
--[[
Sequence being followed

A. CONFIGURATION
1. Connecting to TDA
1. Configuring Master from SOP till Channel Config
2. Configuring Slave (i) sequentially from SOP till SPI Connect. i = 1, 2, 3
3. Configuring Slaves together from F/W download till Channel Config
4. Configuring all devices together from LDO Bypass till Frame Config

NOTE:
Update the following in the script accordingly before running
1. metaImage F/W path on line 32
2. TDA Host Board IP Address on line 39
--]]
    
----------------------------------------User Constants--------------------------------------------
       
dev_list          =    {1, 2, 4, 8}       -- Device map
RadarDevice       =    {1, 1, 1, 1}       -- {dev1, dev2, dev3, dev4}, 1: Enable, 0: Disable
cascade_mode_list =    {1, 2, 2, 2}       -- 0: Single chip, 1: Master, 2: Slave

-- F/W Download Path

-- Uncomment the next line if you wish to pop-up a dialog box to select the firmware image file
-- Otherwise, hardcode the path to the firmware metaimage below
-- By default, the firmware filename is: xwr22xx_metaImage.bin

-- metaImagePath  =   RSTD.BrowseForFile(RSTD.GetSettingsPath(), "bin", "Browse to .bin file")
-- For 2243 ES1.1 devices
metaImagePath            =   "C:\\ti\\mmwave_dfp_02_02_02_01\\firmware\\xwr22xx_metaImage.bin"
-- For 2243 ES1.0 devices
-- metaImagePath            =   "C:\\ti\\mmwave_dfp_02_02_00_02\\firmware\\xwr22xx_metaImage.bin"

-- IP Address for the TDA2 Host Board
-- Change this accordingly for your setup

TDA_IPAddress     =   "192.168.33.180"

-- Device map of all the devices to be enabled by TDA
-- 1 - master ; 2- slave1 ; 4 - slave2 ; 8 - slave3

deviceMapOverall  =   RadarDevice[1] + (RadarDevice[2]*2) + (RadarDevice[3]*4) + (RadarDevice[4]*8)
deviceMapSlaves   =   (RadarDevice[2]*2) + (RadarDevice[3]*4) + (RadarDevice[4]*8)

-- Enable/Disable Test Source
-- This is useful during bringup

test_source_enable  =   0      -- 0: Disable, 1: Enable
    
------------------------------------------- Sensor Configuration ------------------------------------------------
--[[
The sensor configuration consists of 3 sections:
1) Profile Configuration (common to all 4 AWR devices)
2) Chirp Configuration (unique for each AWR device - mainly because TXs to use are 
                        different for each chirp)
3) Frame Configuration (common to all 4 AWR devices, except for the trigger mode for the master)
Change the values below as needed. --]]

-- Profile configuration
local profile_indx              =   0
local start_freq                =   77     -- GHz
local slope                     =   46.880 -- MHz/us
local idle_time                 =   2      -- us
local adc_start_time            =   2.03   -- us
local adc_samples               =   90     -- Number of samples per chirp
local sample_freq               =   25000  -- ksps
local ramp_end_time             =   5.84   -- us
local rx_gain                   =   48     -- dB
local tx0OutPowerBackoffCode    =   0
local tx1OutPowerBackoffCode    =   0
local tx2OutPowerBackoffCode    =   0
local tx0PhaseShifter           =   0
local tx1PhaseShifter           =   0
local tx2PhaseShifter           =   0
local txStartTimeUSec           =   0
local hpfCornerFreq1            =   0      -- 0: 175KHz, 1: 235KHz, 2: 350KHz, 3: 700KHz
local hpfCornerFreq2            =   0      -- 0: 350KHz, 1: 700KHz, 2: 1.4MHz, 3: 2.8MHz

-- Frame configuration    
local start_chirp_tx            =   0
local end_chirp_tx              =   3
local nchirp_loops              =   128  -- Number of chirps per frame
local nframes_master            =   10   -- Number of Frames for Master
local nframes_slave             =   10   -- Number of Frames for Slaves
local Inter_Frame_Interval      =   100    -- ms
local trigger_delay             =   0      -- us
local trig_list                 =   {1,2,2,2} -- 1: Software trigger, 2: Hardware trigger    

