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  1. #include <stdio.h>
  2. #include <stdint.h>
  3.  
  4. typedef struct
  5. {
  6.     //0
  7.     uint32_t pulse_detect_enable : 1;
  8.     uint32_t reg0_31_1 : 31;
  9.     //1
  10.     uint32_t cfar_lead : 3;
  11.     uint32_t detection_algo : 1;
  12.     uint32_t stop_on_buffer_full : 1;
  13.     uint32_t reg1_5 : 1; //reserved
  14.     uint32_t min_pulse_length : 3;
  15.     uint32_t required_valid_fields : 4;
  16.     uint32_t reg1_15_13 : 3; //reserved
  17.     uint32_t dsp_width_threshold : 16;
  18.     //2
  19.     uint32_t num_rays_per_line : 12;
  20.     uint32_t derated_samples_per_ray : 13;
  21.     uint32_t reg2_31_25 : 7;
  22.     //3
  23.     uint32_t reg3_12_0 : 13;
  24.     uint32_t ray_start_idx : 13;
  25.     uint32_t reg3_31_26 : 6;
  26.     //4
  27.     uint32_t reset_start_idx : 13;
  28.     uint32_t reset_end_idx : 13;
  29.     uint32_t reg4_31_26 : 6;
  30.     //5
  31.     uint32_t ot0_start_idx : 13;
  32.     uint32_t ot0_end_idx : 13;
  33.     uint32_t reg5_31_26 : 6;
  34.     //6
  35.     uint32_t dsp_sat_peak_threshold : 12;
  36.     uint32_t reg6_15_12 : 4;
  37.     uint32_t leading_search_window : 8;
  38.     uint32_t trailing_search_window : 8;
  39.     //7
  40.     uint32_t dsp_time_offset : 16;
  41.     uint32_t fraction_of_local_max_to_declare_peak : 8;
  42.     uint32_t fraction_of_local_min_to_declare_saddle : 8;
  43.     //8
  44.     uint32_t negative_energy_sum_threshold; //32
  45.     //9
  46.     uint32_t fixed_start_threshold : 12;
  47.     //uint32_t fixed_cfar_end_threshold : 12;
  48.     uint32_t reg9_23_12 : 12;
  49.     uint32_t reg9_31_24 : 8;
  50.     //10
  51.     uint32_t width_threshold_enable : 1;
  52.     uint32_t retro_detect_enable : 1;
  53.     uint32_t range_threshold_enable : 1;
  54.     uint32_t noise_threshold_enable : 1;
  55.     uint32_t noise_measurement_enable : 1;
  56.     uint32_t median_select : 1;
  57.     uint32_t reg10_7_6 : 2; //reserved
  58.     uint32_t pulse_width_start_threshold : 12;
  59.     uint32_t retro_detect_threshold : 12;
  60.     //11,12
  61.     uint32_t start_threshold_width_scale_constant_table[2]; //6 x 8bit (idx0: 0-3, idx1: 4,5)
  62.     //13,14
  63.     //uint32_t cfar_end_threshold_width_scale_constant_table[2]; //6 x 8bit (idx0: 0-3, idx1: 4,5)
  64.     uint32_t reg13;
  65.     uint32_t reg14;
  66.     //15-18
  67.     uint32_t range_scale_boundary_index_table[4]; //8 x 13bit
  68.     //19,20
  69.     uint32_t start_threshold_range_scale_constant_offset_table[2]; //8 x 8bit
  70.     //21-24
  71.     uint32_t start_threshold_range_scale_constant_slope_table[4]; //8 x 16bit
  72.     //25,26
  73.     uint32_t enable_raw_pulse_format : 1;
  74.     uint32_t standard_pulse_format_num_groups : 3;
  75.     uint32_t reg25_4 : 1;
  76.     uint32_t standard_pulse_format_group0 : 5;
  77.     uint32_t standard_pulse_format_group1 : 5;
  78.     uint32_t standard_pulse_format_group2 : 5;
  79.     uint32_t standard_pulse_format_group3 : 5;
  80.     uint32_t standard_pulse_format_group4 : 5;
  81.     uint32_t reg25_31_30 : 2;
  82.     uint32_t standard_pulse_format_group5 : 5;
  83.     uint32_t standard_pulse_format_group6 : 5;
  84.     uint32_t standard_pulse_format_group7 : 5;
  85.     uint32_t reg26_31_15 : 17;
  86.     //27,28
  87.     uint32_t enable_saturated_pulse_format : 1;
  88.     uint32_t saturated_pulse_format_num_groups : 3;
  89.     uint32_t reg27_4 : 1;
  90.     uint32_t saturated_pulse_format_group0 : 5;
  91.     uint32_t saturated_pulse_format_group1 : 5;
  92.     uint32_t saturated_pulse_format_group2 : 5;
  93.     uint32_t saturated_pulse_format_group3 : 5;
  94.     uint32_t saturated_pulse_format_group4 : 5;
  95.     uint32_t reg27_31_30 : 2;
  96.     uint32_t saturated_pulse_format_group5 : 5;
  97.     uint32_t saturated_pulse_format_group6 : 5;
  98.     uint32_t saturated_pulse_format_group7 : 5;
  99.     uint32_t reg28_31_15 : 17;
