MCU-PLUS-SDK-AM273X: HWA paramset配置问题

ZhiQiang Lin

你好，专家

我在尝试配置am273x DDMA处理的dopplerprochwaDDMA中遇到了问题；描述如下：我想在sumTx后面加上一个doppler维度的CFAR，由于需要使用sumTx的输出作为输入，所以将原来完成sumTx后触发EDMA搬运sumTx结果的操作放到完成CFAR后进行。但是做出如上更改后，am273x在调用函数DPU_DopplerProcHWA_config进行配置时，就失败了。我在加上cfar的paramset后，已经调整了参数DOPPLERPROCHWA_DDMA_DOPPLER_NUM_HWA_PARAMSETS和obj->dopplerAzimHwaCommonConfig.paramStopIdx；请问是什么原因导致的上述问题。配置代码如下：

 paramsetIdx++;
        hwParamsetIdx++;

        hwaParamCfg[paramsetIdx].triggerMode = HWA_TRIG_MODE_SOFTWARE; //HWA_TRIG_MODE_IMMEDIATE;
        hwaParamCfg[paramsetIdx].accelMode = HWA_ACCELMODE_FFT;
        
        /* PREPROC CONFIG */
        hwaParamCfg[paramsetIdx].accelModeArgs.fftMode.preProcCfg.dcEstResetMode = HWA_DCEST_INTERFSUM_RESET_MODE_NOUPDATE;
        hwaParamCfg[paramsetIdx].accelModeArgs.fftMode.preProcCfg.dcSubEnable = HWA_FEATURE_BIT_DISABLE;
        hwaParamCfg[paramsetIdx].accelModeArgs.fftMode.preProcCfg.complexMultiply.cmultMode = HWA_COMPLEX_MULTIPLY_MODE_DISABLE;
        
        /* ACCELMODE CONFIG (FFT) */
        hwaParamCfg[paramsetIdx].accelModeArgs.fftMode.fftEn = HWA_FEATURE_BIT_ENABLE;
        
        fftSizeTemp = mathUtils_getValidFFTSize(obj->dopplerDemodCfg.numBandsTotal);
        if(fftSizeTemp % 3 == 0){
            hwaParamCfg[paramsetIdx].accelModeArgs.fftMode.fftSize = mathUtils_ceilLog2(fftSizeTemp/3);
            hwaParamCfg[paramsetIdx].accelModeArgs.fftMode.fftSize3xEn = HWA_FEATURE_BIT_ENABLE;
        }
        else{
            hwaParamCfg[paramsetIdx].accelModeArgs.fftMode.fftSize = mathUtils_ceilLog2(fftSizeTemp);
            hwaParamCfg[paramsetIdx].accelModeArgs.fftMode.fftSize3xEn = HWA_FEATURE_BIT_DISABLE;
        }
        hwaParamCfg[paramsetIdx].accelModeArgs.fftMode.butterflyScaling = 0; 
        hwaParamCfg[paramsetIdx].accelModeArgs.fftMode.windowEn = HWA_FEATURE_BIT_DISABLE;

        hwaParamCfg[paramsetIdx].accelModeArgs.fftMode.postProcCfg.magLogEn = HWA_FFT_MODE_MAGNITUDE_ONLY_ENABLED;
        hwaParamCfg[paramsetIdx].accelModeArgs.fftMode.postProcCfg.fftOutMode = HWA_FFT_MODE_OUTPUT_DEFAULT;
        hwaParamCfg[paramsetIdx].accelModeArgs.fftMode.preProcCfg.complexMultiply.cmultMode = HWA_COMPLEX_MULTIPLY_MODE_DISABLE;

        /* SOURCE CONFIG */
        hwaParamCfg[paramsetIdx].source.srcAddr = DPU_DOPPLERHWADDMA_ADDR_SUMTX_PING_IN; 

        hwaParamCfg[paramsetIdx].source.srcAcnt = obj->dopplerDemodCfg.numBandsTotal - 1; /* this is samples - 1 */
        hwaParamCfg[paramsetIdx].source.srcAIdx = obj->dopplerDemodCfg.sumTxIOCfg.input.bytesPerSample;
        hwaParamCfg[paramsetIdx].source.srcBcnt = (obj->numDopplerBins / obj->dopplerDemodCfg.numBandsTotal) - 1;
        hwaParamCfg[paramsetIdx].source.srcBIdx = obj->dopplerDemodCfg.sumTxIOCfg.input.bytesPerSample;