--[[
Function to configure the chirps specific to a device
12 chirps are configured below, individually for each AWR device

|-------|-------|-------|-------|-------|-------|-------|-------|-------|-------|-------|-------|-------|
|       | Dev 1 | Dev 1 | Dev 1 | Dev 2 | Dev 2 | Dev 2 | Dev 3 | Dev 3 | Dev 3 | Dev 4 | Dev 4 | Dev 4 |
| Chirp |  TX0  |  TX1  |  TX2  |  TX 0 |  TX1  |  TX2  |  TX0  |  TX1  |  TX2  |  TX0  |  TX1  |  TX2  |
|-------|-------|-------|-------|-------|-------|-------|-------|-------|-------|-------|-------|-------|
|     0 |     0 |     0 |     0 |     0 |     0 |     0 |     0 |     0 |     0 |     0 |     0 |     1 |
|     1 |     0 |     0 |     0 |     0 |     0 |     0 |     0 |     0 |     0 |     0 |     1 |     0 |
|     2 |     0 |     0 |     0 |     0 |     0 |     0 |     0 |     0 |     0 |     1 |     0 |     0 |
|     3 |     0 |     0 |     0 |     0 |     0 |     0 |     0 |     0 |     1 |     0 |     0 |     0 |
|     4 |     0 |     0 |     0 |     0 |     0 |     0 |     0 |     1 |     0 |     0 |     0 |     0 |
|     5 |     0 |     0 |     0 |     0 |     0 |     0 |     1 |     0 |     0 |     0 |     0 |     0 |
|     6 |     0 |     0 |     0 |     0 |     0 |     1 |     0 |     0 |     0 |     0 |     0 |     0 |
|     7 |     0 |     0 |     0 |     0 |     1 |     0 |     0 |     0 |     0 |     0 |     0 |     0 |
|     8 |     0 |     0 |     0 |     1 |     0 |     0 |     0 |     0 |     0 |     0 |     0 |     0 |
|     9 |     0 |     0 |     1 |     0 |     0 |     0 |     0 |     0 |     0 |     0 |     0 |     0 |
|    10 |     0 |     1 |     0 |     0 |     0 |     0 |     0 |     0 |     0 |     0 |     0 |     0 |
|    11 |     1 |     0 |     0 |     0 |     0 |     0 |     0 |     0 |     0 |     0 |     0 |     0 |
|-------|-------|-------|-------|-------|-------|-------|-------|-------|-------|-------|-------|-------|
--]] 
-- Note: The syntax for this API is:
-- ar1.ChirpConfig_mult(RadarDeviceId, chirpStartIdx, chirpEndIdx, profileId, startFreqVar, 
--                      freqSlopeVar, idleTimeVar, adcStartTimeVar, tx0Enable, tx1Enable, tx2Enable)

function Configure_Chirps(i) 
    
    if (i == 1) then
                                  
        -- Chirp 0
        if (0 == ar1.ChirpConfig_mult(dev_list[i], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0)) then
            WriteToLog("Device "..i.." : Chirp 0 Configuration successful\n", "green")
        else
            WriteToLog("Device "..i.." : Chirp 0 Configuration failed\n", "red")
            return -4
        end
        
        -- Chirp 1
        if (0 == ar1.ChirpConfig_mult(dev_list[i], 1, 1, 0, 0, 0, 0, 0, 0, 0, 1)) then
            WriteToLog("Device "..i.." : Chirp 1 Configuration successful\n", "green")
        else
            WriteToLog("Device "..i.." : Chirp 1 Configuration failed\n", "red")
            return -4
        end
        
        -- Chirp 2
        if (0 == ar1.ChirpConfig_mult(dev_list[i], 2, 2, 0, 0, 0, 0, 0, 0, 1, 0)) then
            WriteToLog("Device "..i.." : Chirp 2 Configuration successful\n", "green")
        else
            WriteToLog("Device "..i.." : Chirp 2 Configuration failed\n", "red")
            return -4
        end
        