  100.     //29,30
  101.     uint32_t enable_fused_pulse_format : 1;
  102.     uint32_t fused_pulse_format_num_groups : 3;
  103.     uint32_t reg29_4 : 1;
  104.     uint32_t fused_pulse_format_group0 : 5;
  105.     uint32_t fused_pulse_format_group1 : 5;
  106.     uint32_t fused_pulse_format_group2 : 5;
  107.     uint32_t fused_pulse_format_group3 : 5;
  108.     uint32_t fused_pulse_format_group4 : 5;
  109.     uint32_t reg29_31_30 : 2;
  110.     uint32_t fused_pulse_format_group5 : 5;
  111.     uint32_t fused_pulse_format_group6 : 5;
  112.     uint32_t fused_pulse_format_group7 : 5;
  113.     uint32_t reg30_31_15 : 17;
  114.     //31
  115.     uint32_t reg31;
  116.     //32
  117.     uint32_t signal_preprocessor_enable : 1;
  118.     uint32_t filter_enable : 1;
  119.     uint32_t rounding_enable : 1;
  120.     uint32_t reg32_31_3 : 29;
  121.     //33
  122.     uint32_t adc_offset_constant : 16;
  123.     uint32_t adc_scale_constant : 16;
  124.     //34
  125.     uint32_t filter_select : 1;
  126.     uint32_t reg34_3_1 : 3; //reserved
  127.     uint32_t cic_width : 4;
  128.     uint32_t cic_order : 2;
  129.     uint32_t reg34_15_10 : 6; //reserved
  130.     uint32_t one_over_cic_gain : 16;
  131.     //35-42
  132.     uint32_t firCoefficients[8];
  133.     //43
  134.     uint32_t reg43;
  135. } dsp_config_channel_t;
  136.  
  137. typedef struct
  138. {
  139.     uint32_t max_returns : 4;
  140.     uint32_t down_selection_method : 4;
  141.     uint32_t reg0_31_8 : 24;
  142.     uint32_t farDetectionSamePulseWindowWidth;
  143.     uint32_t superLowGainDetectionSamePulseWindowWidth;
  144.     uint32_t align64pad_0;
  145. } dsp_config_channel_fusion_t;
  146.  
  147. typedef struct
  148. {
  149.     uint32_t reserved[8];
  150. } stream_data_compiler_t;
  151.  
  152. typedef struct
  153. {
  154.     uint32_t adpBiasValueCoarse;
  155.     uint32_t adpBiasValueFine;
  156. } dsp_config_roic_t;
  157.  
  158. typedef struct
  159. {
  160.     uint32_t                    enable;
  161.     uint32_t                    detectionAlgo;
  162.     float                       rangeOffset;
  163.     float                       retroRangeOffset;
  164.     float                       azimuthOffset;
  165.     float                       elevationOffset;
  166.     dsp_config_channel_t        nearHighGainChannel;
  167.     dsp_config_channel_t        superLowGainChannel;
  168.     dsp_config_channel_t        farHighGainChannel;
  169.     dsp_config_channel_fusion_t channelFusion;
  170.     dsp_config_roic_t           roic;
  171.     stream_data_compiler_t      streamDataCompiler;
  172. } dsp_config_site_t;
  173.  
  174. typedef struct
  175. {
  176.     uint8_t  prf_offset_lsrdrv1[8][8];
  177.     uint8_t  prf_offset_lsrdrv2[8][8];
  178.     uint8_t  prf_offset_roic_rst[8][8];
  179.     uint32_t laser_period : 16;
  180.     uint32_t pad : 16;
  181.     uint32_t lsrdrv1_pulse_width : 8;
  182.     uint32_t lsrdrv2_pulse_width : 8;
  183.     uint32_t lsrdrv1_high_res_pulse_width : 8;
  184.     uint32_t lsrdrv2_high_res_pulse_width : 8;
  185.     uint32_t reserved[8];
  186. } dsp_config_laser_timing_t;
  187.  
  188. typedef struct
  189. {
  190.     uint32_t                  simulationModeEnable : 1;
  191.     uint32_t                  rcv_setting : 3;
  192.     uint32_t                  rcv_mode : 2;
  193.     uint32_t                  rcv_type : 3;
  194.     uint32_t                  pad : 23;
  195.     float                     tecSetPoint;
  196.     uint32_t                  pointCloudFormat;
  197.     uint32_t                  positionCalculationMethod;
  198.     dsp_config_laser_timing_t laserTiming;
  199. } dsp_config_general_t;
  200.  
  201. typedef struct
  202. {
  203.     uint32_t             structVersion;
  204.     uint32_t             align64pad;
  205.     dsp_config_general_t generalSettings;
  206.     dsp_config_site_t    site[4];
  207. } dsp_config_parameter_block_version_1_t;
  208.  
