data_path.h

/**
 *   @file  data_path.h
 *
 *   @brief
 *      This is the data path processing header.
 *
 *  \par
 *  NOTE:
 *      (C) Copyright 2016 Texas Instruments, Inc.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *    Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 *
 *    Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in the
 *    documentation and/or other materials provided with the
 *    distribution.
 *
 *    Neither the name of Texas Instruments Incorporated nor the names of
 *    its contributors may be used to endorse or promote products derived
 *    from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
 *  A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
 *  OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
 *  SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
 *  LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
 *  DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
 *  THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 *  (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
 *  OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */
#ifndef DATA_PATH_H
#define DATA_PATH_H

#include <ti/sysbios/knl/Semaphore.h>

#include <ti/common/sys_common.h>
#include <ti/common/mmwave_error.h>
#include <ti/drivers/adcbuf/ADCBuf.h>
#include <ti/drivers/edma/edma.h>
#include <ti/drivers/hwa/hwa.h>
#include <ti/demo/io_interface/detected_obj.h>
#include <ti/demo/io_interface/mmw_config.h>

#ifdef __cplusplus
extern "C" {
#endif

#define PI_ 3.14159265


#define BYTES_PER_SAMP_1D (2*sizeof(int16_t))  /*16 bit real, 16 bit imaginary => 4 bytes */
#define BYTES_PER_SAMP_2D (2*sizeof(int32_t))  /*32 bit real, 32 bit imaginary => 8 bytes */
#define BYTES_PER_SAMP_DET sizeof(uint16_t) /*pre-detection matrix is 16 bit unsigned =>2 bytes*/

#define ONE_Q15 (1 << 15)
#define ONE_Q19 (1 << 19)
#define ONE_Q8 (1 << 8)

/* EDMA resource partitioning */
#define EDMA_SHADOW_LNK_PARAM_BASE_ID       EDMA_NUM_DMA_CHANNELS

/* 1D */
#define MMW_HWA_1D_ADCBUF_INP              (&gMmwHwaMemBuf[0])

/* 1D -ping */
#define MMW_HWA_DMA_TRIGGER_SOURCE_1D_PING  0
#define MMW_HWA_DMA_DEST_CHANNEL_1D_PING    0
#define MMW_HWA_1D_OUT_PING                (&gMmwHwaMemBuf[2])
#define MMW_EDMA_1D_PING_CH_ID              EDMA_TPCC0_REQ_HWACC_0
#define MMW_EDMA_1D_PING_SHADOW_LINK_CH_ID  EDMA_SHADOW_LNK_PARAM_BASE_ID
#define MMW_EDMA_1D_PING_CHAIN_CH_ID        EDMA_TPCC0_REQ_FREE_0
#define MMW_EDMA_1D_PING_ONE_HOT_SHADOW_LINK_CH_ID (EDMA_SHADOW_LNK_PARAM_BASE_ID + 2)

/* 1D - pong */
#define MMW_HWA_DMA_TRIGGER_SOURCE_1D_PONG   1
#define MMW_HWA_DMA_DEST_CHANNEL_1D_PONG     1
#define MMW_HWA_1D_OUT_PONG                 (&gMmwHwaMemBuf[3])
#define MMW_EDMA_1D_PONG_CH_ID               EDMA_TPCC0_REQ_HWACC_1
#define MMW_EDMA_1D_PONG_SHADOW_LINK_CH_ID  (EDMA_SHADOW_LNK_PARAM_BASE_ID + 1)
#define MMW_EDMA_1D_PONG_CHAIN_CH_ID         EDMA_TPCC0_REQ_FREE_1
#define MMW_EDMA_1D_PONG_ONE_HOT_SHADOW_LINK_CH_ID (EDMA_SHADOW_LNK_PARAM_BASE_ID + 3)

