 0x01080108, 0x01080108, 0x01080108
0x01080108, 0x01080108, 0x01080108, 0x01080108
0x01080108, 0x01080108, 0x01080108, 0x01080108
输出输出天线在不同相位下CHs的饱和度?
Txbf_saturation
Txbf_saturation 0
tx_phase = 0
AGC_DAT_MAX_1ST: 0x0000003f 0x0000003d 0x00000036 0x00000039
AGC_AFE_stage0_SAT_CNT: 0 0 0 0
AGC_AFE_stage1_SAT_CNT: 0 0 0 0
AGC_AFE_stage2_SAT_CNT: 0 0 0 0
tx_phase = 45
AGC_DAT_MAX_1ST: 0x0000003c 0x00000038 0x00000038 0x00000033
AGC_AFE_stage0_SAT_CNT: 0 0 0 0
AGC_AFE_stage1_SAT_CNT: 0 0 0 0
AGC_AFE_stage2_SAT_CNT: 0 0 0 0
tx_phase = 90
AGC_DAT_MAX_1ST: 0x00000037 0x00000037 0x00000039 0x00000040
AGC_AFE_stage0_SAT_CNT: 0 0 0 0
AGC_AFE_stage1_SAT_CNT: 0 0 0 0
AGC_AFE_stage2_SAT_CNT: 0 0 0 0
tx_phase = 135
AGC_DAT_MAX_1ST: 0x00000040 0x00000033 0x00000044 0x00000036
AGC_AFE_stage0_SAT_CNT: 0 0 0 0
AGC_AFE_stage1_SAT_CNT: 0 0 0 0
AGC_AFE_stage2_SAT_CNT: 0 0 0 0
tx_phase = 180
AGC_DAT_MAX_1ST: 0x00000037 0x00000040 0x00000038 0x00000037
AGC_AFE_stage0_SAT_CNT: 0 0 0 0
AGC_AFE_stage1_SAT_CNT: 0 0 0 0
AGC_AFE_stage2_SAT_CNT: 0 0 0 0
tx_phase = 225
AGC_DAT_MAX_1ST: 0x00000033 0x00000035 0x00000044 0x00000037
AGC_AFE_stage0_SAT_CNT: 0 0 0 0
AGC_AFE_stage1_SAT_CNT: 0 0 0 0
AGC_AFE_stage2_SAT_CNT: 0 0 0 0
tx_phase = 270
AGC_DAT_MAX_1ST: 0x00000037 0x0000003d 0x00000039 0x0000003d
AGC_AFE_stage0_SAT_CNT: 0 0 0 0
AGC_AFE_stage1_SAT_CNT: 0 0 0 0
AGC_AFE_stage2_SAT_CNT: 0 0 0 0
tx_phase = 315
AGC_DAT_MAX_1ST: 0x00000030 0x0000003d 0x0000003b 0x00000037
AGC_AFE_stage0_SAT_CNT: 0 0 0 0
AGC_AFE_stage1_SAT_CNT: 0 0 0 0
AGC_AFE_stage2_SAT_CNT: 0 0 0 0
Tx phase 0 gets minimum saturation number
Txbf_bb_satur_monitor done
写或读雷达配置?
sensor_cfg [[param] value]
sensor_cfg fmcw_startfreq 77
[param] = value
fmcw_startfreq = 77.000
设置后运行基带初始化
bb_init
编辑或读取闪存上的天线位置或者相位?
ant_prog //读取
ant_prog [[pos/comp] val1, val2, ...] //编辑
ant_prog pos (1.00, 0.00), (0.00, 0.00), (0.00, 0.00), (0.00, 0.00), (0.00, 0.00), (0.00, 0.00), (0.00, 0.00), (0.00, 0.00), (0.00, 0.00), (0.00, 0.00), (0.00, 0.00), (0.00, 0.00)
ant_pos = (0.00, 0.00), (0.00, 0.00), (0.00, 0.00), (0.00, 0.00),
(0.00, 0.00), (0.00, 0.00), (0.00, 0.00), (0.00, 0.00),
(0.00, 0.00), (0.00, 0.00), (0.00, 0.00), (0.00, 0.00),
(0.00, 0.00), (0.00, 0.00), (0.00, 0.00), (0.00, 0.00),
(0.00, 0.00), (0.00, 0.00), (0.00, 0.00), (0.00, 0.00),
(0.00, 0.00), (0.00, 0.00), (0.00, 0.00), (0.00, 0.00),
(0.00, 0.00), (0.00, 0.00), (0.00, 0.00), (0.00, 0.00),
(0.00, 0.00), (0.00, 0.00), (0.00, 0.00), (0.00, 0.00),
。。。。。。(上述例子如果不返回参数,会实现什么功能)
展示或者选择现有的内置配置?
sensor_cfg_sel [idx]
。。。。。。(格式)
。。。。。。(上面例子的实际返回)
目前可用配置0
测试基带DAC回放?
bb_dac
bb_dac outer tia tia adc
0x00000: 0x3a78c000, 0xdaec3ffc, 0x3ab8c000, 0xdb483ffc
0x00004: 0x3a98c000, 0xdaa03ffc, 0x3a08c000, 0xdad83ffc
0x00008: 0x3a1cc000, 0xda703ffc, 0x3a38c000, 0xdaf83ffc
0x0000c: 0x3a78c000, 0xdad83ffc, 0x3ad8c000, 0xda2c3ffc
0x00010: 0x3a48c000, 0xda003ffc, 0x3a78c000, 0xda8c3ffc
0x00014: 0x3ae4c000, 0xda643ffc, 0x3ab0c000, 0xdae03ffc
0x00018: 0x3aecc000, 0xdabc3ffc, 0x3accc000, 0xdb243ffc
0x0001c: 0x3abcc000, 0xda203ffc, 0x3a18c000, 0xdae83ffc
0x00020: 0x3a64c000, 0xdad03ffc, 0x3a50c000, 0xd9fc3ffc
0x00024: 0x3a9cc000, 0xda683ffc, 0x3a7cc000, 0xdbc83ffc
0x00028: 0x3a4cc000, 0xdac43ffc, 0x3a4cc000, 0xda603ffc
0x0002c: 0x3a5cc000, 0xda183ffc, 0x3a98c000, 0xdb7c3ffc
... ...
测试基带HIL功能?
bb_hil
。。。。。。(格式)
。。。。。。(上面例子的实际返回)
帧间选用TX block或者是single tone?
bb_interframe
bb_interframe block
。。。。。。(格式)
----------- interframe tx blocked -----------
测试基带调试样本数据设置?
bb_dbgdump
bb_dbgdump cfar
。。。。。。(格式)
Enable cfar debug data to extra 1MB
之后停止
测试基带调试数据转存?
bb_dbgsam
。。。。。。(格式)
。。。。。。(上面例子的实际返回)
重启基带核心?
bb_rst
。。。。。。(格式)
bb_core_reset done!