我在使用https://www.ti.com.cn/cn/lit/an/zhcab69/zhcab69.pdf?ts=1690442062349&ref_url=https%253A%252F%252Fwww.baidu.com%252Flink%253Furl%253D86_sziryCsbHdTYkidFIgHlHATDGW948nBdN1k1HLo5ArKngDScho80aFkrhlgeNyEXlurWra1MjNM1Fm3l-LK%2526wd%253D%2526eqid%253D829b8f8a000206160000000664c21823中2.4的数据通信格式的统一中的代码，想输出ADC原始数据，但是正常配置后没有响应，在串口助手看也完全没有输出，但是如果将UART_writePolling(uartHandle, (uint8_t*)(&outdata[0]), tl[tlvIdx].length-2);给注释掉会有数据输出，所想想知道是怎样的问题呢？
void TrackerDemo_transmitProcessedOutput(UART_Handle uartHandle,DPC_ObjectDetection_ExecuteResult *result)代码如下：
void TrackerDemo_transmitProcessedOutput(UART_Handle uartHandle,
DPC_ObjectDetection_ExecuteResult *result)
{
uint32_t packetLen;
uint32_t tlvIdx = 0;
uint32_t numPaddingBytes;
uint8_t padding[MMWDEMO_OUTPUT_MSG_SEGMENT_LEN];
MmwDemo_output_message_tl tl[MMWDEMO_OUTPUT_MSG_MAX];
DPIF_PointCloudCartesian *objOut;
DPIF_PointCloudSpherical *objOutSph;
DPIF_PointCloudSideInfo *objOutSideInfo;
DPC_ObjectDetection_Stats *stats;
trackerProc_Target *tList;
trackerProc_TargetIndex *tIndex;
int32_t errCode;
int n;
uint16_t *headerPtr;
uint32_t sum;
TrackerDemo_output_message_header outputMessage;
/* Clear message header */
memset((void *)&outputMessage, 0, sizeof(TrackerDemo_output_message_header));
/* Header: */
outputMessage.platform = 0xA6843;
outputMessage.magicWord[0] = 0x0102;
outputMessage.magicWord[1] = 0x0304;
outputMessage.magicWord[2] = 0x0506;
outputMessage.magicWord[3] = 0x0708;
outputMessage.version = MMWAVE_SDK_VERSION_BUILD | //DEBUG_VERSION
(MMWAVE_SDK_VERSION_BUGFIX << 8) |
(MMWAVE_SDK_VERSION_MINOR << 16) |
(MMWAVE_SDK_VERSION_MAJOR << 24);
/******************************************************************
Send out data that is enabled, Since processing results are from DSP,
address translation is needed for buffer pointers
*******************************************************************/
{
objOut = (DPIF_PointCloudCartesian *) SOC_translateAddress((uint32_t)result->objOut,
SOC_TranslateAddr_Dir_FROM_OTHER_CPU,
&errCode);
DebugP_assert ((uint32_t)objOut != SOC_TRANSLATEADDR_INVALID);
objOutSph = (DPIF_PointCloudSpherical *) SOC_translateAddress((uint32_t)result->objOutSph,
SOC_TranslateAddr_Dir_FROM_OTHER_CPU,
&errCode);
DebugP_assert ((uint32_t)objOutSph != SOC_TRANSLATEADDR_INVALID);
objOutSideInfo = (DPIF_PointCloudSideInfo *) SOC_translateAddress((uint32_t)result->objOutSideInfo,
SOC_TranslateAddr_Dir_FROM_OTHER_CPU,
&errCode);
DebugP_assert ((uint32_t)objOutSideInfo != SOC_TRANSLATEADDR_INVALID);
stats = (DPC_ObjectDetection_Stats *) SOC_translateAddress((uint32_t)result->stats,
SOC_TranslateAddr_Dir_FROM_OTHER_CPU,
&errCode);
DebugP_assert ((uint32_t)stats != SOC_TRANSLATEADDR_INVALID);
#ifdef TRACKERPROC_ON_DSP
tList = (trackerProc_Target *)SOC_translateAddress((uint32_t)result->tList,
SOC_TranslateAddr_Dir_FROM_OTHER_CPU,
&errCode);
DebugP_assert ((uint32_t)tList != SOC_TRANSLATEADDR_INVALID);
tIndex = (trackerProc_TargetIndex *)SOC_translateAddress((uint32_t)result->tIndex,
SOC_TranslateAddr_Dir_FROM_OTHER_CPU,
&errCode);
DebugP_assert ((uint32_t)tIndex != SOC_TRANSLATEADDR_INVALID);
#else