#define MMWDEMO_EDMA_TRANSFER_COMPLETION_CODE_1D_DONE   MMW_EDMA_1D_PONG_CHAIN_CH_ID

/* 2D */

/* 2D - ping */
#define MMW_HWA_DMA_TRIGGER_SOURCE_2D_PING   2
#define MMW_HWA_DMA_DEST_CHANNEL_2D_PONG     3
#define MMW_HWA_2D_INP_PING                 (&gMmwHwaMemBuf[0])
#define MMW_HWA_2D_OUT_PING                 (&gMmwHwaMemBuf[2])
#define MMW_HWA_DMA_DEST_CHANNEL_2D_PING     2
#define MMW_EDMA_2D_PING_CH_ID               EDMA_TPCC0_REQ_HWACC_2
#define MMW_EDMA_2D_PING_SHADOW_LINK_CH_ID1  (EDMA_SHADOW_LNK_PARAM_BASE_ID + 4)
#define MMW_EDMA_2D_PING_CHAIN_CH_ID1        EDMA_TPCC0_REQ_FREE_2
#define MMW_EDMA_2D_PING_SHADOW_LINK_CH_ID2  (EDMA_SHADOW_LNK_PARAM_BASE_ID + 5)
#define MMW_EDMA_2D_PING_CHAIN_CH_ID2        EDMA_TPCC0_REQ_FREE_3
#define MMW_EDMA_2D_PING_SHADOW_LINK_CH_ID3 (EDMA_SHADOW_LNK_PARAM_BASE_ID + 6)
#define MMW_EDMA_2D_PING_CHAIN_CH_ID3        EDMA_TPCC0_REQ_FREE_4
#define MMW_EDMA_2D_PING_SHADOW_LINK_CH_ID4 (EDMA_SHADOW_LNK_PARAM_BASE_ID + 7)

/* 2D - pong */
#define MMW_HWA_DMA_TRIGGER_SOURCE_2D_PONG   3
#define MMW_HWA_2D_INP_PONG                 (&gMmwHwaMemBuf[1])
#define MMW_HWA_2D_OUT_PONG                 (&gMmwHwaMemBuf[3])
#define MMW_EDMA_2D_PONG_CH_ID               EDMA_TPCC0_REQ_HWACC_3
#define MMW_EDMA_2D_PONG_SHADOW_LINK_CH_ID1 (EDMA_SHADOW_LNK_PARAM_BASE_ID + 8)
#define MMW_EDMA_2D_PONG_CHAIN_CH_ID1        EDMA_TPCC0_REQ_FREE_5
#define MMW_EDMA_2D_PONG_SHADOW_LINK_CH_ID2  (EDMA_SHADOW_LNK_PARAM_BASE_ID + 9)
#define MMW_EDMA_2D_PONG_CHAIN_CH_ID2        EDMA_TPCC0_REQ_FREE_6
#define MMW_EDMA_2D_PONG_SHADOW_LINK_CH_ID3 (EDMA_SHADOW_LNK_PARAM_BASE_ID + 10)
#define MMW_EDMA_2D_PONG_CHAIN_CH_ID3        EDMA_TPCC0_REQ_FREE_7
#define MMW_EDMA_2D_PONG_SHADOW_LINK_CH_ID4 (EDMA_SHADOW_LNK_PARAM_BASE_ID + 11)

#define MMWDEMO_EDMA_TRANSFER_COMPLETION_CODE_2D_DONE    MMW_EDMA_2D_PONG_CHAIN_CH_ID2

/* Single range bin 2D FFT */
#define MMW_HWA_2DFFT_SINGLERBIN_INP              (&gMmwHwaMemBuf[2])
#define MMW_HWA_2DFFT_SINGLERBIN_OUT              (&gMmwHwaMemBuf[3])
#define MMW_HWA_DMA_TRIGGER_SINGLEBIN_2DFFT    5

#define MMW_EDMA_2DFFT_SINGLERBIN_CH_ID            EDMA_TPCC0_REQ_FREE_10
#define MMW_EDMA_2DFFT_SINGLERBIN_CHAIN_CH_ID      EDMA_TPCC0_REQ_FREE_11

#define MMW_EDMA_2DFFT_SINGLERBIN_SHADOW_LINK_CH_ID          (EDMA_SHADOW_LNK_PARAM_BASE_ID + 15)
#define MMW_EDMA_2DFFT_SINGLERBIN_SHADOW_LINK_CH_ID2          (EDMA_SHADOW_LNK_PARAM_BASE_ID + 16)

