[driver] iwr6843aop nucleo h723zg example

Author: hshose

examples/nucleo_h723zg/iwr6843aop/main.cpp

@@ -0,0 +1,156 @@
+/*
+ * Copyright (c) 2026, Henrik Hose
+ *
+ * This file is part of the modm project.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at http://mozilla.org/MPL/2.0/.
+ */
+// ----------------------------------------------------------------------------
+
+#include <modm/board.hpp>
+#include <modm/driver/radar/iwr6843aop.hpp>
+
+using namespace Board;
+using namespace modm::literals;
+
+using ControlUart = BufferedUart<UsartHal1, UartTxBuffer<1024>, UartRxBuffer<1024>>;
+using ControlTx = GpioB6;
+using ControlRx = GpioB7;
+
+using DataUart = BufferedUart<UartHal4, UartTxBuffer<256>, UartRxBuffer<16384>>;
+using DataTx = GpioA0;
+using DataRx = GpioC11;
+
+using RadarNrst = GpioC9;
+
+using Radar = modm::Iwr6843aop<ControlUart, DataUart>;
+Radar radar;
+Radar::FrameType radarFrame{};
+
+static constexpr char RadarConfiguration[] = R"cfg(
+sensorStop
+flushCfg
+dfeDataOutputMode 1
+channelCfg 15 7 0
+adcCfg 2 1
+adcbufCfg -1 0 1 1 1
+profileCfg 0 60.00 38.44 7.00 63.75 0 0 35.04 1.00 255 4675.80 0 0 30
+chirpCfg 0 0 0 0 0 0 0 1
+chirpCfg 1 1 0 0 0 0 0 2
+chirpCfg 2 2 0 0 0 0 0 4
+frameCfg 0 2 60 0 95.00 1 0.00
+lowPower 0 0
+guiMonitor -1 1 0 0 0 0 1
+cfarCfg -1 0 2 8 4 3 0 8 0
+cfarCfg -1 1 0 4 2 3 1 20 1
+multiObjBeamForming -1 1 0.5
+clutterRemoval -1 0
+aoaFovCfg -1 -90 90 -90 90
+cfarFovCfg -1 0 0.1 19.0
+cfarFovCfg -1 1 -8.00 8.00
+calibDcRangeSig -1 0 -5 8 256
+extendedMaxVelocity -1 0
+lvdsStreamCfg -1 0 0 0
+compRangeBiasAndRxChanPhase 0.0 -1 0 1 0 -1 0 1 0 -1 0 1 0 -1 0 1 0 -1 0 1 0 -1 0 1 0
+measureRangeBiasAndRxChanPhase 0 1.0 0.2
+CQRxSatMonitor 0 3 5 103 0
+CQSigImgMonitor 0 95 6
+analogMonitor 0 0
+calibData 0 0 0
+sensorStart
+)cfg";
+
+int
+main()
+{
+	Board::initialize();
+	Leds::setOutput();
+
+	RadarNrst::setOutput(modm::Gpio::Low);
+	modm::delay(10ms);
+	RadarNrst::set();
+	modm::delay(100ms);
+
+	ControlUart::connect<ControlTx::Tx, ControlRx::Rx>();
+	DataUart::connect<DataTx::Tx, DataRx::Rx>();
+
+	ControlUart::initialize<Board::SystemClock, 115200_Bd>();
+	DataUart::initialize<Board::SystemClock, 921600_Bd>();
+
+	MODM_LOG_INFO << "IWR6843AOP example\n";
+	MODM_LOG_INFO << "Uploading configuration...\n";
+
+	if (not radar.configure(
+			std::span<const char>{RadarConfiguration, sizeof(RadarConfiguration) - 1}))
+	{
+		MODM_LOG_ERROR << "Configuration failed, error=" << static_cast<int>(radar.getLastError())
+					   << modm::endl;
+		while (true)
+		{
+			Leds::toggle();
+			modm::delay(250ms);
+		}
+	}
+
+	MODM_LOG_INFO << "Configuration successful\n";
+
+	modm::Timestamp lastFrameTimestamp{};
+	bool hasLastFrameTimestamp{false};
+	uint32_t processedFrames{0};
+
+	while (true)
+	{
+		if (not radar.processData())
+		{
+			MODM_LOG_ERROR << "Processing error=" << static_cast<int>(radar.getLastError())
+						   << modm::endl;
+			radar.clearError();
+			modm::delay(5ms);
+		}
+
+		while (radar.getFrame(radarFrame))
+		{
+			processedFrames++;
+			LedGreen::toggle();
+
+			const auto now = modm::Clock::now();
+			const auto age = now - radarFrame.timestamp;
+
+			uint32_t intervalMs{0};
+			if (hasLastFrameTimestamp)
+			{
+				intervalMs = (radarFrame.timestamp - lastFrameTimestamp).count();
+			}
+			lastFrameTimestamp = radarFrame.timestamp;
+			hasLastFrameTimestamp = true;
+
+			float maxVelocity{0.f};
+			for (std::size_t ii = 0; ii < radarFrame.pointCount; ++ii)
+			{
+				float velocity = radarFrame.points[ii].point.velocity;
+				if (velocity < 0.f) { velocity = -velocity; }
+				if (velocity > maxVelocity) { maxVelocity = velocity; }
+			}
+
+			MODM_LOG_INFO.printf(
+				"Frame #%lu: %lu points detected, age: %lu ms, interval: %lu ms, max velocity: "
+				"%.2f m/s\n",
+				static_cast<unsigned long>(radarFrame.frameHeader.frameNumber),
+				static_cast<unsigned long>(radarFrame.pointCount),
+				static_cast<unsigned long>(age.count()), static_cast<unsigned long>(intervalMs),
+				static_cast<double>(maxVelocity));
+
+			if ((processedFrames % 10u) == 0u)
+			{
+				MODM_LOG_INFO.printf("Processed %lu frames\n",
+									 static_cast<unsigned long>(processedFrames));
+			}
+		}
+
+		modm::delay(1ms);
+	}
+
+	return 0;
+}

examples/nucleo_h723zg/iwr6843aop/project.xml

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+<library>
+  <extends>modm:nucleo-h723zg</extends>
+  <options>
+    <option name="modm:build:build.path">../../../build/nucleo_h723zg/iwr6843aop</option>
+  </options>
+  <modules>
+    <module>modm:build:scons</module>
+    <module>modm:platform:uart:1</module>
+    <module>modm:platform:uart:4</module>
+    <module>modm:driver:iwr6843aop</module>
+  </modules>
+</library>