tList = (trackerProc_Target *)(result->tList);
tIndex = (trackerProc_TargetIndex *)(result->tIndex);
#endif
}
outputMessage.subFrameNumber = 0;
/* Start: Tracker output code */
outputMessage.frameNumber = stats->frameStartIntCounter;
//outputMessage.chirpProcessingMargin = srcAddress->header.chirpProcessingMarginInUsec;
//outputMessage.frameProcessingMargin = srcAddress->header.frameProcessingMarginInUsec;
//outputMessage.trackingProcessingTime = gMmwMssMCB.mssDataPathObj.cycleLog.trackingTimeCurrInusec;
//outputMessage.uartSendingTime = gMmwMssMCB.mssDataPathObj.cycleLog.sendingToUARTTimeCurrInusec;
outputMessage.timeStamp = Cycleprofiler_getTimeStamp();
outputMessage.numTLVs = 0;
outputMessage.checksum = 0;
packetLen = sizeof(TrackerDemo_output_message_header);
/* Point cloud and side info */
if (result->numObjOut > 0)
{
/* Point cloud */
tl[tlvIdx].type = 6;//MMWDEMO_OUTPUT_MSG_DETECTED_POINTS;
tl[tlvIdx].length = sizeof(DPIF_PointCloudSpherical) * result->numObjOut;
packetLen += sizeof(MmwDemo_output_message_tl) + tl[tlvIdx].length;
outputMessage.numTLVs += 1;
tlvIdx++;
/* Side info */
tl[tlvIdx].type = 9;//MMWDEMO_OUTPUT_MSG_DETECTED_POINTS_SIDE_INFO;
tl[tlvIdx].length = sizeof(DPIF_PointCloudSideInfo) * result->numObjOut;
packetLen += sizeof(MmwDemo_output_message_tl) + tl[tlvIdx].length;
outputMessage.numTLVs += 1;
tlvIdx++;
}
if(result->numTargets) {
/* Point cloud */
tl[tlvIdx].type = 7;//TRACKERPROC_OUTPUT_TARGET_LIST;
tl[tlvIdx].length = sizeof(trackerProc_Target) * result->numTargets;
packetLen += sizeof(MmwDemo_output_message_tl) + tl[tlvIdx].length;
outputMessage.numTLVs += 1;
tlvIdx++;
}
if(result->numIndices) {
/* Point cloud */
tl[tlvIdx].type = 8;//TRACKERPROC_OUTPUT_TARGET_INDEX;
tl[tlvIdx].length = sizeof(trackerProc_TargetIndex) * result->numIndices;
packetLen += sizeof(MmwDemo_output_message_tl) + tl[tlvIdx].length;
outputMessage.numTLVs += 1;
tlvIdx++;
}
tl[tlvIdx].type = 10;//MMWDEMO_OUTPUT_MSG_L3_DATA;
tl[tlvIdx].length = subFrameCfg->numRangeBins * subFrameCfg->numDopplerBins * subFrameCfg->numVirtualAntennas * 4 + 2;
packetLen += sizeof(MmwDemo_output_message_tl) + tl[tlvIdx].length;
tlvIdx++;
/* Round up packet length to multiple of MMWDEMO_OUTPUT_MSG_SEGMENT_LEN */
outputMessage.totalPacketLen = MMWDEMO_OUTPUT_MSG_SEGMENT_LEN *
((packetLen + (MMWDEMO_OUTPUT_MSG_SEGMENT_LEN-1))/MMWDEMO_OUTPUT_MSG_SEGMENT_LEN);
/* Calculate header checksum */
headerPtr = (uint16_t *)&outputMessage;
for(n=0, sum = 0; n < sizeof(TrackerDemo_output_message_header)/sizeof(uint16_t); n++)
sum += *headerPtr++;
outputMessage.checksum = ~((sum >> 16) + (sum & 0xFFFF));
/* Always send a packet header */
UART_writePolling (uartHandle, (uint8_t *)&outputMessage, sizeof(TrackerDemo_output_message_header));
tlvIdx = 0;
/* Send detected objects and side info*/
if(result->numObjOut > 0) {
UART_writePolling (uartHandle,
(uint8_t*)&tl[tlvIdx],
sizeof(MmwDemo_output_message_tl));
Task_sleep(1);
/*Send array of objects */
UART_writePolling (uartHandle, (uint8_t*)objOutSph,
sizeof(DPIF_PointCloudSpherical) * result->numObjOut);
tlvIdx++;
Task_sleep(1);
UART_writePolling (uartHandle,
(uint8_t*)&tl[tlvIdx],
