bookmark : python struct

• format string in struct pack and unpack

struct 是python 用來處理 C 結構資料的module.

用 pack 來把一堆變數排在一起。
用 unpack 把 byte data 變成一堆變數。

pack, unpack 轉換的時候，就要靠 format string 來描述。
例如：

• 'iif' : 兩個integer之後是一個float，所以總長度是 4+4+4，也可以用 '2i f'
• 'B?l' : unsigned char, boolean 跟 long，所以總長度是 1 + 1 + 4 = 6

example:

packed = struct.pack('2if',1,2,1.3)
a, b, c = struct.unpack('2if',packed)
print( a,b,c )

1 2 1.29999999526

TI mmwave, occupancy detection uart frame format.

mss_main.c :
static void OccupancyDetection3D_handleObjectDetResult

//copy to the format for output, and to future tracker
    gMmwMssMCB.pointCloudToUart.header.length               =   sizeof(mmwLab_output_message_tl) 
                                                              + sizeof(mmwLab_output_message_point_unit) 
                                                              + sizeof(mmwLab_output_message_UARTpoint) * outputFromDSP->pointCloudOut.object_count;
    if ( outputFromDSP->pointCloudOut.object_count == 0)
        gMmwMssMCB.pointCloudToUart.header.length           =   0;
    gMmwMssMCB.pointCloudToUart.header.type                 =   MMWDEMO_OUTPUT_MSG_POINT_CLOUD;
    gMmwMssMCB.pointCloudToUart.pointUint.azimuthUnit       =   0.01f;
    gMmwMssMCB.pointCloudToUart.pointUint.elevationUnit     =   0.01f;
    gMmwMssMCB.pointCloudToUart.pointUint.rangeUnit         =   0.00025f;
    gMmwMssMCB.pointCloudToUart.pointUint.dopplerUnit       =   0.00028f;
    gMmwMssMCB.pointCloudToUart.pointUint.snrUint           =   0.04f;
    gMmwMssMCB.numDetectedPoints                            =   outputFromDSP->pointCloudOut.object_count;
    for (pntIdx = 0; pntIdx < (int32_t)outputFromDSP->pointCloudOut.object_count; pntIdx++ )
    {
        gMmwMssMCB.pointCloudToUart.point[pntIdx].azimuth   =   (int8_t)round(outputFromDSP->pointCloudOut.pointCloud[pntIdx].azimuthAngle / gMmwMssMCB.pointCloudToUart.pointUint.azimuthUnit);
        gMmwMssMCB.pointCloudToUart.point[pntIdx].elevation =   (int8_t)round((outputFromDSP->pointCloudOut.pointCloud[pntIdx].elevAngle)/ gMmwMssMCB.pointCloudToUart.pointUint.elevationUnit);
        gMmwMssMCB.pointCloudToUart.point[pntIdx].range     =   (uint16_t)round(outputFromDSP->pointCloudOut.pointCloud[pntIdx].range / gMmwMssMCB.pointCloudToUart.pointUint.rangeUnit);
        gMmwMssMCB.pointCloudToUart.point[pntIdx].doppler   =   (int16_t)round(outputFromDSP->pointCloudOut.pointCloud[pntIdx].velocity / gMmwMssMCB.pointCloudToUart.pointUint.dopplerUnit);
        gMmwMssMCB.pointCloudToUart.point[pntIdx].snr       =   (uint16_t)round((float)outputFromDSP->pointCloudOut.snr[pntIdx].snr * 0.125f / gMmwMssMCB.pointCloudToUart.pointUint.snrUint);

        gMmwMssMCB.pointCloudFromDSP[pntIdx].elevAngle      =   outputFromDSP->pointCloudOut.pointCloud[pntIdx].elevAngle;
        gMmwMssMCB.pointCloudFromDSP[pntIdx].range          =   outputFromDSP->pointCloudOut.pointCloud[pntIdx].range;
        gMmwMssMCB.pointCloudFromDSP[pntIdx].velocity        =   outputFromDSP->pointCloudOut.pointCloud[pntIdx].velocity;
        gMmwMssMCB.pointCloudSideInfoFromDSP[pntIdx].snr            =   (float)outputFromDSP->pointCloudOut.snr[pntIdx].snr * 0.125f;
    }

message 定義：mmwLab_output.h:

typedef enum mmwLab_output_message_type_e
{
    /*! @brief   List of detected points */
    MMWDEMO_OUTPUT_MSG_DETECTED_POINTS = 1,

