main()
  鈹斺攢鈻?Pcount3DDemo_initTask()        # BIOS Task锛屾墍鏈夊垵濮嬪寲鍦ㄨ繖閲?
        鈹溾攢鈻?Pcount3DDemo_platformInit()    # 鏃堕挓銆丒DMA銆丠WA銆乵mWave 椹卞姩
        鈹溾攢鈻?Pcount3DDemo_dataPathOpen()    # 鍒涘缓 DPM 瀹炰緥
        鈹溾攢鈻?Pcount3DDemo_openSensor()      # mmWave_open()锛屽缓绔?BSS 杩炴帴
        鈹?
        鈹?  # 绛夊緟 CLI 鍛戒护杩涙潵锛岀敤鎴烽€氳繃涓插彛鍙?sensorStart
        鈹?
        鈹溾攢鈻?Pcount3DDemo_dataPathConfig()  # DPM ioctl 鎶婇厤缃笅鍙戠粰 DSS DPC
        鈹溾攢鈻?MmwDemo_trackerConfig()        # 閰嶇疆 Tracker DPU
        鈹溾攢鈻?Pcount3DDemo_configSensor()    # 鎶?chirp 閰嶇疆鍐欒繘 mmWave 灏勯鍓嶇
        鈹斺攢鈻?Pcount3DDemo_startSensor()     # 寮€濮嬪彂灏勶紝鏁版嵁寮€濮嬫祦鍔?

甯у紑濮嬩腑鏂?(纭欢)
    鈹?
    鈻?
Pcount3DDemo_DPC_ObjectDetection_processFrameBeginCallBackFxn()
    鈹? 閫氱煡 DPM 寮€濮嬪鐞?
    鈻?
[DSS 澶勭悊涓€甯э紝瑙佷富骞?3]
    鈹?
    鈻? DPM_Report_NOTIFY_DPC_RESULT
Pcount3DDemo_DPC_ObjectDetection_reportFxn()
    鈹? case NOTIFY_DPC_RESULT
    鈻?
Pcount3DDemo_handleObjectDetResult()    # mss_main.c:1688
    鈹? 鎷疯礉鐐逛簯锛屽彂涓や釜淇″彿閲?
    鈹溾攢鈹€鈻?Semaphore_post(trackerDPUSemHandle)
    鈹?       鈹斺攢鈻?MmwDemo_trackerDPUTask()  # 鍞ら啋 tracker 浠诲姟
    鈹斺攢鈹€鈻?Semaphore_post(uartTxSemHandle)
             鈹斺攢鈻?MmwDemo_uartTxTask()      # 鍞ら啋 UART 鍙戦€佷换鍔?

[Header: 榄旀湳瀛?+ 甯у彿 + 鍖呴暱搴
[TLV 1: 鍘嬬缉鐐逛簯]        type=6
[TLV 2: 鐩爣鍒楄〃]        type=7
[TLV 3: 鐩爣绱㈠紩]        type=8
[TLV 4: 鐩爣楂樺害] (鍙€? type=9

main()  鈫?dss_main.c:793
  鈹斺攢鈻?Pcount3DDemo_dssInitTask()
        鈹溾攢鈻?MmwDemo_edmaInit()      # 鍒濆鍖?EDMA锛堝唴瀛樻惉杩愮‖浠讹級
        鈹溾攢鈻?MmwDemo_edmaOpen()
        鈹斺攢鈻?Pcount3DDemo_DPC_RadarProc_dpmTask()  # DPM 涓讳换鍔★紝寰幆绛夊緟
              鈹?
              鈹?姣忓抚琚?DPM 璋冨害
              鈻?
        DPC_ObjectDetection_execute()    鈫?objectdetection.c:518
              鈹?
              鈻?
        DPU_radarProcess_process()       鈫?radarProcess.c (Capon 鏍稿績)
              鈹?
              鈹溾攢鈹€ 闈欐€佹潅娉㈡秷闄?
              鈹溾攢鈹€ Capon 娉㈡潫褰㈡垚 鈫?range-azimuth heatmap
              鈹溾攢鈹€ 2D CFAR (azimuth + range 涓や釜鏂瑰悜)
              鈹斺攢鈹€ 澶氭櫘鍕掍及璁?
              鈹?
              鈻? 杈撳嚭: radarProcessOutput
        鎵撳寘缁撴灉鍒?DPM_Buffer
        DPM 鑷姩閫氱煡 MSS

init 鈫?preStartConfig 鈫?start 鈫?[execute 脳 N甯 鈫?stop 鈫?deinit

DPU_TrackerProc_init()      # 鍒嗛厤 tracker 瀵硅薄鍐呭瓨
    鈹?
DPU_TrackerProc_config()    # 鍐欏叆 GTRACK 閰嶇疆鍙傛暟
    鈹?
姣忓抚:
DPU_TrackerProc_process()   鈫?trackerproc_3d.c:521
    鈹?
    鈹溾攢鈹€ 鏍煎紡杞崲:
    鈹?  DPIF_PointCloudSpherical 鈫?GTRACK_measurementPoint
    鈹?  (range, azimuthAngle, elevAngle, velocity, snr)
    鈹?
    鈹斺攢鈹€ gtrack_step(handle, points, NULL, mNum, ...)
          鈹? TI GTRACK 搴撴牳蹇冿紙闂簮锛?
          鈻?
        targetDescr[]  鈫?姣忎釜鐩爣: tid, 浣嶇疆, 閫熷害, 鍗忔柟宸?
        targetIndex[]  鈫?姣忎釜杈撳叆鐐瑰綊灞炲摢涓洰鏍?
        presenceInd    鈫?鍦烘櫙鍐呮槸鍚︽湁浜猴紙bool锛?