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ZIPros2-driver.zip

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资源文件列表:

ros2_driver.zip 大约有1140个文件
  1. ros2_driver/
  2. ros2_driver/src/
  3. ros2_driver/src/serial-ros2-master_0/
  4. ros2_driver/src/serial-ros2-master_0/CHANGELOG.rst 4.03KB
  5. ros2_driver/src/serial-ros2-master_0/CMakeLists.txt 1.62KB
  6. ros2_driver/src/serial-ros2-master_0/Makefile 1.65KB
  7. ros2_driver/src/serial-ros2-master_0/README.md 3.2KB
  8. ros2_driver/src/serial-ros2-master_0/changes.txt 259B
  9. ros2_driver/src/serial-ros2-master_0/doc/
  10. ros2_driver/src/serial-ros2-master_0/doc/Doxyfile 103.84KB
  11. ros2_driver/src/serial-ros2-master_0/doc/serial.dox 1.69KB
  12. ros2_driver/src/serial-ros2-master_0/examples/
  13. ros2_driver/src/serial-ros2-master_0/examples/serial_example.cc 4.18KB
  14. ros2_driver/src/serial-ros2-master_0/include/
  15. ros2_driver/src/serial-ros2-master_0/include/serial/
  16. ros2_driver/src/serial-ros2-master_0/include/serial/impl/
  17. ros2_driver/src/serial-ros2-master_0/include/serial/impl/unix.h 4.21KB
  18. ros2_driver/src/serial-ros2-master_0/include/serial/impl/win.h 3.81KB
  19. ros2_driver/src/serial-ros2-master_0/include/serial/serial.h 23.15KB
  20. ros2_driver/src/serial-ros2-master_0/include/serial/v8stdint.h 2.2KB
  21. ros2_driver/src/serial-ros2-master_0/package.xml 919B
  22. ros2_driver/src/serial-ros2-master_0/serial.sublime-project 575B
  23. ros2_driver/src/serial-ros2-master_0/src/
  24. ros2_driver/src/serial-ros2-master_0/src/impl/
  25. ros2_driver/src/serial-ros2-master_0/src/impl/list_ports/
  26. ros2_driver/src/serial-ros2-master_0/src/impl/list_ports/list_ports_linux.cc 7.07KB
  27. ros2_driver/src/serial-ros2-master_0/src/impl/list_ports/list_ports_osx.cc 7.03KB
  28. ros2_driver/src/serial-ros2-master_0/src/impl/list_ports/list_ports_win.cc 3.63KB
  29. ros2_driver/src/serial-ros2-master_0/src/impl/unix.cc 25.58KB
  30. ros2_driver/src/serial-ros2-master_0/src/impl/win.cc 14.7KB
  31. ros2_driver/src/serial-ros2-master_0/src/serial.cc 8.18KB
  32. ros2_driver/src/serial-ros2-master_0/tests/
  33. ros2_driver/src/serial-ros2-master_0/tests/CMakeLists.txt 469B
  34. ros2_driver/src/serial-ros2-master_0/tests/proof_of_concepts/
  35. ros2_driver/src/serial-ros2-master_0/tests/proof_of_concepts/mdc2250.cc 11B
  36. ros2_driver/src/serial-ros2-master_0/tests/proof_of_concepts/python_serial_test.py 273B
  37. ros2_driver/src/serial-ros2-master_0/tests/proof_of_concepts/tokenizer.cc 769B
  38. ros2_driver/src/serial-ros2-master_0/tests/unit/
  39. ros2_driver/src/serial-ros2-master_0/tests/unit/unix_timer_tests.cc 1.41KB
