testParam.ipynb

{
 "cells": [
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "# 毫米波雷达配置参数合理性校验\n",
    "1. 主要校验毫米波雷达需要的cfg文件及DCA采集板需要的cf.json文件的参数配置是否正确。\n",
    "2. 参数的约束条件来自于IWR1843自身的器件特性，具体请参考IWR1843数据手册、mmwave SDK用户手册、chirp编程手册。\n",
    "3. 若参数满足约束条件将以青色输出调试信息，若不满足则以紫色或黄色输出。\n",
    "4. 需要注意的是，本程序约束条件并非完全准确，故特殊情况下即使参数全都满足约束条件，也有概率无法正常运行。"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "### 载入相关库"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 1,
   "metadata": {},
   "outputs": [],
   "source": [
    "from color_log.clog import ColorLog, MODE_CONSOLE_LOG  # pip install py-color-log\n",
    "import math\n",
    "import json\n",
    "from mmwave.dataloader import DCA1000\n",
    "log = ColorLog(name='radar_param_logger', mode=MODE_CONSOLE_LOG)"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "### 读取配置文件\n",
    "配置文件信息既可以通过DCA1000.read_config()方法从cfg文件读取，也可以手动输入ADC_PARAMS字典，其结构请参考修改配置文件章节。"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "{'startFreq': 77, 'idleTime': 152.0, 'adc_valid_start_time': 7.0, 'rampEndTime': 61.0, 'freq_slope': 65.0, 'txStartTime': 1.0, 'samples': 512, 'sample_rate': 9562, 'chirps': 32, 'frame_periodicity': 1000.0, 'rx': 4, 'tx': 3, 'IQ': 2, 'bytes': 2}\n",
      "{'DCA1000Config': {'dataLoggingMode': 'raw', 'dataTransferMode': 'LVDSCapture', 'dataCaptureMode': 'ethernetStream', 'lvdsMode': 1, 'dataFormatMode': 3, 'packetDelay_us': 5}}\n"
     ]
    }
   ],
   "source": [
    "# 读取毫米波雷达cfg配置文件\n",
    "_,_,ADC_PARAMS,_=DCA1000.read_config(\"configFiles/xWR1843_profile_3D.cfg\")\n",
    "print(ADC_PARAMS)\n",
    "\n",
    "# 读取DCA采集板cf.json配置文件\n",
    "with open('configFiles/cf.json') as cf_json:\n",
    "    cf_json_load = json.loads(cf_json.read())\n",
    "    print(cf_json_load)"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "### 计算约束条件\n",
    "若参数满足约束条件将以青色输出调试信息，若不满足则以紫色或黄色输出。以黑色输出的为计算出的距离、速度分辨率等信息。"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "metadata": {},
   "outputs": [
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\u001b[36m2023-04-08 23:51:43 [INFO] - mmwFreqSlopeConst: 1211687822,freqSlopeConst_actual: 65.000000(MHz/us) must <= 100\u001b[0m\n",
      "\u001b[37m2023-04-08 23:51:43 [DEBUG] - chirp repetition period:639.00(us)->max single tx chirp freq:1.56(kHz)\u001b[0m\n",
      "\u001b[36m2023-04-08 23:51:43 [INFO] - active frame time: 20.448(ms) must < frame periodicity: 1000.000(ms)\u001b[0m\n",
      "\u001b[37m2023-04-08 23:51:43 [DEBUG] - All tx chirp repetition period:10416.67(us)->All tx chirp freq:0.10(kHz)\u001b[0m\n",
      "\u001b[37m2023-04-08 23:51:43 [DEBUG] - adc start time:7.00(us) adc sample time:53.55(us) max adc sample time:53.85(us) ramp end time:61.00(us)\u001b[0m\n",
      "\u001b[36m2023-04-08 23:51:43 [INFO] - adc_sample_sweep_bandwidth:3480.44(MHz) must < max_adc_sweep_bandwidth:3500.25(MHz)\u001b[0m\n",
