ros2-driver.zip

# ADC/UART data capturing using xWR1843/AWR2243 with DCA1000 * for xWR1843: capture both raw ADC IQ data and processed UART point cloud data simultaneously in Python and C(pybind11) without mmwaveStudio * for AWR2243: capture raw ADC IQ data in Python and C(pybind11) without mmwaveStudio ## Introduction * 该模块主要分为两部分，mmwave和fpga_udp: * mmwave修改自[OpenRadar](https://github.com/PreSenseRadar/OpenRadar)，用于配置文件读取、串口数据发送与接收、原始数据解析等。 * fpga_udp修改自[pybind11 example](https://github.com/pybind/python_example)以及[mmWave-DFP-2G](https://www.ti.com/tool/MMWAVE-DFP)，用于通过C语言编写的socket代码从网口接收DCA1000发回的高速的原始数据。对于AWR2243这种没有片上DSP及ARM核的型号，还实现了利用FTDI通过USB发送指令用SPI控制AWR2243的固件写入、参数配置等操作。 * TI的毫米波雷达主要分两类，只有射频前端的和自带片上ARM及DSP/HWA的。前者型号有[AWR1243](https://www.ti.com/product/AWR1243)、[AWR2243](https://www.ti.com/product/AWR2243)等，后者型号有[xWR1443](https://www.ti.com/product/IWR1443)、[xWR6443](https://www.ti.com/product/IWR6443)、[xWR1843](https://www.ti.com/product/IWR1843)、[xWR6843](https://www.ti.com/product/IWR6843)、[AWR2944](https://www.ti.com/product/AWR2944)等。 * 对于只有射频前端的雷达传感器，一般是通过SPI/I2C接口向其发送控制及配置指令，并通过CSI2/LVDS接口输出原始数据。其中SPI接口可以用DCA1000板载的FTDI芯片转为USB协议直接用电脑控制，LVDS接口的数据也能用DCA1000板载的FPGA采集并转为UDP包通过以太网传输。本仓库实现了上述所有操作。 * 对于自带片上ARM及DSP的雷达传感器，则可以烧录控制程序，用片上ARM对雷达传感器进行配置，用片上DSP处理原始数据并得到点云等数据，通过UART传输。其中原始数据除了送入片上DSP，还能配置为通过LVDS接口输出，并利用DCA1000板载的FPGA采集。本仓库实现了上述所有操作。当然，自带片上ARM及DSP的雷达传感器也有SPI/I2C等接口，也可以利用该接口对雷达传感器进行配置，并通过DCA1000板载的FTDI将SPI转为USB用电脑控制。[mmwaveStudio](https://www.ti.com/tool/MMWAVE-STUDIO)就是这样做的，但本仓库暂未实现该方法，可参考[mmWave-DFP](https://www.ti.com/tool/MMWAVE-DFP)自行实现。 ## Prerequisites ### Hardware #### for xWR1843 * Connect the micro-USB port (UART) on the xWR1843 to your system * Connect the xWR1843 to a 5V barrel jack * Set power connector on the DCA1000 to RADAR_5V_IN * boot in Functional Mode: SOP[2:0]=001 * either place jumpers on pins marked as SOP0 or toggle SOP0 switches to ON, all others remain OFF * Connect the RJ45 to your system * Set a fixed IP to the local interface: 192.168.33.30 #### for AWR2243 * Connect the micro-USB port (FTDI) on the DCA1000 to your system * Connect the AWR2243 to a 5V barrel jack * Set power connector on the DCA1000 to RADAR_5V_IN * Put the device in SOP0 * Jumper on SOP0, all others disconnected * Connect the RJ45 to your system * Set a fixed IP to the local interface: 192.168.33.30 ### Software #### Windows - Microsoft Visual C++ 14.0 or greater is required. - Get it with "[Microsoft C++ Build Tools](https://visualstudio.microsoft.com/visual-cpp-build-tools/)"(Standalone MSVC compiler) or "[Visual Studio](https://visualstudio.microsoft.com/downloads/)"(IDE) and choose "Desktop development with C++" - FTDI D2XX driver and DLL is needed. - Download version [2.12.36.4](https://www.ftdichip.com/Drivers/CDM/CDM%20v2.12.36.4%20WHQL%20Certified.zip) or newer from [official website](https://ftdichip.com/drivers/d2xx-drivers/). - Unzip it and install `.\ftdibus.inf` by right-clicking this file. - Copy `.\amd64\ftd2xx64.dll` to `C:\Windows\System32\` and rename it to `ftd2xx.dll`. For 32-bit system, just copy `.