0.2.3.3.1 DPM Model

Processing on the device is handled by the Data Path Manager (DPM). The DPM coordinates processing on the R4F and DSP. The group tracker (gtrack) is run on Cortex R4F, in a separate task. Gtrack is encapsulated in a DPU, so it can be initialized and configured by the DPM. During runtime, gtrack runs in a separate task. This task pends on a semaphore, which is released when the point cloud is received and stored from the DSP. This allows the Cortex R4F to transmit data on UART or process ADC data through the HWA while the tracker is running on the point cloud from the previous frame. The main task in mss is referred to as a Mailbox Task below.