  209. #define SIMULATION_MODE 1
  210. #define DSP_CONFIG_STRUCT_VERSION 8
  211. #define POSITION_CALCULATION_METHOD 3
  212. #define FIR_01_00 0x00080007 // FIR Tap  1 |  0 ( 0.0002,  0.0002)
  213. #define FIR_03_02 0xffc3fff2 // FIR Tap  3 |  2 (-0.0019, -0.0005)
  214. #define FIR_05_04 0x0015ffb4 // FIR Tap  5 |  4 ( 0.0006, -0.0023)
  215. #define FIR_07_06 0x018000e8 // FIR Tap  7 |  6 ( 0.0117,  0.0071)
  216. #define FIR_09_08 0xfe3600c0 // FIR Tap  9 |  8 (-0.0140,  0.0059)
  217. #define FIR_11_10 0xfb1afb47 // FIR Tap 11 | 10 (-0.0383, -0.0369)
  218. #define FIR_13_12 0x0c1800a9 // FIR Tap 13 | 12 ( 0.0945,  0.0052)
  219. #define FIR_15_14 0x227e1974 // FIR Tap 15 | 14 ( 0.2695,  0.1989)
  220.  
  221. #define FIR_INIT { FIR_01_00, FIR_03_02, FIR_05_04, FIR_07_06, FIR_09_08, FIR_11_10, FIR_13_12, FIR_15_14 }
  222.  
  223. #define START_THRESHOLD_WIDTH_SCALE_CONSTANT_TABLE { 0, 126 << 8 }
  224. #define RANGE_SCALE_BOUNDARY_INDEX_TABLE { 0, 0, 0, 0 }
  225. #define START_THRESHOLD_RANGE_SCALE_CONSTANT_OFFSET_TABLE { 0, 0 }
  226. #define START_THRESHOLD_RANGE_SCALE_CONSTANT_SLOPE_TABLE { 0, 0, 0, 0 }
  227.  
  228. #if defined (ADV_A2_J) || defined (ADV_A3_STAGING) || defined (ADV_A3)
  229.     #define RAY_START_INDEX             304
  230. #else
  231.     #define RAY_START_INDEX             488
  232. #endif
  233. #define DSP_CONFIG_SITE_0_CHANNEL_0_INIT                       \
  234. {                                                              \
  235.     .pulse_detect_enable = 1,                                  \
  236.     .cfar_lead = 3,                                            \
  237.     .detection_algo = 1,                                       \
  238.     .stop_on_buffer_full = 0,                                  \
  239.     .min_pulse_length = 3,                                     \
  240.     .required_valid_fields = 15,                               \
  241.     .dsp_width_threshold = 50,                                 \
  242.     .num_rays_per_line = 960,                                  \
  243.     .derated_samples_per_ray = 8191,                           \
  244.     .ray_start_idx = RAY_START_INDEX,                          \
  245.     .reset_start_idx = 0,                                      \
  246.     .reset_end_idx = 16,                                       \
  247.     .ot0_start_idx = 0,                                        \
  248.     .ot0_end_idx = 16,                                         \
  249.     .dsp_sat_peak_threshold = 1200,                            \
  250.     .leading_search_window = 5,                                \
  251.     .trailing_search_window = 5,                               \
  252.     .dsp_time_offset = 0,                                      \
  253.     .negative_energy_sum_threshold = 0,                        \
  254.     .fixed_start_threshold = 175,                              \
  255.     .width_threshold_enable = 0,                               \
  256.     .retro_detect_enable = 1,                                  \
  257.     .range_threshold_enable = 0,                               \
  258.     .noise_threshold_enable = 0,                               \
  259.     .noise_measurement_enable = 1,                             \
  260.     .median_select = 0,                                        \
  261.     .pulse_width_start_threshold = 0,                          \
  262.     .retro_detect_threshold = 250,                             \
  263.     .start_threshold_width_scale_constant_table = START_THRESHOLD_WIDTH_SCALE_CONSTANT_TABLE,                       \
  264.     .range_scale_boundary_index_table = RANGE_SCALE_BOUNDARY_INDEX_TABLE,                                           \
  265.     .start_threshold_range_scale_constant_offset_table = START_THRESHOLD_RANGE_SCALE_CONSTANT_OFFSET_TABLE,         \
  266.     .start_threshold_range_scale_constant_slope_table = START_THRESHOLD_RANGE_SCALE_CONSTANT_SLOPE_TABLE,           \
  267.     .signal_preprocessor_enable = 1,                           \
  268.     .filter_enable = 1,                                        \
  269.     .rounding_enable = 1,                                      \
  270.     .fraction_of_local_min_to_declare_saddle = 51,             \
  271.     .fraction_of_local_max_to_declare_peak = 205,              \
  272.     .adc_offset_constant = 1200,                               \
  273.     .adc_scale_constant = 5600,                                \
  274.     .filter_select = 0,                                        \
  275.     .cic_width = 5,                                            \
  276.     .cic_order = 3,                                            \
  277.     .one_over_cic_gain = 13107,                                \
  278.     .firCoefficients = FIR_INIT,                               \
  279. }
  280.  