    /*! @brief   Range profile */
    MMWDEMO_OUTPUT_MSG_RANGE_PROFILE,

    /*! @brief   Noise floor profile */
    MMWDEMO_OUTPUT_MSG_NOISE_PROFILE,

    /*! @brief   Samples to calculate static azimuth  heatmap */
    MMWDEMO_OUTPUT_MSG_AZIMUT_STATIC_HEAT_MAP,

    /*! @brief   Range/Doppler detection matrix */
    MMWDEMO_OUTPUT_MSG_RANGE_DOPPLER_HEAT_MAP,

    /*! @brief   Point Cloud - Array of detected points (range/angle/doppler) */
    MMWDEMO_OUTPUT_MSG_POINT_CLOUD,

    /*! @brief   Target List - Array of detected targets (position, velocity, error covariance) */
    MMWDEMO_OUTPUT_MSG_TARGET_LIST,

    /*! @brief   Target List - Array of target indices */
    MMWDEMO_OUTPUT_MSG_TARGET_INDEX,

    /*! @brief   Classifier Output -- Array of target indices and tags */
    MMWDEMO_OUTPUT_MSG_CLASSIFIER_OUTPUT,

    /*! @brief   Stats information */
    MMWDEMO_OUTPUT_MSG_STATS,

    /*! @brief   Presence information */
    MMWDEMO_OUTPUT_PRESENCE_IND,

    MMWDEMO_OUTPUT_MSG_MAX
} mmwLab_output_message_type;

另外在 sdk 的 packages\ti\demo\xwr64xx\mmw\mmw_output.h 有：

typedef enum MmwDemo_output_message_type_e
{
    /*! @brief   List of detected points */
    MMWDEMO_OUTPUT_MSG_DETECTED_POINTS = 1,

    /*! @brief   Range profile */
    MMWDEMO_OUTPUT_MSG_RANGE_PROFILE,

    /*! @brief   Noise floor profile */
    MMWDEMO_OUTPUT_MSG_NOISE_PROFILE,

    /*! @brief   Samples to calculate static azimuth  heatmap */
    MMWDEMO_OUTPUT_MSG_AZIMUT_STATIC_HEAT_MAP,

    /*! @brief   Range/Doppler detection matrix */
    MMWDEMO_OUTPUT_MSG_RANGE_DOPPLER_HEAT_MAP,

    /*! @brief   Stats information */
    MMWDEMO_OUTPUT_MSG_STATS,

    /*! @brief   List of detected points */
    MMWDEMO_OUTPUT_MSG_DETECTED_POINTS_SIDE_INFO,

    /*! @brief   Samples to calculate static azimuth/elevation heatmap, (all virtual antennas exported) */
    MMWDEMO_OUTPUT_MSG_AZIMUT_ELEVATION_STATIC_HEAT_MAP,

    /*! @brief   temperature stats from Radar front end */
    MMWDEMO_OUTPUT_MSG_TEMPERATURE_STATS,

    MMWDEMO_OUTPUT_MSG_MAX
} MmwDemo_output_message_type;

前面一樣，6 開始不同，所以這個 example 的 tlv type 是自己用的。

---

mss_main.c 從 UART 送出 TLV 的地方 MmwDemo_uartTxTask：

        /* Send packet header */
        UART_write (uartHandle,
                           (uint8_t*)&header,
                           sizeof(mmwLab_output_message_header));

        /* Send detected Objects */
        if (objOut->header.length > 0)
        {
            UART_write (uartHandle,
                               (uint8_t*)objOut,
                               objOut->header.length);
        }

所以就是送 header，再送 objOut.
header 歸 header，只是在說接下來的 object detection result tlv 有幾個 tlv。
length, checksum 都是 header 自己，沒有包含接下來的 detection result tlv

先看 header..

typedef struct mmwLab_output_message_header_t
{
    /*! @brief   Output buffer magic word (sync word). It is initialized to  {0x0102,0x0304,0x0506,0x0708} */
    uint16_t    magicWord[4];

    /*! brief   Version: : MajorNum * 2^24 + MinorNum * 2^16 + BugfixNum * 2^8 + BuildNum   */
    uint32_t     version;

    /*! @brief   Total packet length including header in Bytes */
    uint32_t    totalPacketLen;

    /*! @brief   platform type */
    uint32_t    platform;

    /*! @brief   Frame number */
    uint32_t    frameNumber;