  40. ros2_driver/src/serial-ros2-master_0/tests/unix_serial_tests.cc 2.4KB
  41. ros2_driver/src/serial-ros2-master_0/visual_studio/
  42. ros2_driver/src/serial-ros2-master_0/visual_studio/serial/
  43. ros2_driver/src/serial-ros2-master_0/visual_studio/serial/serial.vcxproj 7.17KB
  44. ros2_driver/src/serial-ros2-master_0/visual_studio/serial/serial.vcxproj.filters 1.49KB
  45. ros2_driver/src/serial-ros2-master_0/visual_studio/test_serial/
  46. ros2_driver/src/serial-ros2-master_0/visual_studio/test_serial/test_serial.vcxproj 6.45KB
  47. ros2_driver/src/serial-ros2-master_0/visual_studio/test_serial/test_serial.vcxproj.filters 956B
  48. ros2_driver/src/serial-ros2-master_0/visual_studio/visual_studio.sln 1.93KB
  49. ros2_driver/src/ti_mmwave_rospkg_0/
  50. ros2_driver/src/ti_mmwave_rospkg_0/CMakeLists.txt 4.64KB
  51. ros2_driver/src/ti_mmwave_rospkg_0/README.md 7.77KB
  52. ros2_driver/src/ti_mmwave_rospkg_0/bin/
  53. ros2_driver/src/ti_mmwave_rospkg_0/bin/3D_people_count_68xx_demo.bin 606.75KB
  54. ros2_driver/src/ti_mmwave_rospkg_0/bin/README.txt 2.62KB
  55. ros2_driver/src/ti_mmwave_rospkg_0/bin/small_obstacle_detection_68xx.bin 525.94KB
  56. ros2_driver/src/ti_mmwave_rospkg_0/bin/xwr14xx_mmw_demo.bin 147.63KB
  57. ros2_driver/src/ti_mmwave_rospkg_0/bin/xwr16xx_mmw_demo.bin 313.57KB
  58. ros2_driver/src/ti_mmwave_rospkg_0/bin/xwr18xx_mmw_demo.bin 317.19KB
  59. ros2_driver/src/ti_mmwave_rospkg_0/bin/xwr64xxAOP_(6843AOP)_mmw_demo.bin 400.69KB
  60. ros2_driver/src/ti_mmwave_rospkg_0/bin/xwrl6432_mmw_demo.appimage 203.38KB
  61. ros2_driver/src/ti_mmwave_rospkg_0/cfg/
  62. ros2_driver/src/ti_mmwave_rospkg_0/cfg/1443_Standard.cfg 1.18KB
  63. ros2_driver/src/ti_mmwave_rospkg_0/cfg/1642_Standard.cfg 1.41KB
  64. ros2_driver/src/ti_mmwave_rospkg_0/cfg/1843_3d_hw_trig.cfg 1.45KB
  65. ros2_driver/src/ti_mmwave_rospkg_0/cfg/1843_Standard.cfg 1.44KB
  66. ros2_driver/src/ti_mmwave_rospkg_0/cfg/6432_Classification.cfg 1.53KB
  67. ros2_driver/src/ti_mmwave_rospkg_0/cfg/6432_Standard_Uncompressed.cfg 1.48KB
  68. ros2_driver/src/ti_mmwave_rospkg_0/cfg/6843AOP_Standard.cfg 1.46KB
  69. ros2_driver/src/ti_mmwave_rospkg_0/cfg/6843AOP_Tracking.cfg 1.57KB
  70. ros2_driver/src/ti_mmwave_rospkg_0/cfg/6843ISK_Occupancy.cfg 1.54KB
  71. ros2_driver/src/ti_mmwave_rospkg_0/cfg/6843ISK_Standard.cfg 1.47KB
  72. ros2_driver/src/ti_mmwave_rospkg_0/cfg/6843ISK_Tracking.cfg 1.55KB
  73. ros2_driver/src/ti_mmwave_rospkg_0/cfg/2294_Standard.cfg 1.44KB
  74. ros2_driver/src/ti_mmwave_rospkg_0/config/
  75. ros2_driver/src/ti_mmwave_rospkg_0/config/global_params.yaml 928B
  76. ros2_driver/src/ti_mmwave_rospkg_0/docs/
  77. ros2_driver/src/ti_mmwave_rospkg_0/docs/Multi_sensor_time_synchronization.md 12.12KB