      "\u001b[36m2023-04-08 23:51:43 [INFO] - total_ramp_sweep_bandwidth:3965.00(MHz) must <= 4000(MHz)\u001b[0m\n",
      "\u001b[36m2023-04-08 23:51:43 [INFO] - idle time: 152.000(us) must >= Synthesizer Ramp Down Time: 7.000(us)\u001b[0m\n",
      "\u001b[37m2023-04-08 23:51:43 [DEBUG] - max range:17.65(m)\u001b[0m\n",
      "\u001b[37m2023-04-08 23:51:43 [DEBUG] - range resolution:0.0431(m),range interbin resolution:0.0431(m)\u001b[0m\n",
      "\u001b[37m2023-04-08 23:51:43 [DEBUG] - max velocity:1.48(m/s)\u001b[0m\n",
      "\u001b[37m2023-04-08 23:51:43 [DEBUG] - velocity resolution:0.09(m/s)\u001b[0m\n",
      "\u001b[36m2023-04-08 23:51:43 [INFO] - max beat frequency:7.65(MHz) must <= max I/F bandwith 10(MHz)\u001b[0m\n",
      "\u001b[36m2023-04-08 23:51:43 [INFO] - radar cube size:768.00(KB) must <= 1024(KB)\u001b[0m\n",
      "\u001b[36m2023-04-08 23:51:43 [INFO] - LVDS Data Size Per Chirp:8448(Bytes) must <= max Send Bytes Per Chirp:31950(Bytes)\u001b[0m\n",
      "\u001b[37m2023-04-08 23:51:43 [DEBUG] - FPGA throughput:6.52(Mbps)\u001b[0m\n",
      "\u001b[36m2023-04-08 23:51:43 [INFO] - FPGA Packet Delay:5(us) should <= min required Packet Delay:136.35(us)\u001b[0m\n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "current params: {'startFreq': 77, 'idleTime': 152.0, 'adc_valid_start_time': 7.0, 'rampEndTime': 61.0, 'freq_slope': 65.0, 'txStartTime': 1.0, 'samples': 512, 'sample_rate': 9562, 'chirps': 32, 'frame_periodicity': 1000.0, 'rx': 4, 'tx': 3, 'IQ': 2, 'bytes': 2}\n"
     ]
    }
   ],
   "source": [
    "# 约束条件主要参考Programming Chirp Parameters in TI Radar Devices (Rev. A).pdf\n",
    "\n",
    "# 计算线性调频chirp脉冲的斜率是否满足约束条件：freqSlope<=100MHz/us\n",
    "if (ADC_PARAMS['startFreq'] >= 76):\n",
    "    CLI_FREQ_SCALE_FACTOR = 3.6 # 77GHz\n",
    "else:\n",
    "    CLI_FREQ_SCALE_FACTOR = 2.7 # 60GHz\n",
    "mmwFreqSlopeConst = math.trunc(ADC_PARAMS['freq_slope'] * (1<<26) / CLI_FREQ_SCALE_FACTOR )\n",
    "freqSlopeConst_actual = mmwFreqSlopeConst * (CLI_FREQ_SCALE_FACTOR / (1<<26))\n",
    "logstr='mmwFreqSlopeConst: %d,freqSlopeConst_actual: %f(MHz/us) must <= 100'%(mmwFreqSlopeConst,freqSlopeConst_actual)\n",
    "if(freqSlopeConst_actual<=100):\n",
    "    log.info(logstr)\n",
    "else:\n",
    "    log.error(logstr)\n",
    "\n",
    "# 计算活动帧周期（Tf=N*Tc）是否满足约束条件：active_frame_time<ADC_PARAMS['frame_periodicity']\n",
    "chirp_repetition_period=ADC_PARAMS['tx']*(ADC_PARAMS['idleTime']+ADC_PARAMS['rampEndTime'])# Tc（us），chirp脉冲间隔周期\n",
    "log.debug('chirp repetition period:%.2f(us)->max single tx chirp freq:%.2f(kHz)'%(chirp_repetition_period,1e3/chirp_repetition_period))\n",
    "active_frame_time = ADC_PARAMS['chirps']*chirp_repetition_period/1e3 # Tf=N*Tc（ms）\n",
    "logstr='active frame time: %.3f(ms) must < frame periodicity: %.3f(ms)'%(active_frame_time,ADC_PARAMS['frame_periodicity'])\n",