    /*! @brief   For Advanced Frame config, this is the sub-frame number in the range
     * 0 to (number of subframes - 1). For frame config (not advanced), this is always
     * set to 0. */
    uint32_t    subFrameNumber;

    /*! @brief Detection Layer timing */
    uint32_t    chirpProcessingMargin;
    uint32_t    frameProcessingTimeInUsec;

    /*! @brief Localization Layer Timing */
    uint32_t    trackingProcessingTimeInUsec;
    uint32_t    uartSendingTimeInUsec;


    /*! @brief   Number of TLVs */
    uint16_t    numTLVs;

    /*! @brief   check sum of the header */
    uint16_t    checkSum;

} mmwLab_output_message_header;

設定值是...

    header.platform =  0xA6843;
    header.magicWord[0] = 0x0102;
    header.magicWord[1] = 0x0304;
    header.magicWord[2] = 0x0506;
    header.magicWord[3] = 0x0708;
    header.version =    MMWAVE_SDK_VERSION_BUILD |
                        (MMWAVE_SDK_VERSION_BUGFIX << 8) |
                        (MMWAVE_SDK_VERSION_MINOR << 16) |
                        (MMWAVE_SDK_VERSION_MAJOR << 24);

  ...
  ...
        packetLen = sizeof(mmwLab_output_message_header);
        header.chirpProcessingMargin        =   timingInfo->interChirpProcessingMargin;
        header.frameProcessingTimeInUsec    =   timingInfo->frameProcessingTimeInUsec;
        header.uartSendingTimeInUsec        =   gMmwMssMCB.uartProcessingTimeInUsec; 
		
        if (objOut->header.length > 0)
        {
            packetLen += objOut->header.length;
            tlvIdx++;
        }

        header.numTLVs = tlvIdx;
        header.totalPacketLen   =   packetLen;
        header.frameNumber      =   frameIdx;
        header.subFrameNumber   =   subFrameIdx;
        header.checkSum         =   0;


        headerPtr               =   (uint16_t *)&header;
        for(n=0, sum = 0; n < sizeof(mmwLab_output_message_header)/sizeof(uint16_t); n++)
                                sum += *headerPtr++;
        header.checkSum         =   ~((sum >> 16) + (sum & 0xFFFF));

payload 的 objOut 是...

       objOut          =   &(gMmwMssMCB.pointCloudToUart);

其中，pointCloudToUart 是:

typedef struct MmwDemo_output_message_UARTpointCloud_t
{
    mmwLab_output_message_tl           header;
    mmwLab_output_message_point_unit   pointUint;
    mmwLab_output_message_UARTpoint    point[MAX_RESOLVED_OBJECTS_PER_FRAME];
} mmwLab_output_message_UARTpointCloud;

又分別是：

typedef struct mmwLab_output_message_tl_t
{
    /*! @brief   TLV type */
    uint32_t    type;

    /*! @brief   Length in bytes */
    uint32_t    length;

} mmwLab_output_message_tl;

typedef struct mmwLab_output_message_point_uint_t
{
    /*! @brief elevation  reporting unit, in radians */
    float       elevationUnit;
    /*! @brief azimuth  reporting unit, in radians */
    float       azimuthUnit;
    /*! @brief Doppler  reporting unit, in m/s */
    float       dopplerUnit;
    /*! @brief range reporting unit, in m */
    float       rangeUnit;
    /*! @brief SNR  reporting unit, linear */
    float       snrUint;

} mmwLab_output_message_point_unit;

typedef struct mmwLab_output_message_UARTpoint_t
{
    /*! @brief Detected point elevation, in number of azimuthUnit */
    int8_t      elevation;
    /*! @brief Detected point azimuth, in number of azimuthUnit */
    int8_t      azimuth;
    /*! @brief Detected point doppler, in number of dopplerUnit */
    int16_t      doppler;
    /*! @brief Detected point range, in number of rangeUnit */
    uint16_t        range;
    /*! @brief Range detection SNR, in number of snrUnit */
    uint16_t       snr;

} mmwLab_output_message_UARTpoint;

---

TI 有提供一個 python code, 做 pc 端UI : industrial visualizer
其中的 gui_parser.py 中 readAndParseUart( ) 就是 read uart 的進入點。
依序 sync magicword 之後，交給 parseFrame.py ，找出 tlvtype 之後，對應的 tlv parsing funtion 在 parseTLVs.py

occupancy detection 的 tlv frame 雖然是自己的，不是用 sdk 中 demo 的 標準 frame structure，
但是最後 parse point cloud 的格式，和 parseTLVs.py 的 parseCompressedSphericalPointCloudTLV( ) 一樣。