  281. #define DSP_CONFIG_SITE_0_CHANNEL_1_INIT                       \
  282. {                                                              \
  283.     .pulse_detect_enable = 1,                                  \
  284.     .cfar_lead = 3,                                            \
  285.     .detection_algo = 1,                                       \
  286.     .stop_on_buffer_full = 0,                                  \
  287.     .min_pulse_length = 3,                                     \
  288.     .required_valid_fields = 15,                               \
  289.     .dsp_width_threshold = 50,                                 \
  290.     .num_rays_per_line = 960,                                  \
  291.     .derated_samples_per_ray = 8191,                           \
  292.     .ray_start_idx = RAY_START_INDEX,                          \
  293.     .reset_start_idx = 0,                                      \
  294.     .reset_end_idx = 16,                                       \
  295.     .ot0_start_idx = 0,                                        \
  296.     .ot0_end_idx = 16,                                         \
  297.     .dsp_sat_peak_threshold = 1200,                            \
  298.     .leading_search_window = 5,                                \
  299.     .trailing_search_window = 5,                               \
  300.     .dsp_time_offset = 0,                                      \
  301.     .negative_energy_sum_threshold = 0,                        \
  302.     .fixed_start_threshold = 175,                              \
  303.     .width_threshold_enable = 0,                               \
  304.     .retro_detect_enable = 1,                                  \
  305.     .range_threshold_enable = 0,                               \
  306.     .noise_threshold_enable = 0,                               \
  307.     .noise_measurement_enable = 1,                             \
  308.     .median_select = 0,                                        \
  309.     .pulse_width_start_threshold = 0,                          \
  310.     .retro_detect_threshold = 250,                             \
  311.     .start_threshold_width_scale_constant_table = START_THRESHOLD_WIDTH_SCALE_CONSTANT_TABLE,                       \
  312.     .range_scale_boundary_index_table = RANGE_SCALE_BOUNDARY_INDEX_TABLE,                                           \
  313.     .start_threshold_range_scale_constant_offset_table = START_THRESHOLD_RANGE_SCALE_CONSTANT_OFFSET_TABLE,         \
  314.     .start_threshold_range_scale_constant_slope_table = START_THRESHOLD_RANGE_SCALE_CONSTANT_SLOPE_TABLE,           \
  315.     .signal_preprocessor_enable = 1,                           \
  316.     .filter_enable = 1,                                        \
  317.     .rounding_enable = 1,                                      \
  318.     .fraction_of_local_min_to_declare_saddle = 51,             \
  319.     .fraction_of_local_max_to_declare_peak = 205,              \
  320.     .adc_offset_constant = 1200,                               \
  321.     .adc_scale_constant = 5600,                                \
  322.     .filter_select = 0,                                        \
  323.     .cic_width = 5,                                            \
  324.     .cic_order = 3,                                            \
  325.     .one_over_cic_gain = 13107,                                \
  326.     .firCoefficients = FIR_INIT,                               \
  327. }
  328.  
  329. #define DSP_CONFIG_SITE_0_CHANNEL_2_INIT                       \
  330. {                                                              \
  331.     .pulse_detect_enable = 1,                                  \
  332.     .cfar_lead = 3,                                            \
  333.     .detection_algo = 1,                                       \
  334.     .stop_on_buffer_full = 0,                                  \
  335.     .min_pulse_length = 3,                                     \
  336.     .required_valid_fields = 15,                               \
  337.     .dsp_width_threshold = 50,                                 \
  338.     .num_rays_per_line = 960,                                  \
  339.     .derated_samples_per_ray = 8191,                           \
  340.     .ray_start_idx = RAY_START_INDEX,                          \
  341.     .reset_start_idx = 0,                                      \
  342.     .reset_end_idx = 16,                                       \
  343.     .ot0_start_idx = 0,                                        \
  344.     .ot0_end_idx = 16,                                         \
  345.     .dsp_sat_peak_threshold = 1200,                            \
  346.     .leading_search_window = 5,                                \
  347.     .trailing_search_window = 5,                               \
  348.     .dsp_time_offset = 0,                                      \
  349.     .negative_energy_sum_threshold = 0,                        \
  350.     .fixed_start_threshold = 175,                              \
  351.     .width_threshold_enable = 0,                               \
  352.     .retro_detect_enable = 1,                                  \
  353.     .range_threshold_enable = 0,                               \
  354.     .noise_threshold_enable = 0,                               \
  355.     .noise_measurement_enable = 1,                             \
  356.     .median_select = 0,                                        \
  357.     .pulse_width_start_threshold = 0,                          \
  358.     .retro_detect_threshold = 250,                             \
  359.     .start_threshold_width_scale_constant_table = START_THRESHOLD_WIDTH_SCALE_CONSTANT_TABLE,                       \
  360.     .range_scale_boundary_index_table = RANGE_SCALE_BOUNDARY_INDEX_TABLE,                                           \
  361.     .start_threshold_range_scale_constant_offset_table = START_THRESHOLD_RANGE_SCALE_CONSTANT_OFFSET_TABLE,         \
  362.     .start_threshold_range_scale_constant_slope_table = START_THRESHOLD_RANGE_SCALE_CONSTANT_SLOPE_TABLE,           \
  363.     .signal_preprocessor_enable = 1,                           \
  364.     .filter_enable = 1,                                        \
  365.     .rounding_enable = 1,                                      \
  366.     .fraction_of_local_min_to_declare_saddle = 51,             \
  367.     .fraction_of_local_max_to_declare_peak = 205,              \
  368.     .adc_offset_constant = 1200,                               \
  369.     .adc_scale_constant = 5600,                                \
  370.     .filter_select = 0,                                        \
  371.     .cic_width = 5,                                            \
  372.     .cic_order = 3,                                            \
  373.     .one_over_cic_gain = 13107,                                \
  374.     .firCoefficients = FIR_INIT,                               \
  375. }
  376.  
