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| # UDP server: Radar data forwarding | |
| ## Overview | |
| This code example demonstrates implementing a UDP server to acquire XENSIV™ radar data. | |
| In this example, the UDP server waits for the UDP client to establish the connection. Once the connection is established, the server allows the user to send the commands to control the operation of radar sensor which includes start/stop or the operation of sensor in test mode or data mode. | |
| [View this README on GitHub.](https://github.com/Infineon/mtb-example-wifi-radar-udp-server) | |
| [Provide feedback on this code example.](https://cypress.co1.qualtrics.com/jfe/form/SV_1NTns53sK2yiljn?Q_EED=eyJVbmlxdWUgRG9jIElkIjoiQ0UyMzY2NDMiLCJTcGVjIE51bWJlciI6IjAwMi0zNjY0MyIsIkRvYyBUaXRsZSI6IlVEUCBzZXJ2ZXI6IFJhZGFyIGRhdGEgZm9yd2FyZGluZyIsInJpZCI6InVzbWFubXVoIiwiRG9jIHZlcnNpb24iOiIxLjAuMCIsIkRvYyBMYW5ndWFnZSI6IkVuZ2xpc2giLCJEb2MgRGl2aXNpb24iOiJNQ0QiLCJEb2MgQlUiOiJTQlNZUyIsIkRvYyBGYW1pbHkiOiJQU09DIn0=) | |
| ## Requirements | |
| - [ModusToolbox™ software](https://www.infineon.com/cms/en/design-support/tools/sdk/modustoolbox-software) v3.0 | |
| - Board support package (BSP) minimum required version: 4.0.0 | |
| - Programming language: C | |
| - Associated parts: All [PSoC™ 6 MCU](https://www.infineon.com/cms/en/product/microcontroller/32-bit-psoc-arm-cortex-microcontroller/psoc-6-32-bit-arm-cortex-m4-mcu) parts with SDIO, [AIROC™ CYW43012 Wi-Fi & Bluetooth® combo chip](https://www.infineon.com/dgdl/Infineon-CYW43012_Single-Chip%2CUltra-Low_IEEE_802.11n-compliant_802.11ac-friendly_MAC_Baseband_Radio_with_Bluetooth_5.0_for_IoT-AdditionalTechnicalInformation-v14_00-EN.pdf?fileId=8ac78c8c7d0d8da4017d0ee89f18715f), [AIROC™ CYW4343W Wi-Fi & Bluetooth® combo chip](https://www.infineon.com/dgdl/Infineon-CYW4334WKUBGT-DataSheet-v11_00-EN.pdf?fileId=8ac78c8c7d0d8da4017d0ee1f02f680f) | |
| ## Supported toolchains (make variable 'TOOLCHAIN') | |
| - GNU Arm® embedded compiler v10.3.1 (`GCC_ARM`) - Default value of `TOOLCHAIN` | |
| - Arm® compiler v6.16 (`ARM`) | |
| - IAR C/C++ compiler v8.50.6 (`IAR`) | |
| ## Supported kits (make variable 'TARGET') | |
| - [Rapid IoT connect developer kit](https://github.com/Infineon/TARGET_CYSBSYSKIT-DEV-01) (`CYSBSYSKIT-DEV-01`) - Default value of `TARGET` | |
| ## Hardware setup | |
| - For Rapid IoT connect developer kit | |
| This code example requires the XENSIV™ BGT60TR13C radar wing board as part of the connected sensor kit. | |
| 1. Connect the radar wing board to the CYSBSYSKIT-DEV-01 kit through the pin headers. | |
| 2. Connect the CYSBSYSKIT-DEV-01 kit to the PC with the USB cable. | |
| **Figure 1. Rapid IoT connect developer kit** | |
|  | |
| **Figure 2. XENSIV™ BGT60TR13C wing** | |
|  | |
| 3. Place the CYSBSYSKIT-DEV-01 kit at any desired location. | |
| ## Software setup | |
| Install a terminal emulator if you don't have one. Instructions in this document use [Tera Term](https://ttssh2.osdn.jp/index.html.en). | |
| Install a Python Interpreter if you do not have one. This code example is tested with [Python 3.10.2](https://www.python.org/downloads/release/python-3102/). | |
| ## Using the code example | |
| Create the project and open it using one of the following: | |
| <details><summary><b>In Eclipse IDE for ModusToolbox™ software</b></summary> | |
| 1. Click the **New Application** link in the **Quick Panel** (or, use **File** > **New** > **ModusToolbox™ Application**). This launches the [Project Creator](https://www.infineon.com/ModusToolboxProjectCreator) tool. | |
| 2. Select CYSBSYSKIT-DEV-01 kit supported by the code example from the PSoC™ 6 BSPs list shown in the **Project Creator - Choose Board Support Package (BSP)** dialog. | |