一個沒有 0 points 的 frame length 是 48，有 point 資料的frame 會是 48 + tlv length.

tlvlength 的資料中，在 CompressedSphericalCloudTLV 中，包含以下：

    tlvHeaderStruct = struct(...
        'type',             {'uint32', 4}, ... % TLV object Type
        'length',           {'uint32', 4});    % TLV object Length, in bytes, including TLV header

    % Point Cloud TLV reporting unit for all reported points
    pointUintStruct = struct(...
        'elevUnit',             {'float', 4}, ... % elevation, in rad
        'azimUnit',             {'float', 4}, ... % azimuth, in rad
        'dopplerUnit',          {'float', 4}, ... % Doplper, in m/s
        'rangeUnit',            {'float', 4}, ... % Range, in m
        'snrUnit',              {'float', 4});    % SNR, ratio

之後是一堆points 的資料，每個 point 的內容是：

    % Point Cloud TLV object consists of an array of points.
    % Each point has a structure defined below
    pointStruct = struct(...
        'elevation',        {'int8', 1}, ... % elevation, in rad
        'azimuth',          {'int8', 1}, ... % azimuth, in rad
        'doppler',          {'int16', 2}, ... % Doplper, in m/s
        'range',            {'uint16', 2}, ... % Range, in m
        'snr',              {'uint16', 2});    % SNR, ratio

以 frameLength 5098 的 frame 來看。
扣掉 frame Header 48 bytes，剩下 460
460 扣掉 4+4+5x*4 = 28 之後，剩下 432，
這 432 bytes 都是 point data，每個 point data 是 8 bytes, 所以有.. 432/8 = 54 points

---

結果這個 unit 的內容是固定的...
ref: mss_main.c - OccupancyDetection3D_handleObjectDetResult()

    gMmwMssMCB.pointCloudToUart.header.type                 =   MMWDEMO_OUTPUT_MSG_POINT_CLOUD;
    gMmwMssMCB.pointCloudToUart.pointUint.azimuthUnit       =   0.01f;
    gMmwMssMCB.pointCloudToUart.pointUint.elevationUnit     =   0.01f;
    gMmwMssMCB.pointCloudToUart.pointUint.rangeUnit         =   0.00025f;
    gMmwMssMCB.pointCloudToUart.pointUint.dopplerUnit       =   0.00028f;
    gMmwMssMCB.pointCloudToUart.pointUint.snrUint           =   0.04f;
    gMmwMssMCB.numDetectedPoints                            =   outputFromDSP->pointCloudOut.object_count;
    for (pntIdx = 0; pntIdx < (int32_t)outputFromDSP->pointCloudOut.object_count; pntIdx++ )
    {
        gMmwMssMCB.pointCloudToUart.point[pntIdx].azimuth   =   (int8_t)round(outputFromDSP->pointCloudOut.pointCloud[pntIdx].azimuthAngle / gMmwMssMCB.pointCloudToUart.pointUint.azimuthUnit);
        gMmwMssMCB.pointCloudToUart.point[pntIdx].elevation =   (int8_t)round((outputFromDSP->pointCloudOut.pointCloud[pntIdx].elevAngle)/ gMmwMssMCB.pointCloudToUart.pointUint.elevationUnit);
        gMmwMssMCB.pointCloudToUart.point[pntIdx].range     =   (uint16_t)round(outputFromDSP->pointCloudOut.pointCloud[pntIdx].range / gMmwMssMCB.pointCloudToUart.pointUint.rangeUnit);
        gMmwMssMCB.pointCloudToUart.point[pntIdx].doppler   =   (int16_t)round(outputFromDSP->pointCloudOut.pointCloud[pntIdx].velocity / gMmwMssMCB.pointCloudToUart.pointUint.dopplerUnit);
        gMmwMssMCB.pointCloudToUart.point[pntIdx].snr       =   (uint16_t)round((float)outputFromDSP->pointCloudOut.snr[pntIdx].snr * 0.125f / gMmwMssMCB.pointCloudToUart.pointUint.snrUint);

        gMmwMssMCB.pointCloudFromDSP[pntIdx].elevAngle      =   outputFromDSP->pointCloudOut.pointCloud[pntIdx].elevAngle;
        gMmwMssMCB.pointCloudFromDSP[pntIdx].range          =   outputFromDSP->pointCloudOut.pointCloud[pntIdx].range;
        gMmwMssMCB.pointCloudFromDSP[pntIdx].velocity        =   outputFromDSP->pointCloudOut.pointCloud[pntIdx].velocity;
        gMmwMssMCB.pointCloudSideInfoFromDSP[pntIdx].snr            =   (float)outputFromDSP->pointCloudOut.snr[pntIdx].snr * 0.125f;
    }