        hwaParamCfg[paramsetIdx].source.srcRealComplex = obj->dopplerDemodCfg.sumTxIOCfg.input.isReal;
        if(obj->dopplerDemodCfg.sumTxIOCfg.input.bytesPerSample == 2 ||
            (obj->dopplerDemodCfg.sumTxIOCfg.input.bytesPerSample == 4 &&
            (!obj->dopplerDemodCfg.sumTxIOCfg.input.isReal))){
            hwaParamCfg[paramsetIdx].source.srcWidth = HWA_SAMPLES_WIDTH_16BIT;
        }
        else{
            hwaParamCfg[paramsetIdx].source.srcWidth = HWA_SAMPLES_WIDTH_32BIT; 
        }
        hwaParamCfg[paramsetIdx].source.srcSign = obj->dopplerDemodCfg.sumTxIOCfg.input.isSigned;
        hwaParamCfg[paramsetIdx].source.srcConjugate = 0;
        hwaParamCfg[paramsetIdx].source.srcScale = 8;
        hwaParamCfg[paramsetIdx].source.shuffleMode = HWA_SRC_SHUFFLE_AB_MODE_ADIM;
        hwaParamCfg[paramsetIdx].source.shuffleStart = 0;
        hwaParamCfg[paramsetIdx].source.wrapComb = obj->numDopplerBins * obj->dopplerDemodCfg.sumTxIOCfg.output.bytesPerSample;

        /* DEST CONFIG */
        hwaParamCfg[paramsetIdx].dest.dstAddr = DPU_DOPPLERHWADDMA_ADDR_SUMTX_PING_OUT + 
                                                obj->numDopplerBins * obj->dopplerDemodCfg.DDMAMetricIOCfg.output.bytesPerSample; 

        hwaParamCfg[paramsetIdx].dest.dstAcnt = 1 - 1;
        hwaParamCfg[paramsetIdx].dest.dstAIdx = obj->dopplerDemodCfg.sumTxIOCfg.output.bytesPerSample;
        hwaParamCfg[paramsetIdx].dest.dstBIdx = obj->dopplerDemodCfg.sumTxIOCfg.output.bytesPerSample;

        hwaParamCfg[paramsetIdx].dest.dstRealComplex = obj->dopplerDemodCfg.sumTxIOCfg.output.isReal;
        if(obj->dopplerDemodCfg.sumTxIOCfg.output.bytesPerSample == 2 ||
            (obj->dopplerDemodCfg.sumTxIOCfg.output.bytesPerSample == 4 &&
            (!obj->dopplerDemodCfg.sumTxIOCfg.output.isReal))){
            hwaParamCfg[paramsetIdx].dest.dstWidth = HWA_SAMPLES_WIDTH_16BIT; 
        }
        else{ 
            hwaParamCfg[paramsetIdx].dest.dstWidth = HWA_SAMPLES_WIDTH_32BIT; 
        }
        hwaParamCfg[paramsetIdx].dest.dstSign = obj->dopplerDemodCfg.sumTxIOCfg.output.isSigned;
        hwaParamCfg[paramsetIdx].dest.dstConjugate = HWA_FEATURE_BIT_DISABLE; 
        hwaParamCfg[paramsetIdx].dest.dstScale = mathUtils_ceilLog2(obj->dopplerDemodCfg.numBandsTotal); 
        hwaParamCfg[paramsetIdx].dest.dstSkipInit = 0; 

        errCode = HWA_configParamSet(obj->hwaHandle,
                                    hwParamsetIdx,
                                    &hwaParamCfg[paramsetIdx],NULL);
        if (errCode != 0)
        {
            goto exit;
        }

        // errCode = HWA_getDMAChanIndex(obj->hwaHandle, cfg->hwRes.edmaCfg.dopplerEdmaCfg.edmaSumLogAbsOut.pingPong[PING].channel, &destChan);
        // if (errCode != 0)
        // {
        //     goto exit;
        // }
        // /* enable the DMA hookup to this paramset so that data gets copied out */
        // paramISRConfig.interruptTypeFlag = HWA_PARAMDONE_INTERRUPT_TYPE_DMA;
        // paramISRConfig.dma.dstChannel = destChan;
        // errCode = HWA_enableParamSetInterrupt(obj->hwaHandle, hwParamsetIdx, &paramISRConfig);
        // if (errCode != 0)
        // {
        //     goto exit;
        // }   