    "if(active_frame_time<ADC_PARAMS['frame_periodicity']):\n",
    "    log.info(logstr)\n",
    "    all_tx_chirp_freq=ADC_PARAMS['tx']*ADC_PARAMS['chirps']/ADC_PARAMS['frame_periodicity']\n",
    "    log.debug('All tx chirp repetition period:%.2f(us)->All tx chirp freq:%.2f(kHz)'%(1e3/all_tx_chirp_freq,all_tx_chirp_freq))\n",
    "else:\n",
    "    log.error(logstr)\n",
    "\n",
    "# 计算采样带宽是否满足约束条件：采样带宽<有效脉冲斜坡带宽（由chirp脉冲斜坡持续时间及斜率决定）\n",
    "adc_sample_time = 1e3*ADC_PARAMS['samples']/ADC_PARAMS['sample_rate']\n",
    "max_adc_sample_time = ADC_PARAMS['rampEndTime']-ADC_PARAMS['adc_valid_start_time']-0.15 #不减0.15会造成末尾采样点失真\n",
    "log.debug('adc start time:%.2f(us) adc sample time:%.2f(us) max adc sample time:%.2f(us) ramp end time:%.2f(us)'%(ADC_PARAMS['adc_valid_start_time'],adc_sample_time,max_adc_sample_time,ADC_PARAMS['rampEndTime']))\n",
    "adc_sample_sweep_bandwidth = freqSlopeConst_actual * 1e6 * adc_sample_time\n",
    "max_adc_sweep_bandwidth = freqSlopeConst_actual * 1e6 * max_adc_sample_time\n",
    "logstr=('adc_sample_sweep_bandwidth:%.2f(MHz) must < max_adc_sweep_bandwidth:%.2f(MHz)'%(adc_sample_sweep_bandwidth/1e6,max_adc_sweep_bandwidth/1e6))\n",
    "if(adc_sample_sweep_bandwidth < max_adc_sweep_bandwidth):\n",
    "    log.info(logstr)\n",
    "else:\n",
    "    log.error(logstr)\n",
    "\n",
    "# 计算总脉冲斜坡带宽是否满足约束条件：总脉冲斜坡带宽<4GHz\n",
    "total_ramp_sweep_bandwidth = freqSlopeConst_actual * 1e6 * ADC_PARAMS['rampEndTime']\n",
    "logstr=('total_ramp_sweep_bandwidth:%.2f(MHz) must <= 4000(MHz)'%(total_ramp_sweep_bandwidth/1e6))\n",
    "if(total_ramp_sweep_bandwidth/1e6<=4000):\n",
    "    log.info(logstr)\n",
    "else:\n",
    "    log.error(logstr)\n",
    "\n",
    "# 计算两脉冲间隔空闲时间是否满足约束条件：ADC_PARAMS['idleTime']>=synthesizerRampDownTime\n",
    "if(total_ramp_sweep_bandwidth/1e6<1000):\n",
    "    synthesizerRampDownTime=2\n",
    "elif(total_ramp_sweep_bandwidth/1e6<2000):\n",
    "    synthesizerRampDownTime=3.5\n",
    "elif(total_ramp_sweep_bandwidth/1e6<3000):\n",
    "    synthesizerRampDownTime=5\n",
    "else:\n",
    "    synthesizerRampDownTime=7\n",
    "logstr='idle time: %.3f(us) must >= Synthesizer Ramp Down Time: %.3f(us)'%(ADC_PARAMS['idleTime'],synthesizerRampDownTime)\n",
    "if(ADC_PARAMS['idleTime']>=synthesizerRampDownTime):\n",
    "    log.info(logstr)\n",
    "else:\n",
    "    log.error(logstr)\n",
    "\n",
    "# 计算并显示距离、速度分辨率等参数\n",
    "midFreq=ADC_PARAMS['startFreq']*1e9+(ADC_PARAMS['adc_valid_start_time']+adc_sample_time/2)*freqSlopeConst_actual*1e6\n",
    "midFreqWaveLenth=3e8/midFreq\n",
    "\n",
    "numDopplerBins = 2**math.ceil(math.log2(ADC_PARAMS['chirps']))\n",
    "numRangeBins = 2**math.ceil(math.log2(ADC_PARAMS['samples']))\n",
    "\n",
    "rangeResolutionMeters = 3e8 / (2 * adc_sample_sweep_bandwidth)\n",
    "rangeIdxToMeters = (3e8 * ADC_PARAMS['sample_rate'] * 1e3) / (2 * freqSlopeConst_actual * 1e12 * numRangeBins)\n",