| When you select a supported kit, the example is reconfigured automatically to work with the kit. To work with a different supported kit later, use the [Library Manager](https://www.infineon.com/ModusToolboxLibraryManager) to choose the BSP for the supported kit. You can use the Library Manager to select or update the BSP and firmware libraries used in this application. To access the Library Manager, click the link from the **Quick Panel**. | |
| You can also just start the application creation process again and select a different kit. | |
| If you want to use the application for a kit not listed here, you may need to update the source files. If the kit does not have the required resources, the application may not work. | |
| 3. In the **Project Creator - Select Application** dialog, choose the example **UDP Server Radar** from Sensing group by enabling the checkbox. | |
| 4. (Optional) Change the suggested **New Application Name**. | |
| 5. The **Application(s) Root Path** defaults to the Eclipse workspace which is usually the desired location for the application. If you want to store the application in a different location, you can change the *Application(s) Root Path* value. Applications that share libraries should be in the same root path. | |
| 6. Click **Create** to complete the application creation process. | |
| For more details, see the [Eclipse IDE for ModusToolbox™ software user guide](https://www.infineon.com/MTBEclipseIDEUserGuide) (locally available at *{ModusToolbox™ software install directory}/ide_{version}/docs/mt_ide_user_guide.pdf*). | |
| </details> | |
| <details><summary><b>In command-line interface (CLI)</b></summary> | |
| ModusToolbox™ software provides the Project Creator as both a GUI tool and the command line tool, "project-creator-cli". The CLI tool can be used to create applications from a CLI terminal or from within batch files or shell scripts. This tool is available in the *{ModusToolbox™ software install directory}/tools_{version}/project-creator/* directory. | |
| Use a CLI terminal to invoke the "project-creator-cli" tool. On Windows, use the command line "modus-shell" program provided in the ModusToolbox™ software installation instead of a standard Windows command-line application. This shell provides access to all ModusToolbox™ software tools. You can access it by typing `modus-shell` in the search box in the Windows menu. In Linux and macOS, you can use any terminal application. | |
| The "project-creator-cli" tool has the following arguments: | |
| Argument | Description | Required/optional | |
| ---------|-------------|----------- | |
| `--board-id` | Defined in the `<id>` field of the [BSP](https://github.com/Infineon?q=bsp-manifest&type=&language=&sort=) manifest | Required | |
| `--app-id` | Defined in the `<id>` field of the [CE](https://github.com/Infineon?q=ce-manifest&type=&language=&sort=) manifest | Required | |
| `--target-dir`| Specify the directory in which the application is to be created if you prefer not to use the default current working directory | Optional | |
| `--user-app-name`| Specify the name of the application if you prefer to have a name other than the example's default name | Optional | |
| <br /> | |
| The following example clones the "[UDP Server Radar](https://github.com/Infineon/mtb-example-anycloud-radar-udp-server)" application with the desired name "UDPServerRadar" configured for the *CYSBSYSKIT-DEV-01* BSP into the specified working directory, *C:/mtb_projects*: | |
| ``` | |
| project-creator-cli --board-id CYSBSYSKIT-DEV-01 --app-id mtb-example-wifi-radar-udp-server --user-app-name UDPServerRadar --target-dir "C:/mtb_projects" | |
| ``` | |
| **Note:** The project-creator-cli tool uses the `git clone` and `make getlibs` commands to fetch the repository and import the required libraries. For details, see the "Project creator tools" section of the [ModusToolbox™ software user guide](https://www.infineon.com/ModusToolboxUserGuide) (locally available at *{ModusToolbox™ software install directory}/docs_{version}/mtb_user_guide.pdf*). | |