    }}
    }


     /*******************************/
    /* PING DOPPLER CFAR PARAMSET  */
    /*******************************/
    #if 1
{{

    cfarAvgRight = 4;
    cfarAvgLeft = 4;
    cfarGuardCells = 0;

    paramsetIdx++;
    hwParamsetIdx++;

    hwaParamCfg[paramsetIdx].triggerMode = HWA_TRIG_MODE_IMMEDIATE;
    hwaParamCfg[paramsetIdx].accelMode = HWA_ACCELMODE_CFAR;

    hwaParamCfg[paramsetIdx].accelModeArgs.cfarMode.peakGroupEn = HWA_FEATURE_BIT_ENABLE;
    hwaParamCfg[paramsetIdx].accelModeArgs.cfarMode.operMode = HWA_CFAR_OPER_MODE_LOG_INPUT_REAL; /* cfarInpMode = 1, cfarLogMode = 1, cfarAbsMode = 00b */
    hwaParamCfg[paramsetIdx].accelModeArgs.cfarMode.numGuardCells = cfarGuardCells;
    hwaParamCfg[paramsetIdx].accelModeArgs.cfarMode.nAvgDivFactor = 3;//not applicable in CFAR_OS
    hwaParamCfg[paramsetIdx].accelModeArgs.cfarMode.cyclicModeEn = HWA_FEATURE_BIT_ENABLE;
    hwaParamCfg[paramsetIdx].accelModeArgs.cfarMode.nAvgMode = HWA_NOISE_AVG_MODE_CFAR_OS;
    hwaParamCfg[paramsetIdx].accelModeArgs.cfarMode.numNoiseSamplesRight = cfarAvgRight;
    hwaParamCfg[paramsetIdx].accelModeArgs.cfarMode.numNoiseSamplesLeft =  cfarAvgLeft;
    hwaParamCfg[paramsetIdx].accelModeArgs.cfarMode.outputMode = HWA_CFAR_OUTPUT_MODE_I_PEAK_IDX_Q_NEIGHBOR_NOISE_VAL;
    // if (obj->cfarAzimFFTCfg.cfarCfg.averageMode == HWA_NOISE_AVG_MODE_CFAR_OS)
	// {
	    hwaParamCfg[paramsetIdx].accelModeArgs.cfarMode.cfarOsKvalue =8;
	    hwaParamCfg[paramsetIdx].accelModeArgs.cfarMode.cfarOsEdgeKScaleEn = 0;//obj->cfarAzimFFTCfg.cfarCfg.osEdgeKscaleEn;
	// }

    hwaParamCfg[paramsetIdx].source.srcAddr = DPU_DOPPLERHWADDMA_ADDR_SUMTX_PING_OUT + obj->numDopplerBins * obj->dopplerDemodCfg.DDMAMetricIOCfg.output.bytesPerSample;//后面可以优化

    hwaParamCfg[paramsetIdx].source.srcAcnt = obj->numDopplerBins / obj->dopplerDemodCfg.numBandsTotal - 1
                                + 2 * cfarAvgRight + cfarGuardCells
                                + 2 * cfarAvgLeft + cfarGuardCells;
    hwaParamCfg[paramsetIdx].source.srcAIdx = obj->dopplerDemodCfg.sumTxIOCfg.output.bytesPerSample;//obj->cfarAzimFFTCfg.numAzimFFTBins * obj->cfarAzimFFTCfg.cfarIOCfg.input.bytesPerSample;
    hwaParamCfg[paramsetIdx].source.srcBIdx = 0;
    hwaParamCfg[paramsetIdx].source.srcBcnt = 1-1;
    hwaParamCfg[paramsetIdx].source.srcRealComplex = HWA_SAMPLES_FORMAT_REAL;
    hwaParamCfg[paramsetIdx].source.srcScale = 8;
  
    hwaParamCfg[paramsetIdx].source.srcWidth = HWA_SAMPLES_WIDTH_16BIT;
    hwaParamCfg[paramsetIdx].source.srcSign = HWA_SAMPLES_UNSIGNED;
    hwaParamCfg[paramsetIdx].source.srcConjugate = 0;
    hwaParamCfg[paramsetIdx].source.srcAcircShift = (obj->numDopplerBins / obj->dopplerDemodCfg.numBandsTotal)
                                                            - (2 * cfarAvgRight + cfarGuardCells);