    "dopplerResolutionMps = midFreqWaveLenth / (2 * numDopplerBins * chirp_repetition_period*1e-6)\n",
    "maxRange = (300 * 0.8 * ADC_PARAMS['sample_rate']) / (2 * freqSlopeConst_actual * 1e3)\n",
    "# maxRange = 0.8 * rangeResolutionMeters * ADC_PARAMS['samples']\n",
    "maxVelocity = midFreqWaveLenth / (4 * chirp_repetition_period*1e-6)\n",
    "\n",
    "log.debug('max range:%.2f(m)'%maxRange)\n",
    "log.debug('range resolution:%.4f(m),range interbin resolution:%.4f(m)'%(rangeResolutionMeters,rangeIdxToMeters))\n",
    "log.debug('max velocity:%.2f(m/s)'%maxVelocity)\n",
    "log.debug('velocity resolution:%.2f(m/s)'%(dopplerResolutionMps))\n",
    "\n",
    "# 计算混频输出的最大拍频信号IF带宽是否满足约束条件：maximum_beat_frequency<=10(MHz)\n",
    "maximum_beat_frequency = 2e6*freqSlopeConst_actual*maxRange/3e8\n",
    "logstr=('max beat frequency:%.2f(MHz) must <= max I/F bandwith 10(MHz)'%maximum_beat_frequency)\n",
    "if(maximum_beat_frequency<=10):\n",
    "    log.info(logstr)\n",
    "else:\n",
    "    log.error(logstr)\n",
    "\n",
    "# 计算片内DSP需要的radar cube内存大小是否满足约束条件：radar_cube_size<=1024(KB)\n",
    "radar_cube_size = numRangeBins*ADC_PARAMS['chirps']*ADC_PARAMS['tx']*ADC_PARAMS['rx']*4/1024\n",
    "logstr=('radar cube size:%.2f(KB) must <= 1024(KB)'%radar_cube_size)\n",
    "if(radar_cube_size<=1024):\n",
    "    log.info(logstr)\n",
    "else:\n",
    "    log.error(logstr)\n",
    "\n",
    "# 计算原始IQ数据量是否满足约束条件：LVDS Data Size Per Chirp <= max Send Bytes Per Chirp\n",
    "LVDSDataSizePerChirp = ADC_PARAMS['samples']*ADC_PARAMS['rx']*ADC_PARAMS['IQ']*ADC_PARAMS['bytes']+52\n",
    "LVDSDataSizePerChirp = math.ceil(LVDSDataSizePerChirp/256)*256\n",
    "nlane = 2\n",
    "B = 600\n",
    "maxSendBytesPerChirp = (ADC_PARAMS['idleTime']+ADC_PARAMS['rampEndTime'])*nlane*B/8\n",
    "logstr=(\"LVDS Data Size Per Chirp:%d(Bytes) must <= max Send Bytes Per Chirp:%d(Bytes)\"%(LVDSDataSizePerChirp,maxSendBytesPerChirp))\n",
    "if(LVDSDataSizePerChirp<=maxSendBytesPerChirp):\n",
    "    log.info(logstr)\n",
    "else:\n",
    "    log.error(logstr)\n",
    "\n",
    "# 计算FPGA吞吐量（与延时有关）是否满足约束条件：FPGA Packet Delay <= min required Packet Delay\n",
    "BYTES_IN_PACKET = 1456  # Data in payload per packet from FPGA\n",
    "BYTES_OF_PACKET = 1466  # payload size per packet from FPGA\n",
    "UDP_PACKET_OVERHEAD = 8\n",
    "IP_OVERHEAD     = 20\n",
    "ETH_OVERHEAD    = 14\n",
    "SizeInMBperSec = ADC_PARAMS['samples']*ADC_PARAMS['rx']*ADC_PARAMS['IQ']*ADC_PARAMS['bytes']*ADC_PARAMS['tx']*ADC_PARAMS['chirps']*(1e-3/ADC_PARAMS['frame_periodicity'])\n",
    "overheadRatio = (BYTES_OF_PACKET+UDP_PACKET_OVERHEAD+IP_OVERHEAD+ETH_OVERHEAD)/BYTES_IN_PACKET\n",
    "FPGA_throughput = 8*SizeInMBperSec*overheadRatio\n",
    "log.debug('FPGA throughput:%.2f(Mbps)'%(FPGA_throughput))\n",