#define MMW_HWA_START_POS_PARAMSETS_1D       0
#define MMW_HWA_START_POS_PARAMSETS_2D      (MMW_HWA_START_POS_PARAMSETS_1D + HWAUTIL_NUM_PARAM_SETS_1D)

#define MMW_HWA_WINDOWRAM_1D_OFFSET         0 //In samples

/* FFT Window */
/*! Hanning window */
#define MMW_WIN_HANNING  0
/*! Blackman window */
#define MMW_WIN_BLACKMAN 1
/*! Rectangular window */
#define MMW_WIN_RECT     2

#define ONE_Q17 (1U << 17)

/* number of range gates processed by the HWACC per iteration (during 2D FFT processing) */
#define MMW_NUM_RANGE_BINS_PER_TRANSFER 2

/* Maximum number of elevation objects that are stored for debugging*/
#define MMW_MAX_ELEV_OBJ_DEBUG 10

#define MMWDEMO_SPEED_OF_LIGHT_IN_METERS_PER_SEC (3.0e8)

/*! @brief Flag to enable/disable two peak detection in azimuth for same range and velocity */
#define MMWDEMO_AZIMUTH_TWO_PEAK_DETECTION_ENABLE 1
/*! @brief Threshold for two peak detection in azimuth for same range and velocity,
 *         if 2nd peak heigth > first peak height * this scale then declare
 *         2nd peak as detected. */
#define MMWDEMO_AZIMUTH_TWO_PEAK_THRESHOLD_SCALE  (0.5)

/* To enable negative frequency slope support, uncomment the following definition.
 * Note that this is experimental and not tested option */
/* #define MMW_ENABLE_NEGATIVE_FREQ_SLOPE */

/*! @brief EDMA definitions for CQ */
#define MMW_EDMA_CH_SIGIMG_MON                  EDMA_TPCC0_REQ_DFE_CHIRP_AVAIL
#define MMW_EDMA_CH_RX_SATURATION_MON           EDMA_TPCC0_REQ_FREE_13
#define MMW_EDMA_SIGIMG_TRANSFER_COMPLETION        MMW_EDMA_CH_SIGIMG_MON
#define MMW_EDMA_RXSAT_TRANSFER_COMPLETION        MMW_EDMA_CH_RX_SATURATION_MON

/*!
 *  @brief      Data path mode
 *
 *  This enum defines if the data path chain is running standalone (such as in a unit test)
 *  or if it is running as part of a demo (integrated with ADC buffer)
 */
typedef enum
{
    /*!
      *  Data path running standalone
      */
    DATA_PATH_STANDALONE,
    /*!
      *  Data path integrated with ADC buffer
      */
    DATA_PATH_WITH_ADCBUF
} DataPath_mode;

/*!
 *  @brief      Data path chain selection
 *
 *  This enum defines the data path chain selection options for 2D FFT
 */
typedef enum DataPath_chain2DFftSel_e
{
    /*!
      *  Data path chain that runs separate 2D FFT and Log-mag Calcuation in the HWA.
      */
    DATA_PATH_CHAIN_SEPARATE_LOGMAG = 0U,
    /*!
      *  Data path chain that runs log-mag together with 2D FFT in the HWA.
      */
    DATA_PATH_CHAIN_COMBINED_LOGMAG
} DataPath_chain2DFftSel;

/**
 * @brief
 *  Millimeter Wave Demo Data Path CQ configuration.
 *
 * @details
 *  The structure is used to hold all the relevant information for
 *  the data path CQ.
 */
typedef struct MmwDemo_dataPathCQ_t
{

    /*! @brief Pointer to the CQ Signal and image band monitor configuration */
    MmwDemo_AnaMonitorCfg   *anaMonCfg;

    /*! @brief Pointer to the CQ RX Saturation monitor configuration */
    rlRxSatMonConf_t        *rxSatMonCfg;

    /*! @brief Pointer to the CQ Signal and image band monitor configuration */
    rlSigImgMonConf_t       *sigImgMonCfg;