        -- Chirp 3
        if (0 == ar1.ChirpConfig_mult(dev_list[i], 3, 3, 0, 0, 0, 0, 0, 1, 0, 0)) then
            WriteToLog("Device "..i.." : Chirp 3 Configuration successful\n", "green")
        else
            WriteToLog("Device "..i.." : Chirp 3 Configuration failed\n", "red")
            return -4
        end
        
    elseif (i == 2) then

        -- Chirp 0
        if (0 == ar1.ChirpConfig_mult(dev_list[i], 0, 0, 0, 0, 0, 0, 0, 1, 0, 0)) then
            WriteToLog("Device "..i.." : Chirp 0 Configuration successful\n", "green")
        else
            WriteToLog("Device "..i.." : Chirp 0 Configuration failed\n", "red")
            return -4
        end
        
        -- Chirp 1
        if (0 == ar1.ChirpConfig_mult(dev_list[i], 1, 1, 0, 0, 0, 0, 0, 0, 0, 0)) then
            WriteToLog("Device "..i.." : Chirp 1 Configuration successful\n", "green")
        else
            WriteToLog("Device "..i.." : Chirp 1 Configuration failed\n", "red")
            return -4
        end
        
        -- Chirp 2
        if (0 == ar1.ChirpConfig_mult(dev_list[i], 2, 2, 0, 0, 0, 0, 0, 0, 0, 0)) then
            WriteToLog("Device "..i.." : Chirp 2 Configuration successful\n", "green")
        else
            WriteToLog("Device "..i.." : Chirp 2 Configuration failed\n", "red")
            return -4
        end
        
        -- Chirp 3
        if (0 == ar1.ChirpConfig_mult(dev_list[i], 3, 3, 0, 0, 0, 0, 0, 0, 0, 0)) then
            WriteToLog("Device "..i.." : Chirp 3 Configuration successful\n", "green")
        else
            WriteToLog("Device "..i.." : Chirp 3 Configuration failed\n", "red")
            return -4
        end
            
    elseif (i == 3) then
    
        -- Chirp 0
        if (0 == ar1.ChirpConfig_mult(dev_list[i], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0)) then
            WriteToLog("Device "..i.." : Chirp 0 Configuration successful\n", "green")
        else
            WriteToLog("Device "..i.." : Chirp 0 Configuration failed\n", "red")
            return -4
        end
        
        -- Chirp 1
        if (0 == ar1.ChirpConfig_mult(dev_list[i], 1, 1, 0, 0, 0, 0, 0, 0, 0, 0)) then
            WriteToLog("Device "..i.." : Chirp 1 Configuration successful\n", "green")
        else
            WriteToLog("Device "..i.." : Chirp 1 Configuration failed\n", "red")
            return -4
        end
        
        -- Chirp 2
        if (0 == ar1.ChirpConfig_mult(dev_list[i], 2, 2, 0, 0, 0, 0, 0, 0, 0, 0)) then
            WriteToLog("Device "..i.." : Chirp 2 Configuration successful\n", "green")
        else
            WriteToLog("Device "..i.." : Chirp 2 Configuration failed\n", "red")
            return -4
        end
        
        -- Chirp 3
        if (0 == ar1.ChirpConfig_mult(dev_list[i], 3, 3, 0, 0, 0, 0, 0, 0, 0, 0)) then
            WriteToLog("Device "..i.." : Chirp 3 Configuration successful\n", "green")
        else
            WriteToLog("Device "..i.." : Chirp 3 Configuration failed\n", "red")
            return -4
        end
            
    elseif (i == 4) then
    
        -- Chirp 0
        if (0 == ar1.ChirpConfig_mult(dev_list[i], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0)) then
            WriteToLog("Device "..i.." : Chirp 0 Configuration successful\n", "green")
        else
            WriteToLog("Device "..i.." : Chirp 0 Configuration failed\n", "red")
            return -4
        end
        