  377. #define DSP_CONFIG_SITE_1_CHANNEL_0_INIT                       \
  378. {                                                              \
  379.     .pulse_detect_enable = 1,                                  \
  380.     .cfar_lead = 3,                                            \
  381.     .detection_algo = 1,                                       \
  382.     .stop_on_buffer_full = 0,                                  \
  383.     .min_pulse_length = 3,                                     \
  384.     .required_valid_fields = 15,                               \
  385.     .dsp_width_threshold = 50,                                 \
  386.     .num_rays_per_line = 960,                                  \
  387.     .derated_samples_per_ray = 8191,                           \
  388.     .ray_start_idx = RAY_START_INDEX,                          \
  389.     .reset_start_idx = 0,                                      \
  390.     .reset_end_idx = 16,                                       \
  391.     .ot0_start_idx = 0,                                        \
  392.     .ot0_end_idx = 16,                                         \
  393.     .dsp_sat_peak_threshold = 1200,                            \
  394.     .leading_search_window = 5,                                \
  395.     .trailing_search_window = 5,                               \
  396.     .dsp_time_offset = 0,                                      \
  397.     .negative_energy_sum_threshold = 0,                        \
  398.     .fixed_start_threshold = 175,                              \
  399.     .width_threshold_enable = 0,                               \
  400.     .retro_detect_enable = 1,                                  \
  401.     .range_threshold_enable = 0,                               \
  402.     .noise_threshold_enable = 0,                               \
  403.     .noise_measurement_enable = 1,                             \
  404.     .median_select = 0,                                        \
  405.     .pulse_width_start_threshold = 0,                          \
  406.     .retro_detect_threshold = 250,                             \
  407.     .start_threshold_width_scale_constant_table = START_THRESHOLD_WIDTH_SCALE_CONSTANT_TABLE,                       \
  408.     .range_scale_boundary_index_table = RANGE_SCALE_BOUNDARY_INDEX_TABLE,                                           \
  409.     .start_threshold_range_scale_constant_offset_table = START_THRESHOLD_RANGE_SCALE_CONSTANT_OFFSET_TABLE,         \
  410.     .start_threshold_range_scale_constant_slope_table = START_THRESHOLD_RANGE_SCALE_CONSTANT_SLOPE_TABLE,           \
  411.     .signal_preprocessor_enable = 1,                           \
  412.     .filter_enable = 1,                                        \
  413.     .rounding_enable = 1,                                      \
  414.     .fraction_of_local_min_to_declare_saddle = 51,             \
  415.     .fraction_of_local_max_to_declare_peak = 205,              \
  416.     .adc_offset_constant = 1200,                               \
  417.     .adc_scale_constant = 5600,                                \
  418.     .filter_select = 0,                                        \
  419.     .cic_width = 5,                                            \
  420.     .cic_order = 3,                                            \
  421.     .one_over_cic_gain = 13107,                                \
  422.     .firCoefficients = FIR_INIT,                               \
  423. }
  424.  