    /*! @brief CQ signal & image band monitor buffer physical address */
    uint32_t                sigImgMonAddr;

    /*! @brief CQ RX Saturation monitor buffer physical address */
    uint32_t                satMonAddr;

    /*! @brief CQ signal & image band monitor buffer size */
    uint32_t                sigImgMonTotalSize;

    /*! @brief CQ RX Saturation monitor buffer size */
    uint32_t                satMonTotalSize;

    /*! @brief CQ RX signal & image band monitor EDMA complete counter */
    uint32_t                sigImgBandEdmaCnt;

    /*! @brief CQ RX Saturation monitor EDMA complete counter */
    uint32_t                rxSatEdmaCnt;

    /*! @brief CQ RX Saturation monitor data */
    rlRfRxSaturationCqData_t*  rxSatData;

    /*! @brief CQ signal & image band monitor data */
    rlRfSigImgPowerCqData_t*   sigImgData;
}MmwDemo_dataPathCQ;


/**
 * @brief
 *  Millimeter Wave Demo Data Path Information.
 *
 * @details
 *  The structure is used to hold all the relevant information for
 *  the data path.
 */
typedef struct MmwDemo_DataPathObj_t
{
    /*! Pointer to cliCfg */
    MmwDemo_CliCfg_t *cliCfg;

    /*! @brief Pointer to cli config common to all subframes*/
    MmwDemo_CliCommonCfg_t *cliCommonCfg;

    /*! @brief   Number of receive channels */
    uint32_t numRxAntennas;

    /*! @brief   ADCBUF handle. */
    ADCBuf_Handle adcbufHandle;

    /*! @brief   Handle of the EDMA driver. */
    EDMA_Handle edmaHandle;

    /*! @brief   EDMA error Information when there are errors like missing events */
    EDMA_errorInfo_t  EDMA_errorInfo;

    /*! @brief EDMA transfer controller error information. */
    EDMA_transferControllerErrorInfo_t EDMA_transferControllerErrorInfo;

    /*! @brief Semaphore handle for 1D EDMA completion. */
    Semaphore_Handle EDMA_1Ddone_semHandle;

    /*! @brief Semaphore handle for 2D EDMA completion. */
    Semaphore_Handle EDMA_2Ddone_semHandle;

    /*! @brief Handle to hardware accelerator driver. */
    HWA_Handle  hwaHandle;

    /*! @brief Semaphore handle for Hardware accelerator completion. */
    Semaphore_Handle HWA_done_semHandle;

    /*! @brief Hardware accelerator Completion Isr count for debug purposes. */
    uint32_t hwaDoneIsrCounter;

    /*! @brief Frame counter incremented in frame start interrupt handler*/
    uint32_t frameStartIntCounter;

    /*! @brief Semaphore handle for Frame start indication. */
    Semaphore_Handle frameStart_semHandle;

    /*! @brief Pointer to Radar Cube memory in L3 RAM */
    uint32_t *radarCube;

    /*! @brief Pointer to range-doppler log magnitude matrix memory in L3 RAM */
    uint16_t *rangeDopplerLogMagMatrix;

    /*! @brief Pointer to 2D FFT array in range direction, at doppler index 0,
     * for static azimuth heat map */
    cmplx16ImRe_t *azimuthStaticHeatMap;
    
    /*! @brief valid Profile index */
    uint32_t validProfileIdx;

    /*! @brief number of transmit antennas */
    uint32_t numTxAntennas;

    /*! @brief number of virtual antennas */
    uint32_t numVirtualAntennas;

    /*! @brief number of virtual azimuth antennas */
    uint32_t numVirtualAntAzim;

    /*! @brief number of virtual elevation antennas */
    uint32_t numVirtualAntElev;

    /*! @brief number of ADC samples */
    uint32_t numAdcSamples;

    /*! @brief number of range bins */
    uint32_t numRangeBins;

    /*! @brief number of chirps per frame */
    uint32_t numChirpsPerFrame;

    /*! @brief number of doppler bins */
    uint32_t numDopplerBins;