        -- Chirp 1
        if (0 == ar1.ChirpConfig_mult(dev_list[i], 1, 1, 0, 0, 0, 0, 0, 0, 0, 0)) then
            WriteToLog("Device "..i.." : Chirp 1 Configuration successful\n", "green")
        else
            WriteToLog("Device "..i.." : Chirp 1 Configuration failed\n", "red")
            return -4
        end
        
        -- Chirp 2
        if (0 == ar1.ChirpConfig_mult(dev_list[i], 2, 2, 0, 0, 0, 0, 0, 0, 0, 0)) then
            WriteToLog("Device "..i.." : Chirp 2 Configuration successful\n", "green")
        else
            WriteToLog("Device "..i.." : Chirp 2 Configuration failed\n", "red")
            return -4
        end
        
        -- Chirp 3
        if (0 == ar1.ChirpConfig_mult(dev_list[i], 3, 3, 0, 0, 0, 0, 0, 0, 0, 0)) then
            WriteToLog("Device "..i.." : Chirp 3 Configuration successful\n", "green")
        else
            WriteToLog("Device "..i.." : Chirp 3 Configuration failed\n", "red")
            return -4
        end
        
    end

end
 
------------------------------ API Configuration ------------------------------------------------
    
-- 1. Connection to TDA. 2. Selecting Cascade/Single Chip.  3. Selecting 2-chip/4-chip

WriteToLog("Setting up Studio for Cascade started..\n", "blue")

if(0 == ar1.ConnectTDA(TDA_IPAddress, 5001, deviceMapOverall)) then
    WriteToLog("ConnectTDA Successful\n", "green")
else
    WriteToLog("ConnectTDA Failed\n", "red")
    return -1
end

if(0 == ar1.selectCascadeMode(1)) then
    WriteToLog("selectCascadeMode Successful\n", "green")
else
    WriteToLog("selectCascadeMode Failed\n", "red")
    return -1
end

WriteToLog("Setting up Studio for Cascade ended..\n", "blue")
         
--Master Initialization

-- SOP Mode Configuration
if (0 == ar1.SOPControl_mult(1, 4)) then
    WriteToLog("Master : SOP Reset Successful\n", "green")
else
    WriteToLog("Master : SOP Reset Failed\n", "red")
    return -1
end

-- SPI Connect
if (0 == ar1.PowerOn_mult(1, 0, 1000, 0, 0)) then
    WriteToLog("Master : SPI Connection Successful\n", "green")
else
    WriteToLog("Master : SPI Connection Failed\n", "red")
    return -1
end

-- Firmware Download. (SOP 4 - MetaImage)
if (0 == ar1.DownloadBssFwOvSPI_mult(1, metaImagePath)) then
    WriteToLog("Master : FW Download Successful\n", "green")
else
    WriteToLog("Master : FW Download Failed\n", "red")
    return -1
end

-- RF Power Up
if (0 == ar1.RfEnable_mult(1)) then
    WriteToLog("Master : RF Power Up Successful\n", "green")
else
    WriteToLog("Master : RF Power Up Failed\n", "red")
    return -1
end            
         
-- Channel & ADC Configuration
if (0 == ar1.ChanNAdcConfig_mult(1,1,1,1,1,1,1,1,2,1,0,1)) then
    WriteToLog("Master 1 : Channel & ADC Configuration Successful\n", "green")
else
    WriteToLog("Master 1 : Channel & ADC Configuration Failed\n", "red")
    return -2
end
    
-- Slaves Initialization
for i=2,table.getn(RadarDevice) do 
    local status    =    0                
    if ((RadarDevice[1]==1) and (RadarDevice[i]==1)) then
      
        -- SOP Mode Configuration
        if (0 == ar1.SOPControl_mult(dev_list[i], 4)) then
            WriteToLog("Device "..i.." : SOP Reset Successful\n", "green")
        else
            WriteToLog("Device "..i.." : SOP Reset Failed\n", "red")
            return -1
        end
                
        -- SPI Connect    
        if (0 == ar1.AddDevice(dev_list[i])) then
            WriteToLog("Device "..i.." : SPI Connection Successful\n", "green")
        else
            WriteToLog("Device "..i.." : SPI Connection Failed\n", "red")
            return -1
        end
           
    end
end  
    
-- Firmware Download. (SOP 4 - MetaImage)
if (0 == ar1.DownloadBssFwOvSPI_mult(deviceMapSlaves, metaImagePath)) then
    WriteToLog("Slaves : FW Download Successful\n", "green")
else
    WriteToLog("Slaves : FW Download Failed\n", "red")
    return -1
end
         