TI mmWave python : send config file

send config file 抄這篇：

import serial
import time

serialControl = serial.Serial("/dev/ttyUSB1",115200,timeout=0.01)

with open(configFilePath, "r") as configFile:
    for configLine in configFile.readlines():
        # Send config value to the control port
        serialControl.write(configLine.encode())
        # Wait for response from control port
        time.sleep(0.01)
        echo = serialControl.readline()
        done = serialControl.readline()
        prompt = serialControl.read(11)
        print(echo.decode('utf-8'), end='')
        if verbose:
            print(done.decode('utf-8'))
            print(prompt.decode('utf-8'))

time.sleep(0.01) 很重要，不然會送得太快，chip 後來會掉字。
另外， cfg file 是 dos 還是 unix 格式都沒關係。 (\r\n or \n)。

encode, decode 是要做 字串 對 byte 之間的轉換。

open serial port 時，加上 timeout=0.01 是為了之後 readline( ) N 次的關係。
如果不加 timeout，readline 為卡住，一直到有資料輸出。
在 command error 的時候，就只有 Error 跟 prompt，少一次 Done。

TI Example, Lab 中的code，雖然都是用 cfg file, cfg command。
但是每個 Example. Lab support 的 command 不一樣。

---

dataport 沒有資料。
查一下是不是command 有錯。

sdk 的 util/cli.c 的 CLI_task 負責 control console
task 從 configurPort 讀取後，先和 gCLI.cfg.tableEntry[] 找 match cmd.
如果沒有，再交給 CLI_MMWaveExtensionHandler( ) 處理。
再沒有，就是 "not recognized as CLI command"

其中 * gCLI.cfg.tableEntry[] 是每個 example 自己定義的 command * CLI_MMWaveExtensionHandler 裡面使 mmwave SDK 內建的 command 錯誤的command 好像不會對程式造成影響...

結果：

送出 cfg command 時，要 delay，即使已經有收到 Done, 跟 prompt，還是要 delay 一下。
使用 matlab 的 script 在 windows 7 上 run，可能每個 step run 起來比較慢。所以 OK
在 linux 用 python 跑就會太快了，要再每個 command 送出後做 time.sleep(0.01)，另外做 sensorStart 之前也要 delay 久一點。
實際有沒有成功，可以用 sensorStar 的回應來看，如果 OK, sensorStart 後，一樣會回答 Done，然後出現 prompt等待command。
這種狀況下 Dataport 才會有輸出。

https://mlc.ai/mlc-llm/ https://github.com/m-bain/whisperX

bookmark: mmwave, mesh

• mmMesh

這格..用 LVDS output (from ethernet)的 raw data，計算出 mesh
-- 順便有 mmesave studio 和對應的 python code.

• IWR6843AOPEVM simple ROS2 package

這個是用 out of box demo，然後接收 uart 的 point cloud data，畫出圖來。

• pymmwave : IWR6843AOPEVM Implementation

這個好像是很久沒更新的 pymmwave ，針對 6843AOP 的更新!!


https://github.com/m6c7l/pymmw

raspberry pi , ubuntu 23.04, build kernel

ref:

• ubuntu wiki: build your own kernel

在 raspberry pi 的 ubuntu 23.04...
在 sources.list 加入

deb-src http://archive.ubuntu.com/ubuntu lunar main

然後 apt update，再

apt-get source linux-image-$(uname -r)

就會裝 linux-image-6.2.0-1004-raspi 在 run command 的目錄下，因為我用 sudo ，folder owner 是 root，所以 apt-get source 不要用 sudo

看source code。
pi 4 是 brcm2711，grep 2711 和 gpio 會出現 bcm2711-gpio。
然後找到 drivers/pinctrl/bcm/pinctrl-bcm2835.c: .compatible = "brcm,bcm2711-gpio",
最後是 Documentation/devicetree/bindings/pinctrl/brcm,bcm2835-gpio.txt

這一篇 有說，不要用 /sys/class/gpio 了...