    if ((obj->numDopplerBins / obj->dopplerDemodCfg.numBandsTotal) % 3 == 0){ /* If numSamples % 3 == 0 */
        hwaParamCfg[paramsetIdx].source.srcCircShiftWrap3 = 1; /* 'b001, means wrap in A dim */
        hwaParamCfg[paramsetIdx].source.srcAcircShiftWrap = mathUtils_ceilLog2((obj->numDopplerBins / obj->dopplerDemodCfg.numBandsTotal) / 3);
    }
    else{
        hwaParamCfg[paramsetIdx].source.srcCircShiftWrap3 = 0;
        hwaParamCfg[paramsetIdx].source.srcAcircShiftWrap = mathUtils_ceilLog2(obj->numDopplerBins / obj->dopplerDemodCfg.numBandsTotal);
    }

    /* DEST CONFIG */
    hwaParamCfg[paramsetIdx].dest.dstAddr =  HWADRV_ADDR_TRANSLATE_CPU_TO_HWA(obj->hwaMemBankAddr[5]); 

    hwaParamCfg[paramsetIdx].dest.dstAcnt = cfg->hwRes.maxCfarPeaksToDetect - 1;
    hwaParamCfg[paramsetIdx].dest.dstAIdx = 8;//obj->cfarAzimFFTCfg.cfarIOCfg.output.bytesPerSample; sizeof(cmplx32ImRe_t)
    hwaParamCfg[paramsetIdx].dest.dstBIdx = (obj->numDopplerBins / obj->dopplerDemodCfg.numBandsTotal) * 8;

    hwaParamCfg[paramsetIdx].dest.dstRealComplex = HWA_SAMPLES_FORMAT_COMPLEX;
 
    hwaParamCfg[paramsetIdx].dest.dstWidth = HWA_SAMPLES_WIDTH_32BIT; 
    hwaParamCfg[paramsetIdx].dest.dstSign =0;// unsigned
    hwaParamCfg[paramsetIdx].dest.dstConjugate = HWA_FEATURE_BIT_DISABLE; 
    hwaParamCfg[paramsetIdx].dest.dstScale = 8;
    hwaParamCfg[paramsetIdx].dest.dstSkipInit = 0;

    errCode = HWA_configParamSet(obj->hwaHandle,
                                  hwParamsetIdx,
                                  &hwaParamCfg[paramsetIdx],NULL);
    if (errCode != 0)
    {
        goto exit;
    }
    

    // errCode = HWA_getDMAChanIndex(obj->hwaHandle, cfg->hwRes.edmaCfg.azimCfarEdmaCfg.edmaCfarOut.pingPong[PING].channel, &destChan);
    errCode = HWA_getDMAChanIndex(obj->hwaHandle, cfg->hwRes.edmaCfg.dopplerEdmaCfg.edmaSumLogAbsOut.pingPong[PING].channel, &destChan);  //SumTx result；
    if (errCode != 0)
    {
        goto exit;
    }
    /* enable the DMA hookup to this paramset so that data gets copied out */
    paramISRConfig.interruptTypeFlag = HWA_PARAMDONE_INTERRUPT_TYPE_DMA;
    paramISRConfig.dma.dstChannel = destChan;
    errCode = HWA_enableParamSetInterrupt(obj->hwaHandle, hwParamsetIdx, &paramISRConfig);
    if (errCode != 0)
    {
        goto exit;
    }

}}
#endif

谢谢

2 年多前

0 Gary Lu 2 年多前

TI__Mastermind 27060 points

您好，

1. 参数设置错误：您已经提到了调整了参数DOPPLERPROCHWA_DDMA_DOPPLER_NUM_HWA_PARAMSETS和obj->dopplerAzimHwaCommonConfig.paramStopIdx。请确保您对所有相关参数进行了正确的设置，包括CFAR的参数和相应的内存配置。检查这些参数是否正确设置。

2. 内存访问冲突：当您将原来的操作放到CFAR后时，可能会导致内存访问冲突。请确保您在进行CFAR操作时没有修改sumTx的输出内存。如果在CFAR操作过程中需要访问sumTx的输出，请确保使用正确的同步机制（例如互斥锁）来避免冲突。

3. 资源不足：添加CFAR操作后，可能会导致资源不足的问题。请确保您的系统有足够的资源（例如内存、计算能力等）来支持同时进行sumTx和CFAR操作。如果资源不足，您可能需要重新评估您的系统配置或优化您的算法。

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MCU-PLUS-SDK-AM273X: HWA paramset配置问题