  78. ros2_driver/src/ti_mmwave_rospkg_0/docs/hw_sync_radar_connections_annotated.jpg 151.04KB
  79. ros2_driver/src/ti_mmwave_rospkg_0/docs/hw_sync_sk_board_connections_annotated.jpg 234.44KB
  80. ros2_driver/src/ti_mmwave_rospkg_0/include/
  81. ros2_driver/src/ti_mmwave_rospkg_0/include/DataHandlerClass.h 5.85KB
  82. ros2_driver/src/ti_mmwave_rospkg_0/include/mmWave.h 12.21KB
  83. ros2_driver/src/ti_mmwave_rospkg_0/launch/
  84. ros2_driver/src/ti_mmwave_rospkg_0/launch/1443_Standard_launch.py 3.72KB
  85. ros2_driver/src/ti_mmwave_rospkg_0/launch/1642_Standard.py 3.08KB
  86. ros2_driver/src/ti_mmwave_rospkg_0/launch/1843_Standard_launch.py 3.08KB
  87. ros2_driver/src/ti_mmwave_rospkg_0/launch/6432_Classification.py 3.09KB
  88. ros2_driver/src/ti_mmwave_rospkg_0/launch/6432_Standard.py 3.09KB
  89. ros2_driver/src/ti_mmwave_rospkg_0/launch/6843AOP_Standard.py 1.02KB
  90. ros2_driver/src/ti_mmwave_rospkg_0/launch/6843AOP_Tracking.py 1.02KB
  91. ros2_driver/src/ti_mmwave_rospkg_0/launch/6843ISK_Occupancy.py 1.02KB
  92. ros2_driver/src/ti_mmwave_rospkg_0/launch/6843ISK_Standard.py 1.02KB
  93. ros2_driver/src/ti_mmwave_rospkg_0/launch/6843ISK_Tracking.py 1.02KB
  94. ros2_driver/src/ti_mmwave_rospkg_0/launch/IWR6843.py 3.64KB
  95. ros2_driver/src/ti_mmwave_rospkg_0/launch/__pycache__/
  96. ros2_driver/src/ti_mmwave_rospkg_0/launch/__pycache__/6432_Occupancy.cpython-310.pyc 1.89KB
  97. ros2_driver/src/ti_mmwave_rospkg_0/launch/__pycache__/6432_Standard.cpython-310.pyc 1.93KB
  98. ros2_driver/src/ti_mmwave_rospkg_0/launch/__pycache__/6432_Standard_Compressed.cpython-310.pyc 1.91KB
  99. ros2_driver/src/ti_mmwave_rospkg_0/launch/__pycache__/6432_Standard_Uncompressed.cpython-310.pyc 1.96KB
  100. ros2_driver/src/ti_mmwave_rospkg_0/launch/__pycache__/6843ISK_Occupancy.cpython-310.pyc 1.81KB
  101. ros2_driver/src/ti_mmwave_rospkg_0/launch/__pycache__/6843ISK_Occupany.cpython-310.pyc 1.83KB
  102. ros2_driver/src/ti_mmwave_rospkg_0/launch/__pycache__/6843ISK_Standard.cpython-310.pyc 1.8KB
  103. ros2_driver/src/ti_mmwave_rospkg_0/launch/__pycache__/6843ISK_Tracking.cpython-310.pyc 1.72KB
  104. ros2_driver/src/ti_mmwave_rospkg_0/launch/__pycache__/test_launch.cpython-310.pyc 1.7KB
  105. ros2_driver/src/ti_mmwave_rospkg_0/launch/rviz.rviz 6.07KB
  106. ros2_driver/src/ti_mmwave_rospkg_0/launch/rviz_launch.py 509B
  107. ros2_driver/src/ti_mmwave_rospkg_0/launch/rviz_old.rviz 5.72KB
  108. ros2_driver/src/ti_mmwave_rospkg_0/launch/2294_Standard_launch.py 3.08KB
  109. ros2_driver/src/ti_mmwave_rospkg_0/package.xml 2.64KB
  110. ros2_driver/src/ti_mmwave_rospkg_0/src/
  111. ros2_driver/src/ti_mmwave_rospkg_0/src/ConfigParameterServer.cpp 762B