    /*! @brief number of range bins per transfer */
    uint32_t numRangeBinsPerTransfer;

    /*! @brief range resolution in meters */
    float rangeResolution;

    /*! @brief Q format of the output x/y/z coordinates */
    uint32_t xyzOutputQFormat;

	/*! @brief Data path mode */
	DataPath_mode    dataPathMode;

    /*! @brief  Used for checking that inter frame processing finshed on time */
    int32_t interFrameProcToken;

    /*! @brief  Datapath stopped flag */
    bool datapathStopped;

    /*! @brief Pointer to DC range signature compensation buffer */
    cmplx32ImRe_t *dcRangeSigMean;

    /*! @brief DC range signature calibration counter */
    uint32_t dcRangeSigCalibCntr;

    /*! @brief DC range signature calibration forced disable counter */
    uint32_t dcRangeForcedDisableCntr;


    /*! @brief log2 of number of averaged chirps */
    uint32_t log2NumAvgChirps;

    /*! @brief data path chain selection */
    DataPath_chain2DFftSel datapathChainSel;

    /*! @brief Rx channel Chirp Quality config & data */
    MmwDemo_dataPathCQ          datapathCQ;
} MmwDemo_DataPathObj;

/*! simple memory pool structure for flexible partitioning of L3 RAM */
typedef struct {
    /*! base address of memory */
    uint8_t *base;

    /*! size of memory in bytes */
    uint32_t size;

    /*! index into the pool to track where is next free */
    uint32_t indx;
} MmwDemoMemPool_t;


/*! Partiion HWA memory into 4 equal parts - M0,M1,M2,M3. */
#define MMW_HWA_NUM_MEM_BUFS 4
typedef struct {
    uint8_t buf[SOC_XWR14XX_MSS_HWA_MEM_SIZE/MMW_HWA_NUM_MEM_BUFS];
} mmwHwaBuf_t;

void MmwDemo_hwaInit(MmwDemo_DataPathObj *obj);
void MmwDemo_edmaInit(MmwDemo_DataPathObj *obj);
void MmwDemo_hwaOpen(MmwDemo_DataPathObj *obj, SOC_Handle socHandle);
void MmwDemo_edmaOpen(MmwDemo_DataPathObj *obj);
void MmwDemo_EDMA_errorCallbackFxn(EDMA_Handle handle, EDMA_errorInfo_t *errorInfo);
void MmwDemo_EDMA_transferControllerErrorCallbackFxn(EDMA_Handle handle,
                EDMA_transferControllerErrorInfo_t *errorInfo);

void MmwDemo_memPoolReset(MmwDemoMemPool_t *pool);
uint8_t *MmwDemo_memPoolAlloc(MmwDemoMemPool_t *pool, uint32_t size);

void MmwDemo_dataPathObjInit(MmwDemo_DataPathObj *obj,
                             MmwDemo_CliCfg_t *cliCfg,
                             MmwDemo_CliCommonCfg_t *cliCommonCfg);
void MmwDemo_dataPathCfgBuffers(MmwDemo_DataPathObj *obj, MmwDemoMemPool_t *pool);

void MmwDemo_dataPathConfigCommon(MmwDemo_DataPathObj *obj);
void MmwDemo_process2D(MmwDemo_DataPathObj *obj);


void MmwDemo_config1D_HWA(MmwDemo_DataPathObj *obj);
void MmwDemo_dataPathTrigger1D(MmwDemo_DataPathObj *obj);
void MmwDemo_dataPathWait1D(MmwDemo_DataPathObj *obj);

void MmwDemo_edmaClose(MmwDemo_DataPathObj *obj);
void MmwDemo_dataPathDeleteSemaphore(MmwDemo_DataPathObj *obj);
void MmwDemo_hwaClose(MmwDemo_DataPathObj *obj);

int32_t MmwDemo_dataPathConfigCQ(MmwDemo_DataPathObj * ptrDataPathObj);

uint32_t MmwDemo_pow2roundup (uint32_t x);
#ifdef __cplusplus
}
#endif

#endif /* DATA_PATH_H */