| To work with a different supported kit later, use the [Library Manager](https://www.cypress.com/ModusToolboxLibraryManager) to choose the BSP for the supported kit. You can invoke the Library Manager GUI tool from the terminal using `make modlibs` command or use the Library Manager CLI tool "library-manager-cli" to change the BSP. | |
| The "library-manager-cli" tool has the following arguments: | |
| Argument | Description | Required/optional | |
| ---------|-------------|----------- | |
| `--add-bsp-name` | Name of the BSP that should be added to the application | Required | |
| `--set-active-bsp` | Name of the BSP that should be as active BSP for the application | Required | |
| `--add-bsp-version`| Specify the version of the BSP that should be added to the application if you do not wish to use the latest from manifest | Optional | |
| `--add-bsp-location`| Specify the location of the BSP (local/shared) if you prefer to add the BSP in a shared path | Optional | |
| <br /> | |
| </details> | |
| <details><summary><b>In third-party IDEs</b></summary> | |
| Use one of the following options: | |
| - **Use the standalone [Project Creator](https://www.infineon.com/ModusToolboxProjectCreator) tool:** | |
| 1. Launch Project Creator from the Windows Start menu or from *{ModusToolbox™ software install directory}/tools_{version}/project-creator/project-creator.exe*. | |
| 2. In the initial **Choose Board Support Package** screen, select the BSP, and click **Next**. | |
| 3. In the **Select Application** screen, select the appropriate IDE from the **Target IDE** drop-down menu. | |
| 4. Click **Create** and follow the instructions printed in the bottom pane to import or open the exported project in the respective IDE. | |
| <br /> | |
| - **Use command-line interface (CLI):** | |
| 1. Follow the instructions from the **In command-line interface (CLI)** section to create the application, and then import the libraries using the `make getlibs` command. | |
| 2. Export the application to a supported IDE using the `make <ide>` command. | |
| 3. Follow the instructions displayed in the terminal to create or import the application as an IDE project. | |
| For a list of supported IDEs and more details, see the "Exporting to IDEs" section of the [ModusToolbox™ software user guide](https://www.infineon.com/ModusToolboxUserGuide) (locally available at *{ModusToolbox™ software install directory}/docs_{version}/mtb_user_guide.pdf*). | |
| </details> | |
| **Note:** To use this code example in ModusToolbox v2.4, please refer to [Infineon-XENSIVTM_KIT_CSK_BGT60TR13C-UserGuide](https://www.infineon.com/cms/en/product/evaluation-boards/kit_csk_bgt60tr13c/#!documents) | |
| ## Operation | |
| 1. Connect the board to your PC using the provided USB cable through the KitProg3 USB connector. | |
| 2. Modify the `WIFI_SSID`, `WIFI_PASSWORD`, and `WIFI_SECURITY_TYPE` macros to match the credentials of the Wi-Fi network that you want to connect. These macros are defined in the *wifi_config.h* file. Ensure that the Wi-Fi network that you are connecting to is configured as a private network for the proper functioning of this example. | |
| **For Example**: | |
| `WIFI_SSID` = **"IFX_Sensor"** | |
| `WIFI_PASSWORD` = **"XXXXXXXXXXXXXX"** | |
| `WIFI_SECURITY_TYPE` = **"WPA2"** | |
| 3. Open a terminal program and select the [KitProg3](https://www.infineon.com/dgdl/Infineon-KitProg3_User_Guide-UserManual-v01_00-EN.pdf?fileId=8ac78c8c7d0d8da4017d0f01221f1853) COM port. Set the serial port parameters to 8N1 and 115200 baud. | |
| 4. Program the board using one of the following: | |
| <details><summary><b>Using Eclipse IDE for ModusToolbox™ software</b></summary> | |
| 1. Select the application project in the Project Explorer. | |
| 2. In the **Quick Panel**, scroll down, and click **\<Application Name> Program (KitProg3_MiniProg4)**. | |