  112. ros2_driver/src/ti_mmwave_rospkg_0/src/DataHandlerClass.cpp 69.06KB
  113. ros2_driver/src/ti_mmwave_rospkg_0/src/ParameterParser.cpp 9.38KB
  114. ros2_driver/src/ti_mmwave_rospkg_0/src/mmWaveCommSrv.cpp 4.79KB
  115. ros2_driver/src/ti_mmwave_rospkg_0/src/mmWaveQuickConfig.cpp 3.85KB
  116. ros2_driver/src/ti_mmwave_rospkg_msgs/
  117. ros2_driver/src/ti_mmwave_rospkg_msgs/CMakeLists.txt 1.03KB
  118. ros2_driver/src/ti_mmwave_rospkg_msgs/msg/
  119. ros2_driver/src/ti_mmwave_rospkg_msgs/msg/RadarClassifier.msg 29B
  120. ros2_driver/src/ti_mmwave_rospkg_msgs/msg/RadarMicroDopplerDataArray.msg 79B
  121. ros2_driver/src/ti_mmwave_rospkg_msgs/msg/RadarMicroDopplerDataContents.msg 14B
  122. ros2_driver/src/ti_mmwave_rospkg_msgs/msg/RadarMicroDopplerFeatureArray.msg 82B
  123. ros2_driver/src/ti_mmwave_rospkg_msgs/msg/RadarMicroDopplerFeatureContents.msg 118B
  124. ros2_driver/src/ti_mmwave_rospkg_msgs/msg/RadarOccupancy.msg 35B
  125. ros2_driver/src/ti_mmwave_rospkg_msgs/msg/RadarPointTrackID.msg 33B
  126. ros2_driver/src/ti_mmwave_rospkg_msgs/msg/RadarScan.msg 153B
  127. ros2_driver/src/ti_mmwave_rospkg_msgs/msg/RadarTrackArray.msg 68B
  128. ros2_driver/src/ti_mmwave_rospkg_msgs/msg/RadarTrackContents.msg 151B
  129. ros2_driver/src/ti_mmwave_rospkg_msgs/msg/RadarRawData.msg 42B
  130. ros2_driver/src/ti_mmwave_rospkg_msgs/package.xml 1.56KB
  131. ros2_driver/src/ti_mmwave_rospkg_msgs/srv/
  132. ros2_driver/src/ti_mmwave_rospkg_msgs/srv/MmwaveCli.srv 28B
  133. ros2_driver/src/ti_2944_raw_data/
  134. ros2_driver/src/ti_2944_raw_data/.gitignore 2KB
  135. ros2_driver/src/ti_2944_raw_data/LICENSE 1.04KB
  136. ros2_driver/src/ti_2944_raw_data/README.md 15.89KB
  137. ros2_driver/src/ti_2944_raw_data/configFiles/
  138. ros2_driver/src/ti_2944_raw_data/configFiles/AWR2243_mmwaveconfig.txt 3.18KB
  139. ros2_driver/src/ti_2944_raw_data/configFiles/cf.json 206B
  140. ros2_driver/src/ti_2944_raw_data/configFiles/xWR1843_profile_3D.cfg 1.47KB
  141. ros2_driver/src/ti_2944_raw_data/configFiles/profile_LVDS.cfg 1.04KB
  142. ros2_driver/src/ti_2944_raw_data/configFiles/profile_monitor_xwr29xx.cfg 1.04KB
  143. ros2_driver/src/ti_2944_raw_data/configFiles/profile_test_xwr29xx.cfg 1.64KB
  144. ros2_driver/src/ti_2944_raw_data/configFiles/profile_3d_2Azim_1ElevTx.cfg 1019B
  145. ros2_driver/src/ti_2944_raw_data/configFiles/profile_2d_3AzimTx.cfg 981B
  146. ros2_driver/src/ti_2944_raw_data/configFiles/profile_3d_3Azim_1ElevTx.cfg 1014B
  147. ros2_driver/src/ti_2944_raw_data/configFiles/profile_2d_2AzimTx.cfg 1003B
  148. ros2_driver/src/ti_2944_raw_data/configFiles/profile_xwr29xx_AB_512_512_max80m.cfg 1.3KB
  149. ros2_driver/src/ti_2944_raw_data/fpga_udp/