    "minPacketDelay = 138.57 * math.exp(-FPGA_throughput / 179.157) + 2.73 # 根据DCA1000EVA手册数据拟合\n",
    "logstr=(\"FPGA Packet Delay:%d(us) should <= min required Packet Delay:%.2f(us)\"%(cf_json_load['DCA1000Config']['packetDelay_us'],minPacketDelay))\n",
    "if(cf_json_load['DCA1000Config']['packetDelay_us']<=minPacketDelay):\n",
    "    log.info(logstr)\n",
    "else:\n",
    "    log.warn(logstr)\n",
    "\n",
    "print('current params:',ADC_PARAMS)"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "### 修改配置文件参数\n",
    "可以在此处试着修改一些参数并重新运行“计算约束条件”程序块校验参数的合理性"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 105,
   "metadata": {},
   "outputs": [],
   "source": [
    "#在这里修改参数后直接运行上边的程序块看效果\n",
    "ADC_PARAMS={\n",
    "    'startFreq': 77,             # 对应 profileCfg 中第 2 个参数\n",
    "    'idleTime': 8.0,             # 对应 profileCfg 中第 3 个参数 \n",
    "    'adc_valid_start_time': 7.0, # 对应 profileCfg 中第 4 个参数 \n",
    "    'rampEndTime': 50,           # 对应 profileCfg 中第 5 个参数 \n",
    "    'freq_slope': 80,            # 对应 profileCfg 中第 8 个参数 \n",
    "    'txStartTime': 1,            # 对应 profileCfg 中第 9 个参数 \n",
    "    'samples': 128,              # 对应 profileCfg 中第 10个参数 \n",
    "    'sample_rate': 12500,        # 对应 profileCfg 中第 11个参数 \n",
    "\n",
    "    'chirps': 128,               # 对应   frameCfg 中第 3 个参数\n",
    "    'frame_periodicity': 10,     # 对应   frameCfg 中第 5 个参数\n",
    "    'rx': 4, \n",
    "    'tx': 1, \n",
    "    'IQ': 2, \n",
    "    'bytes': 2, \n",
    "}"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "### 测试\n",
    "测试ColorLog模块的功能"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 1,
   "metadata": {},
   "outputs": [
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\u001b[37m2022-07-02 13:36:52 [DEBUG] - 这是 DEBUG 日志，白色\u001b[0m\n",
      "\u001b[36m2022-07-02 13:36:52 [INFO] - 这是 INFO 日志，青绿\u001b[0m\n",
      "\u001b[33m2022-07-02 13:36:52 [WARNING] - 这是 WARN 日志，黄色\u001b[0m\n",
      "\u001b[35m2022-07-02 13:36:52 [ERROR] - 这是 ERROR 日志，紫色\u001b[0m\n",
      "\u001b[31m2022-07-02 13:36:52 [CRITICAL] - 这是 CRITICAL 日志，红色\u001b[0m\n",
      "\u001b[31m2022-07-02 13:36:52 [CRITICAL] - Traceback (most recent call last):\n",
      "  File \"C:\\Users\\gwf\\AppData\\Local\\Temp\\ipykernel_14708\\2271216170.py\", line 8, in <cell line: 7>\n",
      "    a = 1 / 0\n",
      "ZeroDivisionError: division by zero\n",
      "\u001b[0m\n"
     ]
    }
   ],
   "source": [
    "from color_log.clog import ColorLog\n",
    "log = ColorLog(name='radar_param_logger', mode=MODE_CONSOLE_LOG)\n",
    "\n",
    "log.debug('这是 DEBUG 日志，白色')\n",
    "log.info('这是 INFO 日志，青绿')\n",
    "log.warn('这是 WARN 日志，黄色')\n",
    "log.error('这是 ERROR 日志，紫色')\n",
    "try :\n",
    "    a = 1 / 0\n",
    "except :\n",
    "    log.critical('这是 CRITICAL 日志，红色')"
   ]
  }
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