-- RF Power Up
if (0 == ar1.RfEnable_mult(deviceMapSlaves)) then
    WriteToLog("Slaves : RF Power Up Successful\n", "green")
else
    WriteToLog("Slaves : RF Power Up Failed\n", "red")
    return -1
end    

-- Channel & ADC Configuration
if (0 == ar1.ChanNAdcConfig_mult(deviceMapSlaves,1,1,1,1,1,1,1,2,1,0,2)) then
    WriteToLog("Slaves : Channel & ADC Configuration Successful\n", "green")
else
    WriteToLog("Slaves : Channel & ADC Configuration Failed\n", "red")
    return -2
end
            
-- All devices together        
          
-- Including this depends on the type of board being used.
-- LDO configuration
if (0 == ar1.RfLdoBypassConfig_mult(deviceMapOverall, 3)) then
    WriteToLog("LDO Bypass Successful\n", "green")
else
    WriteToLog("LDO Bypass failed\n", "red")
    return -2
end

-- Low Power Mode Configuration
if (0 == ar1.LPModConfig_mult(deviceMapOverall,0, 0)) then
    WriteToLog("Low Power Mode Configuration Successful\n", "green")
else
    WriteToLog("Low Power Mode Configuration failed\n", "red")
    return -2
end

-- Miscellaneous Control Configuration
if (0 == ar1.SetMiscConfig_mult(deviceMapOverall, 1, 0, 0, 0)) then
    WriteToLog("Misc Control Configuration Successful\n", "green")
else
    WriteToLog("Misc Control Configuration failed\n", "red")
    return -2
end

-- Edit this API to enable/disable the boot time calibration. Enabled by default.
-- RF Init Calibration Configuration
if (0 == ar1.RfInitCalibConfig_mult(deviceMapOverall, 1, 1, 1, 1, 1, 1, 1, 65537)) then
    WriteToLog("RF Init Calibration Successful\n", "green")
else
    WriteToLog("RF Init Calibration failed\n", "red")
    return -2
end
         
-- RF Init
if (0 == ar1.RfInit_mult(deviceMapOverall)) then
    WriteToLog("RF Init Successful\n", "green")
else
    WriteToLog("RF Init failed\n", "red")
    return -2
end

---------------------------Data Configuration----------------------------------
        
-- Data path Configuration
if (0 == ar1.DataPathConfig_mult(deviceMapOverall, 0, 1, 0)) then
    WriteToLog("Data Path Configuration Successful\n", "green")
else
    WriteToLog("Data Path Configuration failed\n", "red")
    return -3
end

-- Clock Configuration
if (0 == ar1.LvdsClkConfig_mult(deviceMapOverall, 1, 1)) then
    WriteToLog("Clock Configuration Successful\n", "green")
else
    WriteToLog("Clock Configuration failed\n", "red")
    return -3
end

-- CSI2 Configuration
if (0 == ar1.CSI2LaneConfig_mult(deviceMapOverall, 1, 0, 2, 0, 4, 0, 5, 0, 3, 0, 0)) then
    WriteToLog("CSI2 Configuration Successful\n", "green")
else
    WriteToLog("CSI2 Configuration failed\n", "red")
    return -3
end

----------------------------Test Source Configuration------------------------------
-- This is useful for initial bringup.
-- Each device is configured with a test object at a different location.
    