  425. #define DSP_CONFIG_SITE_1_CHANNEL_1_INIT                       \
  426. {                                                              \
  427.     .pulse_detect_enable = 1,                                  \
  428.     .cfar_lead = 3,                                            \
  429.     .detection_algo = 1,                                       \
  430.     .stop_on_buffer_full = 0,                                  \
  431.     .min_pulse_length = 3,                                     \
  432.     .required_valid_fields = 15,                               \
  433.     .dsp_width_threshold = 50,                                 \
  434.     .num_rays_per_line = 960,                                  \
  435.     .derated_samples_per_ray = 8191,                           \
  436.     .ray_start_idx = RAY_START_INDEX,                          \
  437.     .reset_start_idx = 0,                                      \
  438.     .reset_end_idx = 16,                                       \
  439.     .ot0_start_idx = 0,                                        \
  440.     .ot0_end_idx = 16,                                         \
  441.     .dsp_sat_peak_threshold = 1200,                            \
  442.     .leading_search_window = 5,                                \
  443.     .trailing_search_window = 5,                               \
  444.     .dsp_time_offset = 0,                                      \
  445.     .negative_energy_sum_threshold = 0,                        \
  446.     .fixed_start_threshold = 175,                              \
  447.     .width_threshold_enable = 0,                               \
  448.     .retro_detect_enable = 1,                                  \
  449.     .range_threshold_enable = 0,                               \
  450.     .noise_threshold_enable = 0,                               \
  451.     .noise_measurement_enable = 1,                             \
  452.     .median_select = 0,                                        \
  453.     .pulse_width_start_threshold = 0,                          \
  454.     .retro_detect_threshold = 250,                             \
  455.     .start_threshold_width_scale_constant_table = START_THRESHOLD_WIDTH_SCALE_CONSTANT_TABLE,                       \
  456.     .range_scale_boundary_index_table = RANGE_SCALE_BOUNDARY_INDEX_TABLE,                                           \
  457.     .start_threshold_range_scale_constant_offset_table = START_THRESHOLD_RANGE_SCALE_CONSTANT_OFFSET_TABLE,         \
  458.     .start_threshold_range_scale_constant_slope_table = START_THRESHOLD_RANGE_SCALE_CONSTANT_SLOPE_TABLE,           \
  459.     .signal_preprocessor_enable = 1,                           \
  460.     .filter_enable = 1,                                        \
  461.     .rounding_enable = 1,                                      \
  462.     .fraction_of_local_min_to_declare_saddle = 51,             \
  463.     .fraction_of_local_max_to_declare_peak = 205,              \
  464.     .adc_offset_constant = 1200,                               \
  465.     .adc_scale_constant = 5600,                                \
  466.     .filter_select = 0,                                        \
  467.     .cic_width = 5,                                            \
  468.     .cic_order = 3,                                            \
  469.     .one_over_cic_gain = 13107,                                \
  470.     .firCoefficients = FIR_INIT,                               \
  471. }
  472.  
  473. #define DSP_CONFIG_SITE_1_CHANNEL_2_INIT                       \
  474. {                                                              \
  475.     .pulse_detect_enable = 1,                                  \
  476.     .cfar_lead = 3,                                            \
  477.     .detection_algo = 1,                                       \
  478.     .stop_on_buffer_full = 0,                                  \
  479.     .min_pulse_length = 3,                                     \
  480.     .required_valid_fields = 15,                               \
  481.     .dsp_width_threshold = 50,                                 \
  482.     .num_rays_per_line = 960,                                  \
  483.     .derated_samples_per_ray = 8191,                           \
  484.     .ray_start_idx = RAY_START_INDEX,                          \
  485.     .reset_start_idx = 0,                                      \
  486.     .reset_end_idx = 16,                                       \
  487.     .ot0_start_idx = 0,                                        \
  488.     .ot0_end_idx = 16,                                         \
  489.     .dsp_sat_peak_threshold = 1200,                            \
  490.     .leading_search_window = 5,                                \
  491.     .trailing_search_window = 5,                               \
  492.     .dsp_time_offset = 0,                                      \
  493.     .negative_energy_sum_threshold = 0,                        \
  494.     .fixed_start_threshold = 175,                              \
  495.     .width_threshold_enable = 0,                               \
  496.     .retro_detect_enable = 1,                                  \
  497.     .range_threshold_enable = 0,                               \
  498.     .noise_threshold_enable = 0,                               \
  499.     .noise_measurement_enable = 1,                             \
  500.     .median_select = 0,                                        \
  501.     .pulse_width_start_threshold = 0,                          \
  502.     .retro_detect_threshold = 250,                             \
  503.     .start_threshold_width_scale_constant_table = START_THRESHOLD_WIDTH_SCALE_CONSTANT_TABLE,                       \
  504.     .range_scale_boundary_index_table = RANGE_SCALE_BOUNDARY_INDEX_TABLE,                                           \
  505.     .start_threshold_range_scale_constant_offset_table = START_THRESHOLD_RANGE_SCALE_CONSTANT_OFFSET_TABLE,         \
  506.     .start_threshold_range_scale_constant_slope_table = START_THRESHOLD_RANGE_SCALE_CONSTANT_SLOPE_TABLE,           \
  507.     .signal_preprocessor_enable = 1,                           \
  508.     .filter_enable = 1,                                        \
  509.     .rounding_enable = 1,                                      \
  510.     .fraction_of_local_min_to_declare_saddle = 51,             \
  511.     .fraction_of_local_max_to_declare_peak = 205,              \
  512.     .adc_offset_constant = 1200,                               \
  513.     .adc_scale_constant = 5600,                                \
  514.     .filter_select = 0,                                        \
  515.     .cic_width = 5,                                            \
  516.     .cic_order = 3,                                            \
  517.     .one_over_cic_gain = 13107,                                \
  518.     .firCoefficients = FIR_INIT,                               \
  519. }
  520.  
  521. #define DSP_CONFIG_SITE_2_CHANNEL_0_INIT DSP_CONFIG_SITE_1_CHANNEL_0_INIT
  522. #define DSP_CONFIG_SITE_2_CHANNEL_1_INIT DSP_CONFIG_SITE_1_CHANNEL_1_INIT
  523. #define DSP_CONFIG_SITE_2_CHANNEL_2_INIT DSP_CONFIG_SITE_1_CHANNEL_2_INIT
  524. #define DSP_CONFIG_SITE_3_CHANNEL_0_INIT DSP_CONFIG_SITE_1_CHANNEL_0_INIT
  525. #define DSP_CONFIG_SITE_3_CHANNEL_1_INIT DSP_CONFIG_SITE_1_CHANNEL_1_INIT
  526. #define DSP_CONFIG_SITE_3_CHANNEL_2_INIT DSP_CONFIG_SITE_1_CHANNEL_2_INIT
  527.  