sizeof(MmwDemo_output_message_tl));
Task_sleep(1);
/*Send array of objects */
UART_writePolling (uartHandle, (uint8_t*)objOutSideInfo,
sizeof(DPIF_PointCloudSideInfo) * result->numObjOut);
tlvIdx++;
Task_sleep(1);
}
if(result->numTargets > 0) {
/* If any targets tracked, send send target List TLV */
UART_writePolling (uartHandle,
(uint8_t*)&tl[tlvIdx],
sizeof(MmwDemo_output_message_tl));
Task_sleep(1);
UART_writePolling (uartHandle, (uint8_t *)(tList),
sizeof(trackerProc_Target) * result->numTargets);
tlvIdx++;
Task_sleep(1);
}
if(result->numIndices > 0) {
/* If exists, send target Index TLV */
UART_writePolling (uartHandle,
(uint8_t*)&tl[tlvIdx],
sizeof(MmwDemo_output_message_tl));
Task_sleep(1);
UART_writePolling (uartHandle, (uint8_t *)(tIndex),
sizeof(trackerProc_TargetIndex) * result->numIndices);
tlvIdx++;
Task_sleep(1);
}
uint32_t *outdata;
outdata = 0x51000000;
UART_writePolling (uartHandle,(uint8_t*)&tl[tlvIdx],sizeof(MmwDemo_output_message_tl));
CRC16Bit = crc16_ccitt((uint8_t*)(&outdata[0]), tl[tlvIdx].length-2);
UART_writePolling(uartHandle, (uint8_t*)(&outdata[0]), tl[tlvIdx].length-2);
UART_writePolling(uartHandle, (uint8_t*)&CRC16Bit, 2);
/* Send padding bytes */
numPaddingBytes = MMWDEMO_OUTPUT_MSG_SEGMENT_LEN - (packetLen & (MMWDEMO_OUTPUT_MSG_SEGMENT_LEN-1));
if (numPaddingBytes<MMWDEMO_OUTPUT_MSG_SEGMENT_LEN)
{
UART_writePolling (uartHandle,
(uint8_t*)padding,
numPaddingBytes);
}
/* End: Tracker output code */
}
chirp_configs的配置如下:
% *************************************************************** % Created for Traffic Monitoring 18xx v2.0.x % Frequency:77 % Platform:xWR18xx % Azimuth Resolution(deg):15 + Elevation % Range Resolution(m):0.366 % Maximum unambiguous Range(m):75.0 % Maximum Radial Velocity(m/s):9.01 % Radial velocity resolution(m/s):0.4509 % Frame Duration(msec):50 % *************************************************************** % *****************STANDARD MMWAVE SDK COMMANDS****************** sensorStop flushCfg dfeDataOutputMode 1 channelCfg 15 7 0 adcCfg 2 1 adcbufCfg -1 0 1 1 1 profileCfg 0 77 8 7 28 0 0 20 1 256 12500 0 0 48 chirpCfg 0 0 0 0 0 0 0 1 chirpCfg 1 1 0 0 0 0 0 4 chirpCfg 2 2 0 0 0 0 0 2 frameCfg 0 2 40 0 50 1 0 lowPower 0 0 guiMonitor -1 1 0 0 0 0 0 cfarCfg -1 0 2 8 4 3 0 10 0 cfarCfg -1 1 0 4 2 3 1 12 0 multiObjBeamForming -1 1 0.5 clutterRemoval -1 1 calibDcRangeSig -1 0 -5 8 256 extendedMaxVelocity -1 1 bpmCfg -1 0 0 1 lvdsStreamCfg -1 0 0 0 compRangeBiasAndRxChanPhase 0.0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 measureRangeBiasAndRxChanPhase 0 1.5 0.2 CQRxSatMonitor 0 3 5 121 0 CQSigImgMonitor 0 127 4 analogMonitor 0 0 aoaFovCfg -1 -90 90 -90 90 cfarFovCfg -1 0 0 80 cfarFovCfg -1 1 -30 30.00 % *****************TRACKING COMMANDS***************************** staticBoundaryBox -40 40 20 70 -0.5 3 boundaryBox -50 50 10 80 -0.5 3 gatingParam 20 15 15 15 200 stateParam 15 10 10 1000 10 1000 allocationParam 60 50 1 3 5 50.0 maxAcceleration 50 50 0.1 trackingCfg 1 2 250 20 90 450 50 sensorPosition 2 0 0 presenceBoundaryBox -3 3 2 6 0.5 2.5 % *****************SENSOR START********************* sensorStart