if(test_source_enable == 1) then
    
    if(RadarDevice[1] == 1) then
        -- Object at 5 m with x = 4m and y = 3m
        if (0 == ar1.SetTestSource_mult(1, 4, 3, 0, 0, 0, 0, -327, 0, -327, 327, 327, 327, -2.5, 327, 327, 0, 
                 0, 0, 0, -327, 0, -327, 327, 327, 327, -95, 0, 0, 0.5, 0, 1, 0, 1.5, 0, 0, 0, 0, 0, 0, 0, 0)) then
            WriteToLog("Device 1 : Test Source Configuration Successful\n", "green")
        else
            WriteToLog("Device 1 : Test Source Configuration failed\n", "red")
            return -3
        end
    end
    
    if(RadarDevice[2] == 1) then        
        -- Object at 5 m with x = 3m and y = 4m
        if (0 == ar1.SetTestSource_mult(2, 3, 4, 0, 0, 0, 0, -327, 0, -327, 327, 327, 327, -2.5, 327, 327, 0, 
                 0, 0, 0, -327, 0, -327, 327, 327, 327, -95, 0, 0, 0.5, 0, 1, 0, 1.5, 0, 0, 0, 0, 0, 0, 0, 0)) then
            WriteToLog("Device 2 : Test Source Configuration Successful\n", "green")
        else
            WriteToLog("Device 2 : Test Source Configuration failed\n", "red")
            return -3
        end
    end
    
    if(RadarDevice[3] == 1) then         
        -- Object at 13 m with x = 12m and y = 5m
        if (0 == ar1.SetTestSource_mult(4, 12, 5, 0, 0, 0, 0, -327, 0, -327, 327, 327, 327, -2.5, 327, 327, 0, 
                 0, 0, 0, -327, 0, -327, 327, 327, 327, -95, 0, 0, 0.5, 0, 1, 0, 1.5, 0, 0, 0, 0, 0, 0, 0, 0)) then
            WriteToLog("Device 3 : Test Source Configuration Successful\n", "green")
        else
            WriteToLog("Device 3 : Test Source Configuration failed\n", "red")
            return -3
        end
    end
    
    if(RadarDevice[4] == 1) then        
        -- Object at 13 m with x = 5m and y = 12m
        if (0 == ar1.SetTestSource_mult(8, 5, 12, 0, 0, 0, 0, -327, 0, -327, 327, 327, 327, -2.5, 327, 327, 0, 
                 0, 0, 0, -327, 0, -327, 327, 327, 327, -95, 0, 0, 0.5, 0, 1, 0, 1.5, 0, 0, 0, 0, 0, 0, 0, 0)) then
            WriteToLog("Device 4 : Test Source Configuration Successful\n", "green")
        else
            WriteToLog("Device 4 : Test Source Configuration failed\n", "red")
            return -3
        end
    end
       
end           

---------------------------Sensor Configuration-------------------------

-- Profile Configuration
if (0 == ar1.ProfileConfig_mult(deviceMapOverall, 0, start_freq, idle_time, adc_start_time, ramp_end_time, 
                                0, 0, 0, 0, 0, 0, slope, 0, adc_samples, sample_freq, 0, 0, rx_gain)) then
    WriteToLog("Profile Configuration successful\n", "green")
else
    WriteToLog("Profile Configuration failed\n", "red")
    return -4
end

-- Chirp Configuration 
for i=1,table.getn(RadarDevice) do    
    if ((RadarDevice[1]==1) and (RadarDevice[i]==1)) then
        Configure_Chirps(i)                
    end
end

-- Enabling/ Disabling Test Source
if(test_source_enable == 1) then
    ar1.EnableTestSource_mult(deviceMapOverall, 1)
    WriteToLog("Enabling Test Source Configuration successful\n", "green")
end

-- Frame Configuration
-- Master
if (0 == ar1.FrameConfig_mult(1,start_chirp_tx,end_chirp_tx,nframes_master, nchirp_loops, 
                              Inter_Frame_Interval, 0, 1)) then
    WriteToLog("Master : Frame Configuration successful\n", "green")
else
    WriteToLog("Master : Frame Configuration failed\n", "red")
end
-- Slaves 
if (0 == ar1.FrameConfig_mult(deviceMapSlaves,start_chirp_tx,end_chirp_tx,nframes_slave, nchirp_loops, 
                              Inter_Frame_Interval, 0, 2)) then
    WriteToLog("Slaves : Frame Configuration successful\n", "green")
else
    WriteToLog("Slaves : Frame Configuration failed\n", "red")
end