  528. #define CHANNEL_FUSION_INIT                      	        \
  529. {                                                              \
  530.     .max_returns = 8,                                          \
  531.     .down_selection_method = 0,                                \
  532.     .reg0_31_8 = 0,                                            \
  533.     .farDetectionSamePulseWindowWidth = 20,                    \
  534.     .superLowGainDetectionSamePulseWindowWidth = 20,           \
  535.     .align64pad_0 = 0,                                         \
  536.  }
  537.  
  538.  
  539. #define DSP_CONFIG_SITE_0_INIT                                 \
  540. {                                                              \
  541.     .enable = 1,                                               \
  542.     .detectionAlgo = 1,                                        \
  543.     .rangeOffset = 0.0f,                                       \
  544.     .retroRangeOffset = 0.0f,                                  \
  545.     .azimuthOffset = 0.0145f - 1.0472f,                        \
  546.     .elevationOffset = 0.0049f,                                \
  547.     .nearHighGainChannel = DSP_CONFIG_SITE_0_CHANNEL_0_INIT,   \
  548.     .superLowGainChannel = DSP_CONFIG_SITE_0_CHANNEL_1_INIT,   \
  549.     .farHighGainChannel = DSP_CONFIG_SITE_0_CHANNEL_2_INIT,    \
  550.     .channelFusion = CHANNEL_FUSION_INIT,                      \
  551.     .roic = { 22,0 },                                          \
  552. }
  553.  
  554. #if defined (ADV_A2_J)
  555.     #define PULSE_DETECT_ENABLE  1
  556. #elif defined (ADV_A3_STAGING) || defined (ADV_A3)
  557.     #define PULSE_DETECT_ENABLE  1
  558. #else
  559.     #define PULSE_DETECT_ENABLE  1
  560. #endif
  561.  
  562. #define DSP_CONFIG_SITE_1_INIT                                 \
  563. {                                                              \
  564.     .enable = PULSE_DETECT_ENABLE,                             \
  565.     .detectionAlgo = 1,                                        \
  566.     .rangeOffset = 0.0f,                                       \
  567.     .retroRangeOffset = 0.0f,                                  \
  568.     .azimuthOffset = -0.0145f - 1.0472f,                       \
  569.     .elevationOffset = -0.0049f,                               \
  570.     .nearHighGainChannel = DSP_CONFIG_SITE_1_CHANNEL_0_INIT,   \
  571.     .superLowGainChannel = DSP_CONFIG_SITE_1_CHANNEL_1_INIT,   \
  572.     .farHighGainChannel = DSP_CONFIG_SITE_1_CHANNEL_2_INIT,    \
  573.     .channelFusion = CHANNEL_FUSION_INIT,                      \
  574.     .roic = { 22,0 },                                          \
  575. }
  576.  
  577. //TODO: Update these values (mainly offsets)
  578. #define DSP_CONFIG_SITE_2_INIT                                 \
  579. {                                                              \
  580.     .enable = PULSE_DETECT_ENABLE,                             \
  581.     .detectionAlgo = 1,                                        \
  582.     .rangeOffset = 0.0f,                                       \
  583.     .retroRangeOffset = 0.0f,                                  \
  584.     .azimuthOffset = 0.f - 1.0472f,                            \
  585.     .elevationOffset = 0.f,                                    \
  586.     .nearHighGainChannel = DSP_CONFIG_SITE_2_CHANNEL_0_INIT,   \
  587.     .superLowGainChannel = DSP_CONFIG_SITE_2_CHANNEL_1_INIT,   \
  588.     .farHighGainChannel = DSP_CONFIG_SITE_2_CHANNEL_2_INIT,    \
  589.     .channelFusion = CHANNEL_FUSION_INIT,                      \
  590.     .roic = { 22,0 },                                          \
  591. }
  592.  
  593.  
  594. #define DSP_CONFIG_SITE_3_INIT                                 \
  595. {                                                              \
  596.     .enable = PULSE_DETECT_ENABLE,                             \
  597.     .detectionAlgo = 1,                                        \
  598.     .rangeOffset = 0.0f,                                       \
  599.     .retroRangeOffset = 0.0f,                                  \
  600.     .azimuthOffset = -0.0290f - 1.0472f,                       \
  601.     .elevationOffset = -0.0098f,                               \
  602.     .nearHighGainChannel = DSP_CONFIG_SITE_3_CHANNEL_0_INIT,   \
  603.     .superLowGainChannel = DSP_CONFIG_SITE_3_CHANNEL_1_INIT,   \
  604.     .farHighGainChannel = DSP_CONFIG_SITE_3_CHANNEL_2_INIT,    \
  605.     .channelFusion = CHANNEL_FUSION_INIT,                      \
  606.     .roic = { 22,0 },                                          \
  607. }
  608.  
