Hello
Could you help me supoort my customer with a few questions.
Please note this is a follow on from E2E post :-
My customer notices that the Visualiser did not register all targets in range, and the stability (i.e. whether the object was detected or not) was not great.
They tell me :-
A lot of this could have been down to the settings and the classification algorithm used to detect a target. However, this is just an observation as our anti-collision algorithm does not require classification of objects, but a simple 1d map of range to target for each angle.
Our top level algorithm pseudocode looks like this:
void PeriodicService ( void )
{
/* Define two limiting demands (for left/right wheel speeds)
which are calculated by the anticollision algorithm */
PERCENT DriveDemand1 , DriveDemand2 ;
/* Define an array containing the distance [meters] to target for each angular segment */
double RangeToTarget [ NUMBER_ANGULAR_SEGMENTS ];
/* Extract the latest scan from the mmWave radar sensor and populate this array */
UpdateRangeToTarget ( RangeToTarget ) ;
/* Run our anti-collision algorithm on this target information,
Generating our limiting drive demands information which clip the wheelspeeds */
UpdateAntiCollisionDriveDemands ( RangeToTarget , &DriveDemand1 , &DriveDemand2 ) ;
/* Send the drive demands to CAN that will then be interpreted by the drive controllers */
SendDriveDemandsAcrossCAN ( DriveDemand1 , DriveDemand2 ) ;
}
I could not find an on line application which provided the UpdateRangeToTarget (and I think using an online app would give really poor performance, even for an initial demo). I looked into downloading the firmware development suite. I downloaded the CCS, support files for the mmWave target, uFlash downloader etc… following the on-line installation instructions. These all installed correctly on my Ubuntu machine.
I then looked for a demo firmware application which I could use as a reference point to insert the above pseudocode. I’ve found a couple, but they seem to be focused on how to optimise the beam pattern, chirp frequencies etc.. requiring detailed knowledge on radar configuration and not on interfacing to a OEM application. While we would certainly get up to speed on the radar configuration and optimisation when developing a product, I really need a basic setup so I can demonstrate the basic capability to management. I.e. proof of concept rather than absolute range/accuracy.
This is my current position!
So, Is there a firmware demo which provides the above information? It seems a fairly simple radar function. I’m pretty sure I’m looking in the wrong place for my demos. Also, is there a code snippet which configures the CAN peripheral?
Many Thank
Bob Bacon