  150. ros2_driver/src/ti_2944_raw_data/fpga_udp/.appveyor.yml 368B
  151. ros2_driver/src/ti_2944_raw_data/fpga_udp/.pre-commit-config.yaml 1.28KB
  152. ros2_driver/src/ti_2944_raw_data/fpga_udp/.travis.yml 1006B
  153. ros2_driver/src/ti_2944_raw_data/fpga_udp/LICENSE 2.13KB
  154. ros2_driver/src/ti_2944_raw_data/fpga_udp/README.md 1.48KB
  155. ros2_driver/src/ti_2944_raw_data/fpga_udp/conda.recipe/
  156. ros2_driver/src/ti_2944_raw_data/fpga_udp/conda.recipe/meta.yaml 441B
  157. ros2_driver/src/ti_2944_raw_data/fpga_udp/docs/
  158. ros2_driver/src/ti_2944_raw_data/fpga_udp/docs/Makefile 7.48KB
  159. ros2_driver/src/ti_2944_raw_data/fpga_udp/docs/conf.py 9.34KB
  160. ros2_driver/src/ti_2944_raw_data/fpga_udp/docs/index.rst 106B
  161. ros2_driver/src/ti_2944_raw_data/fpga_udp/docs/make.bat 7.28KB
  162. ros2_driver/src/ti_2944_raw_data/fpga_udp/docs/python_example.rst 25B
  163. ros2_driver/src/ti_2944_raw_data/fpga_udp/pyproject.toml 435B
  164. ros2_driver/src/ti_2944_raw_data/fpga_udp/setup.py 3.03KB
  165. ros2_driver/src/ti_2944_raw_data/fpga_udp/src/
  166. ros2_driver/src/ti_2944_raw_data/fpga_udp/src/FTDI_D2XX/
  167. ros2_driver/src/ti_2944_raw_data/fpga_udp/src/FTDI_D2XX/Windows/
  168. ros2_driver/src/ti_2944_raw_data/fpga_udp/src/FTDI_D2XX/Windows/AMD64/
  169. ros2_driver/src/ti_2944_raw_data/fpga_udp/src/FTDI_D2XX/Windows/AMD64/ftd2xx.lib 19.79KB
  170. ros2_driver/src/ti_2944_raw_data/fpga_udp/src/FTDI_D2XX/Windows/ftd2xx.h 48.71KB
  171. ros2_driver/src/ti_2944_raw_data/fpga_udp/src/FTDI_D2XX/Windows/x86/
  172. ros2_driver/src/ti_2944_raw_data/fpga_udp/src/FTDI_D2XX/Windows/x86/ftd2xx.lib 21.67KB
  173. ros2_driver/src/ti_2944_raw_data/fpga_udp/src/WzSerialportPlus/
  174. ros2_driver/src/ti_2944_raw_data/fpga_udp/src/WzSerialportPlus/Linux/
  175. ros2_driver/src/ti_2944_raw_data/fpga_udp/src/WzSerialportPlus/Linux/WzSerialportPlus.cpp 6.96KB
  176. ros2_driver/src/ti_2944_raw_data/fpga_udp/src/WzSerialportPlus/Linux/WzSerialportPlus.h 1.69KB
  177. ros2_driver/src/ti_2944_raw_data/fpga_udp/src/WzSerialportPlus/Linux/main.cpp 602B
  178. ros2_driver/src/ti_2944_raw_data/fpga_udp/src/WzSerialportPlus/Linux/makefile 1.75KB
  179. ros2_driver/src/ti_2944_raw_data/fpga_udp/src/WzSerialportPlus/Windows/
  180. ros2_driver/src/ti_2944_raw_data/fpga_udp/src/WzSerialportPlus/Windows/WzSerialportPlus.cpp 4.92KB
  181. ros2_driver/src/ti_2944_raw_data/fpga_udp/src/WzSerialportPlus/Windows/WzSerialportPlus.h 1.74KB
  182. ros2_driver/src/ti_2944_raw_data/fpga_udp/src/WzSerialportPlus/Windows/main.cpp 595B
  183. ros2_driver/src/ti_2944_raw_data/fpga_udp/src/WzSerialportPlus/readme.md 1.52KB