  609. #define PRF_OFFSET_LSRDRV1_INIT                                \
  610. {                                                              \
  611.     0, 0, 0, 0, 0, 0, 0, 0,                                    \
  612.     0, 0, 0, 0, 0, 0, 0, 0,                                    \
  613.     0, 0, 0, 0, 0, 0, 0, 0,                                    \
  614.     0, 0, 0, 0, 0, 0, 0, 0,                                    \
  615.     0, 0, 0, 0, 0, 0, 0, 0,                                    \
  616.     0, 0, 0, 0, 0, 0, 0, 0,                                    \
  617.     0, 0, 0, 0, 0, 0, 0, 0,                                    \
  618.     0, 0, 0, 0, 0, 0, 0, 0,                                    \
  619. }
  620. #define PRF_OFFSET_LSRDRV2_INIT                                \
  621. {                                                             \
  622.     0, 0, 0, 0, 0, 0, 0, 0,                                    \
  623.     0, 0, 0, 0, 0, 0, 0, 0,                                    \
  624.     0, 0, 0, 0, 0, 0, 0, 0,                                    \
  625.     0, 0, 0, 0, 0, 0, 0, 0,                                    \
  626.     0, 0, 0, 0, 0, 0, 0, 0,                                    \
  627.     0, 0, 0, 0, 0, 0, 0, 0,                                    \
  628.     0, 0, 0, 0, 0, 0, 0, 0,                                    \
  629.     0, 0, 0, 0, 0, 0, 0, 0,                                    \
  630. }
  631. #define PRF_OFFSET_ROIC_RST_INIT                               \
  632. {                                                              \
  633.     0, 0, 0, 0, 0, 0, 0, 0,                                    \
  634.     0, 0, 0, 0, 0, 0, 0, 0,                                    \
  635.     0, 0, 0, 0, 0, 0, 0, 0,                                    \
  636.     0, 0, 0, 0, 0, 0, 0, 0,                                    \
  637.     0, 0, 0, 0, 0, 0, 0, 0,                                    \
  638.     0, 0, 0, 0, 0, 0, 0, 0,                                    \
  639.     0, 0, 0, 0, 0, 0, 0, 0,                                    \
  640.     0, 0, 0, 0, 0, 0, 0, 0,                                    \
  641. }
  642.  
  643. #define DSP_CONFIG_LASER_TIMING_INIT                           \
  644. {                                                              \
  645.     .prf_offset_lsrdrv1 = PRF_OFFSET_LSRDRV1_INIT,             \
  646.     .prf_offset_lsrdrv2 = PRF_OFFSET_LSRDRV2_INIT,             \
  647.     .prf_offset_roic_rst = PRF_OFFSET_ROIC_RST_INIT,           \
  648.     .laser_period = 0,                                         \
  649.     .lsrdrv1_pulse_width = 0,                                  \
  650.     .lsrdrv2_pulse_width = 0,                                  \
  651.     .lsrdrv1_high_res_pulse_width = 0,                         \
  652.     .lsrdrv2_high_res_pulse_width = 0,                         \
  653. }
  654. /* For 4 beams ROICs, the APDs are connected to the middle sites,
  655. so sites 2,3,4 & 5 are active. Site 0,1,6,7 are inactive.
  656.  
  657. The mode used is JTX2 to begin with, the mode is changed in TC4, and is only for monitoring purposes
  658. J1=0 , JTX1=1, JTX2=2, JTX3=3
  659.  
  660. rcv_type tells which ROIC type is used, 1 is 711, 2 is 711a (needs to be sent to Rfsoc for monitoring purposes)
  661. */
  662. #define DSP_CONFIG_GENERAL_INIT                                \
  663. {                                                              \
  664.     .simulationModeEnable = SIMULATION_MODE,                   \
  665.     .rcv_setting = 2,                                          \
  666.     .rcv_mode = 2,                                             \
  667.     .rcv_type = 1,                                             \
  668.     .tecSetPoint = 35.0,                                       \
  669.     .pointCloudFormat = 1,                                     \
  670.     .positionCalculationMethod = POSITION_CALCULATION_METHOD,  \
  671.     .laserTiming = DSP_CONFIG_LASER_TIMING_INIT,               \
  672. }
  673.  
  674. dsp_config_parameter_block_version_1_t const default_dsp_config =
  675. {
  676.     .structVersion = DSP_CONFIG_STRUCT_VERSION,
  677.     .generalSettings = DSP_CONFIG_GENERAL_INIT,
  678.     .site = { DSP_CONFIG_SITE_0_INIT, DSP_CONFIG_SITE_1_INIT, DSP_CONFIG_SITE_2_INIT, DSP_CONFIG_SITE_3_INIT },
  679. };
  680.  
  681. int main(void) {
  682. 	// your code goes here
  683. 	return 0;
  684. }
  685.  
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https://ideone.com/CkabPC
language:
C (gcc 8.3)
created:
5 days ago
visibility:
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