| </details> | |
| <details><summary><b>Using CLI</b></summary> | |
| From the terminal, execute the `make program` command to build and program the application using the default toolchain to the default target. The default toolchain and target are specified in the application's Makefile but you can override those values manually: | |
| ``` | |
| make program TARGET=<BSP> TOOLCHAIN=<toolchain> | |
| ``` | |
| Example: | |
| ``` | |
| make program TARGET=CYSBSYSKIT-DEV-01 TOOLCHAIN=GCC_ARM | |
| ``` | |
| </details> | |
| 5. After programming, the application starts automatically. Confirm that the following text as shown in **Figure 3** is displayed on the UART terminal. | |
| **Note:** Wi-Fi SSID and the IP address assigned will be different based on the network that you have connected to. | |
| **Figure 3. Terminal showing the Wi-Fi connectivity status** | |
|  | |
| 6. Ensure that your computer is connected to the same Wi-Fi access point that you have configured in **Step 2**. Make a note of the IP address assigned to the kit as shown in **Figure 3**. | |
| 7. Open a command shell from the project directory and run the Python UDP client (*udp_client_radar.py*) with the IP address from **Figure 3** as an argument through the option `--hostname`. In the `--mode` option, choose the work mode: data or test. | |
| For example, if the IP address assigned to your kit is `192.168.43.231`, and you want to choose data mode, enter the command as follows: | |
| ``` | |
| python udp_client_radar.py --hostname 192.168.43.231 --mode data | |
| ``` | |
| **Note:** Ensure that the firewall settings of your computer allow access to the Python software so that it can communicate with the UDP server. For more details on enabling Python access, see this [community thread](https://community.infineon.com/t5/ModusToolbox-General/CE229112-Enable-Python-access-to-your-WiFi/td-p/214654). | |
| **Table 1. Configuration JSON objects** | |
| | Key | Default value | Valid values | | |
| | :------- | :------------ | :--------------------| | |
| | radar_transmission | disable | disable, enable, test | | |
| <br> | |
| 8. If the UDP client connection is successful, then the client would start receiving radar frame data or the radar would start running in test mode based on the command sent from client. | |
| ## Debugging | |
| You can debug the example to step through the code. In the IDE, use the **\<Application Name> Debug (KitProg3_MiniProg4)** configuration in the **Quick Panel**. For details, see the "Program and debug" section in the [Eclipse IDE for ModusToolbox™ software user guide](https://www.infineon.com/MTBEclipseIDEUserGuide). | |
| **Note:** **(Only while debugging)** On the CM4 CPU, some code in `main()` may execute before the debugger halts at the beginning of `main()`. This means that some code executes twice – once before the debugger stops execution, and again after the debugger resets the program counter to the beginning of `main()`. See [KBA231071](https://community.infineon.com/docs/DOC-21143) to learn about this and for the workaround. | |
| ## Design and implementation | |
| This application uses a modular approach to build an application to configure and control radar data transmission using UDP protocol. The main task initialises UDP server task which establishes connectivity to a wifi access point and sets up UDP server. If the wifi connection is successful, then server waits for the UDP client to establish to connection and creates radar data acquisition and configuration tasks. The radar data task is used to initialize and read data from radar and put it into the udp server queue. The configuration task is responsible to get commands from the client and control the operating mode of radar. | |
| ### Resources and settings | |
| **Table 1. Application resources** | |