  184. ros2_driver/src/ti_2944_raw_data/fpga_udp/src/kfifo/
  185. ros2_driver/src/ti_2944_raw_data/fpga_udp/src/kfifo/README.md 288B
  186. ros2_driver/src/ti_2944_raw_data/fpga_udp/src/kfifo/test.cpp 1023B
  187. ros2_driver/src/ti_2944_raw_data/fpga_udp/src/kfifo/unlock_queue.h 2.86KB
  188. ros2_driver/src/ti_2944_raw_data/fpga_udp/src/main.cpp 22.02KB
  189. ros2_driver/src/ti_2944_raw_data/fpga_udp/src/mmwaveDFP_2G/
  190. ros2_driver/src/ti_2944_raw_data/fpga_udp/src/mmwaveDFP_2G/FTDILib/
  191. ros2_driver/src/ti_2944_raw_data/fpga_udp/src/mmwaveDFP_2G/FTDILib/Docs/
  192. ros2_driver/src/ti_2944_raw_data/fpga_udp/src/mmwaveDFP_2G/FTDILib/Docs/Doxyfile 104.38KB
  193. ros2_driver/src/ti_2944_raw_data/fpga_udp/src/mmwaveDFP_2G/FTDILib/Docs/Doxygen/
  194. ros2_driver/src/ti_2944_raw_data/fpga_udp/src/mmwaveDFP_2G/FTDILib/Docs/Doxygen/html/
  195. ros2_driver/src/ti_2944_raw_data/fpga_udp/src/mmwaveDFP_2G/FTDILib/Docs/Doxygen/html/annotated.html 1.9KB
  196. ros2_driver/src/ti_2944_raw_data/fpga_udp/src/mmwaveDFP_2G/FTDILib/Docs/Doxygen/html/bc_s.png 676B
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  198. ros2_driver/src/ti_2944_raw_data/fpga_udp/src/mmwaveDFP_2G/FTDILib/Docs/Doxygen/html/classes.html 1.85KB
  199. ros2_driver/src/ti_2944_raw_data/fpga_udp/src/mmwaveDFP_2G/FTDILib/Docs/Doxygen/html/closed.png 132B
  200. ros2_driver/src/ti_2944_raw_data/fpga_udp/src/mmwaveDFP_2G/FTDILib/Docs/Doxygen/html/dir_ce79b4ceeea8a9b2ae929734fbb43c05.html 1.57KB
  201. ros2_driver/src/ti_2944_raw_data/fpga_udp/src/mmwaveDFP_2G/FTDILib/Docs/Doxygen/html/dir_dc9b0bdf853ec1e7a1b5d5e9dc289458.html 1.36KB
  202. ros2_driver/src/ti_2944_raw_data/fpga_udp/src/mmwaveDFP_2G/FTDILib/Docs/Doxygen/html/dir_e2b28ee948bcc85b7ae226d0d467136f.html 1.6KB
  203. ros2_driver/src/ti_2944_raw_data/fpga_udp/src/mmwaveDFP_2G/FTDILib/Docs/Doxygen/html/doc.png 746B
  204. ros2_driver/src/ti_2944_raw_data/fpga_udp/src/mmwaveDFP_2G/FTDILib/Docs/Doxygen/html/doxygen.css 30.21KB
  205. ros2_driver/src/ti_2944_raw_data/fpga_udp/src/mmwaveDFP_2G/FTDILib/Docs/Doxygen/html/doxygen.png 3.69KB
  206. ros2_driver/src/ti_2944_raw_data/fpga_udp/src/mmwaveDFP_2G/FTDILib/Docs/Doxygen/html/dynsections.js 4.27KB
  207. ros2_driver/src/ti_2944_raw_data/fpga_udp/src/mmwaveDFP_2G/FTDILib/Docs/Doxygen/html/files.html 3.17KB
  208. ros2_driver/src/ti_2944_raw_data/fpga_udp/src/mmwaveDFP_2G/FTDILib/Docs/Doxygen/html/folderclosed.png 616B
  209. ros2_driver/src/ti_2944_raw_data/fpga_udp/src/mmwaveDFP_2G/FTDILib/Docs/Doxygen/html/folderopen.png 597B
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资源介绍:

dddddddddaa
# 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
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