\i386\ftd2xx.dll` to that directory. #### Linux - `sudo apt install python3-dev` - FTDI D2XX driver and .so lib is needed. Download version 1.4.27 or newer from [official website](https://ftdichip.com/drivers/d2xx-drivers/) based on your architecture, e.g. [X86](https://ftdichip.com/wp-content/uploads/2022/07/libftd2xx-x86_32-1.4.27.tgz), [X64](https://ftdichip.com/wp-content/uploads/2022/07/libftd2xx-x86_64-1.4.27.tgz), [armv7](https://ftdichip.com/wp-content/uploads/2022/07/libftd2xx-arm-v7-hf-1.4.27.tgz), [aarch64](https://ftdichip.com/wp-content/uploads/2022/07/libftd2xx-arm-v8-1.4.27.tgz), etc. - Then you'll need to install the library: - ``` tar -xzvf libftd2xx-arm-v8-1.4.27.tgz cd release sudo cp ftd2xx.h /usr/local/include sudo cp WinTypes.h /usr/local/include cd build sudo cp libftd2xx.so.1.4.27 /usr/local/lib sudo chmod 0755 /usr/local/lib/libftd2xx.so.1.4.27 sudo ln -sf /usr/local/lib/libftd2xx.so.1.4.27 /usr/local/lib/libftd2xx.so sudo ldconfig -v ``` ## Installation - clone this repository - for Windows: - `python3 -m pip install --upgrade pip` - `python3 -m pip install --upgrade setuptools` - `python3 -m pip install ./fpga_udp` - for Linux: - `sudo python3 -m pip install --upgrade pip` - `sudo python3 -m pip install --upgrade setuptools` - `sudo python3 -m pip install ./fpga_udp` ## Instructions for Use #### General 1. 先按照[Prerequisites](#prerequisites)搭建运行环境 2. 再按[Installation](#installation)安装库 3. 未提及的模块在运行时若报错请自行查询添加 #### For xWR1843 1. 按[mmwave SDK](https://www.ti.com/tool/MMWAVE-SDK)的说明烧录xwr18xx_mmw_demo程序 2. 用[mmWave_Demo_Visualizer](https://dev.ti.com/gallery/view/mmwave/mmWave_Demo_Visualizer/ver/3.6.0/)调整参数并保存cfg配置文件 3. 打开[captureAll.py](#captureallpy)按需求修改并填入cfg配置文件地址及端口号后运行并开始采集数据 4. 打开[testDecode.ipynb](#testdecodeipynb)或[testDecodeADCdata.mlx](#testdecodeadcdatamlx)解析刚才采集的数据 5. 对参数不满意可以继续用[mmWave_Demo_Visualizer](https://dev.ti.com/gallery/view/mmwave/mmWave_Demo_Visualizer/ver/3.6.0/)调整或用[testParam.ipynb](#testparamipynb)修改并检验参数的合理性 #### For AWR2243 1. 烧录固件补丁至外部flash（该操作只需要执行一次，重启不会丢固件） - for Windows: `python3 -c "import fpga_udp;fpga_udp.AWR2243_firmwareDownload()"` - for Linux: `sudo python3 -c "import fpga_udp;fpga_udp.AWR2243_firmwareDownload()"` - 看见"MSS Patch version [ 2. 2. 2. 0]"则烧录成功 2. 打开[captureADC_AWR2243.py](#captureadc_awr2243py)按需求修改并填入txt配置文件地址并开始采集数据 3. 打开[testDecode_AWR2243.ipynb](#testdecode_awr2243ipynb)解析刚才采集的数据 4. 对参数不满意可以用[testParam_AWR2243.ipynb](#testparam_awr2243ipynb)修改并检验参数的合理性 ## Example ### ***captureAll.py*** 同时采集原始ADC采样的IQ数据及片内DSP预处理好的点云等串口数据的示例代码（仅xWR1843）。 #### 1.采集原始数据的一般流程 1. 重置雷达与DCA1000(reset_radar、reset_fpga) 2. 通过UART初始化雷达并配置相应参数(TI、setFrameCfg) 3. (optional)创建从串口接收片内DSP处理好的数据的进程(create_read_process) 4. 通过网口udp发送配置fpga指令(config_fpga) 5. 通过网口udp发送配置record数据包指令(config_record) 6. (optional)启动串口接收进程（只进行缓存清零）(start_read_process) 7. 通过网口udp发送开始采集指令(stream_start) 8. 启动UDP数据包接收线程(fastRead_in_Cpp_async_start) 9. 通过串口启动雷达（理论上通过FTDI(USB转SPI)也能控制，目前只在AWR2243上实现）(startSensor) 10. 等待UDP数据包接收线程结束+解析出原始数据(fastRead_in_Cpp_async_wait) 11. 保