| Resource | Alias/object | Purpose | |
| :-------- | :------------- | :------------ | |
| SCB (SPI) (HAL) | spi_obj | SPI master driver to communicate with the radar device | |
| UART (HAL)|cy_retarget_io_uart_obj| UART HAL object used by retarget-io for the debug UART port | |
| GPIO (HAL) | CYBSP_RADAR_IRQ | GPIO interrupt to indicate radar data ready | |
| This example uses the Arm® Cortex®-M4 (CM4) CPU of PSoC™ 6 MCU to execute RTOS task: UDP server and radar task. At device reset, the default Cortex®-M0+ (CM0+) application enables the CM4 CPU and configures the CM0+ CPU to go to sleep. | |
| <br> | |
| ## Related resources | |
| Resources | Links | |
| -----------|---------------------------------- | |
| Application notes | [AN228571](https://www.infineon.com/AN228571) – Getting started with PSoC™ 6 MCU on ModusToolbox™ software <br /> [AN215656](https://www.infineon.com/AN215656) – PSoC™ 6 MCU: Dual-CPU system design <br /> | |
| Code examples | [Using ModusToolbox™ software](https://github.com/Infineon/Code-Examples-for-ModusToolbox-Software) on GitHub <br /> | |
| Device documentation | [PSoC™ 6 MCU datasheets](https://www.infineon.com/cms/en/product/microcontroller/32-bit-psoc-arm-cortex-microcontroller/psoc-6-32-bit-arm-cortex-m4-mcu/#!documents) <br /> [PSoC™ 6 technical reference manuals](https://www.infineon.com/cms/en/product/microcontroller/32-bit-psoc-arm-cortex-microcontroller/psoc-6-32-bit-arm-cortex-m4-mcu/#!documents)<br /> | |
| Development kits | [Rapid IoT connect developer kit](https://www.infineon.com/cms/en/product/evaluation-boards/kit_csk_bgt60tr13c/) <br> | |
| Libraries on GitHub | [sensor-xensiv-bgt60trxx](https://github.com/Infineon/sensor-xensiv-bgt60trxx) – Driver library to interface with the XENSIV™ BGT60TRxx 60 GHz FMCW Radar Sensors <br /> [mtb-pdl-cat1](https://github.com/Infineon/mtb-pdl-cat1) – PSoC™ 6 peripheral driver library (PDL) <br /> [mtb-hal-cat1](https://github.com/Infineon/mtb-hal-cat1) – Hardware abstraction layer (HAL) library <br /> [retarget-io](https://github.com/Infineon/retarget-io) – Utility library to retarget STDIO messages to a UART port <br /> | |
| Middleware on GitHub | [wifi-core-freertos-lwip-mbedtls](https://github.com/Infineon/wifi-core-freertos-lwip-mbedtls) – Wi-Fi connectivity libraries and docs <br> [psoc6-middleware](https://github.com/Infineon/modustoolbox-software#psoc-6-middleware-libraries) – Links to all PSoC™ 6 MCU middleware | |
| Tools | [Eclipse IDE for ModusToolbox™ software](https://www.infineon.com/modustoolbox) – ModusToolbox™ software is a collection of easy-to-use software and tools enabling rapid development with Infineon MCUs, covering applications from embedded sense and control to wireless and cloud-connected systems using AIROC™ Wi-Fi and Bluetooth® connectivity devices. <br /> | |
| <br /> | |
| ## Other resources | |
| Infineon provides a wealth of data at www.infineon.com to help you select the right device, and quickly and effectively integrate it into your design. | |
| For PSoC™ 6 MCU devices, see [How to design with PSoC™ 6 MCU - KBA223067](https://community.infineon.com/docs/DOC-14644) in the Infineon community. | |
| For more information about connected-sensor-kit, see [IoT sensors platform](https://www.infineon.com/connectedsensorkit) and [Infineon’s XENSIV™ connected sensor kit (CSK)](https://livestream.com/infineontechnologies/connected-sensor-kit) | |
| ## Document history | |
| Document title: *CE236643* – *UDP server: Radar data forwarding* | |
| Version | Description of change | |
| ------- | --------------------- | |
| 0.5.1 | New code example | |
| 1.0.0 | Major update to support ModusToolbox™ software v3.0 <br /> CE will not be backward compatible with previous versions of ModusToolbox™ software | |
| <br /> | |
| --------------------------------------------------------- | |
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