[driver] iwr6843aop hosted linux example

Author: hshose

examples/linux/iwr6843aop/main.cpp

@@ -0,0 +1,167 @@
+/*
+ * Copyright (c) 2026, Joel Schulz-Andres, 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 <cstdlib>
+#include <fstream>
+#include <modm/debug/logger.hpp>
+#include <modm/platform.hpp>
+#include <modm/platform/uart/static_serial_interface.hpp>
+#include <modm/driver/radar/iwr6843aop.hpp>
+#include <string>
+
+using namespace modm::platform;
+
+template<int N>
+class HostedSerialUart : public modm::platform::StaticSerialInterface<N>
+{
+public:
+	using modm::platform::StaticSerialInterface<N>::read;
+
+	// blocking read seems to work nicer with the hardware
+	static std::size_t
+	read(uint8_t *data, std::size_t length)
+	{
+		std::size_t count{0};
+		uint8_t byte{0};
+		while (count < length)
+		{
+			if (not modm::platform::StaticSerialInterface<N>::read(byte)) { break; }
+			data[count++] = byte;
+		}
+		return count;
+	}
+
+	static bool
+	hasError()
+	{
+		return false;
+	}
+
+	static void
+	clearError()
+	{}
+};
+
+using ControlUart = HostedSerialUart<0>;
+using DataUart = HostedSerialUart<1>;
+using Radar = modm::Iwr6843aop<ControlUart, DataUart>;
+
+int
+main(int argc, char **argv)
+{
+	const char *cfgPath = "../../../src/modm/driver/radar/iwr6843aop.cfg";
+	if (argc > 1) { cfgPath = argv[1]; }
+
+	std::ifstream configFile(cfgPath, std::ios::binary);
+	if (not configFile.good())
+	{
+		MODM_LOG_ERROR << "Could not open config file: " << cfgPath << modm::endl;
+		return EXIT_FAILURE;
+	}
+
+	const std::string configuration((std::istreambuf_iterator<char>(configFile)),
+									std::istreambuf_iterator<char>());
+
+	SerialInterface controlPort("/dev/ttyUSB0", 115200);
+	SerialInterface dataPort("/dev/ttyUSB1", 921600);
+
+	if (not ControlUart::initialize<115200>(controlPort))
+	{
+		MODM_LOG_ERROR << "Could not open control port: " << controlPort.getDeviceName().c_str()
+					   << modm::endl;
+		return EXIT_FAILURE;
+	}
+
+	if (not DataUart::initialize<921600>(dataPort))
+	{
+		MODM_LOG_ERROR << "Could not open data port: " << dataPort.getDeviceName().c_str()
+					   << modm::endl;
+		controlPort.close();
+		return EXIT_FAILURE;
+	}
+
+	Radar radar;
+	radar.setSyncInterval(modm::Duration{100});
+
+	MODM_LOG_INFO << "Uploading configuration to radar..." << modm::endl;
+	if (not radar.configure(std::span<const char>{configuration.data(), configuration.size()}))
+	{
+		MODM_LOG_ERROR << "Radar configuration failed, error="
+					   << static_cast<int>(radar.getLastError()) << modm::endl;
+		controlPort.close();
+		dataPort.close();
+		return EXIT_FAILURE;
+	}
+
+	MODM_LOG_INFO << "Configuration successful" << modm::endl;
+
+	Radar::FrameType frame{};
+	modm::Timestamp lastFrameTimestamp{};
+	bool hasLastFrameTimestamp{false};
+	uint32_t processedFrames{0};
+
+	while (true)
+	{
+		if (not radar.processData())
+		{
+			MODM_LOG_ERROR << "Data processing error=" << static_cast<int>(radar.getLastError())
+						   << ", parse_errors=" << radar.getParseErrorCount()
+						   << ", consecutive_parse_errors=" << radar.getConsecutiveParseErrorCount()
+						   << modm::endl;
+			radar.clearError();
+			modm::delay_ms(5);
+		}
+
+		while (radar.getFrame(frame))
+		{
+			processedFrames++;
+
+			const auto now = modm::Clock::now();
+			const auto age = now - frame.timestamp;
+
+			uint32_t intervalMs{0};
+			if (hasLastFrameTimestamp)
+			{
+				intervalMs = (frame.timestamp - lastFrameTimestamp).count();
+			}
+			lastFrameTimestamp = frame.timestamp;
+			hasLastFrameTimestamp = true;
+
+			float maxVelocity{0.f};
+			for (std::size_t ii = 0; ii < frame.pointCount; ++ii)
+			{
+				float velocity = frame.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>(frame.frameHeader.frameNumber),
+				static_cast<unsigned long>(frame.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_ms(1);
+	}
+
+	controlPort.close();
+	dataPort.close();
+	return EXIT_SUCCESS;
+}

examples/linux/iwr6843aop/project.xml

@@ -0,0 +1,14 @@
+<library>
+  <options>
+    <option name="modm:target">hosted-linux</option>
+    <option name="modm:build:build.path">../../../build/linux/iwr6843aop</option>
+  </options>
+  <modules>
+    <module>modm:platform:core</module>
+    <module>modm:platform:uart</module>
+    <module>modm:architecture:delay</module>
+    <module>modm:debug</module>
+    <module>modm:driver:iwr6843aop</module>
+    <module>modm:build:scons</module>
+  </modules>
+</library>