mmWave Frequently Asked Questions

Device Level Questions:

Question: What is the main difference between the xWR1443 and xWR1642 devices?

Answer: xWR1443 features an on-chip hardware accelerator for FFT processing whereas the xWR1642 features full-fledged DSP. The radar front-end for xWR1443 also has an additional Tx antenna than the xWR1642. The choice of device depends on the application and full extent of processing required by the user:

Similar threads:

Which mmwave product should I buy ?

IWR1443: The differences between IWR1443 and AWR1243 RF specifications

Question: What are the main differences between the AWR and IWR devices?


1. AWR1xxx devices support a wider junction temperature range, -40C to 125C. IWR versions support -40C to 105C.
2. AWR1xxx devices are qualified for automotive applications as they are AECQ100 qualified and ASIL-B capable. This is not the case for IWR variants.
3. Specific to the 1642, AWR1642 has 2 CAN interfaces, one of them being CAN-FD. IWR1642 only has one CAN interface (no CAN-FD).

Similar Threads: IWR1443BOOST: IWR and AWR chip choices

Question: What is the main difference between resolution and accuracy in mmWave Sensors?

Answer: It is important to distinguish between "Range Resolution" and "Range Accuracy" as these are two different (but related) concepts. Resolution refers to the minimum distance between two objects that is needed by the sensor to distinguish them apart. As of now the minimum range resolution of mmWave Sensors is just under 3 cm. Accuracy refers to the error in actual distance compared to what is detected by the sensor. As of now mmWave sensors have seen accuracy to within .1 mm under certain conditions.

EVM Level:

Question: I’m having trouble flashing my EVM using the Uniflash Software.

Answer: We have put together a guide specifically for flashing mmWave EVM’s using Uniflash. This document is available at this link. Please make sure that you populated both the SOP0 and SOP2 jumpers in order to put the device into flashing mode.

Similar threads:

How flash IWR1642 BOOST by UNIFLASH (flashing my new project)

Question: What is the field of view for EVM/BoosterPack? (both azimuth and elevation)

Answer: +/- 60 degrees in the azimuth (120 deg total) and +/- 15 degrees in the elevation (30 deg total).

Similar threads:

IWR1443BOOST: About elevation estimation


Question: What is the material/specs/finish of the BoosterPack PCB?

Answer: All these specs are available in the section titled Layout and Design Files on the pages for the AWR1443BOOST/IWR1443BOOST and AWR1642BOOST/IWR1443BOOST

Specific TIREX Content:

ROS Visualizer:

Question: ROS Point Cloud visualizer fails to start with the following error on the console: “[Error]: [<Timestamp>]: Skipped loading plugin with error: XML Document ‘<ros_workspace>/src/ti_mmwave_rospkg/mmWave_nodelets.xml’ has no Root Element. This likely means the XML is malformed or missing…”

Answer:  It appears that the ROS Kinetic distribution used by TI ROS Point Cloud Visualizer Lab was updated recently to have more error checking and it found an error in one of the XML files in TI’s ROS driver package. The error was always there in the XML file but it had no impact until now. The details of the error and the fix are documented in the following thread:

Similar Threads: IWR1443BOOST: in ROS demo, Error about calling service mmWave CLI

(Note: This issue affects mmWave Industrial Toolbox releases 1.6.2 and 2.0.0)

Question: When running the Robot OS (ROS) Visualizer or mmWave Demo Visualizer the mmWave sensor seems to crash and/or report that the device disconnected immediately after the “sensorStart” CLI command is sent to the sensor

Answer:  The crash and/or “device disconnected” Linux ROS error message are typically seen when the EVM does not have sufficient power. The EVM user guide specifies a 5 Volt power supply that can supply at least 2.5 Amps. Many phone/device USB chargers and computer USB ports only supply around 1 Amp and will cause a crash. If using a computer USB port or a charger/adapter that lists a current less than 2.5A (typically printed somewhere on the adapter), then it will need to be changed out for a 5V power supply that can supply at least 2.5A. If the current power supply meets the requirements, try swapping it out with a different power supply in case the one being used has an issue.

Similar Threads:

Linux/IWR1642BOOST: Device disconnects while running mmw ros demo

People Counting Demo:

Category: Setup/Compilation

Question/Query: Why does the rebuilt People Counting image not work?


The pplcount_16xx_dss project under the people counting demo lab needs to be compiled and built with C6000 DSP compiler version 7.4.16. The People Counting Demo user-guide at <mmwave_industrial_toolbox_install_path>\labs\lab0011-pplcount\docs in your PC points to the link to download this version of the compiler.  

Similar Threads:

IWR1642BOOST: People counting rebuilt image cannot work

Question/Query: People counting GUI Application crashes/hangs somtimes


Please switch the PC to High Performance mode and prioritize the People counting GUI application for better experience    

Similar Threads: None


Category: People Counting Demo Application related

Question/Query: What is the People counting output data format?


Please refer to the section “Data formats” in the People counting user guide located at <mmwave_industrial_toolbox_install_path>\labs\lab0011-pplcount\docs in your PC.

Similar Threads:

IWR1642BOOST: [IWR1643] People Counting Data Structure


Question/Query: How many people can be tracked with current People Counting Demo


The people counting Demo supports 20 People to be tracked but could also be extended up to 100 people provided the point cloud output data is within max limit of 1000 points

Similar Threads: None

Question/Query: How to eliminate Multipath(ghost) reflections


Multipath Reflections are caused due to secondary(Radar energy getting re-reflected from other objects after hitting an object of importance -People) reflections from nearby surfaces with the Doppler component. Such Reflections will have lower SNR and no of points in point loud compared to the Primary reflections from the People. Hence this could be eliminated by tuning the tracker. The People Counting Customization guide at <mmwave_industrial_toolbox_install_path>\labs\lab0011-pplcount\docs in your PC provides procedure and examples to assist customers to achieve multipath reflections cancellation.

Similar Threads: None


Question/Query: How to extend the 6m and 14m Demo for other Rmax ranges  


For People Counting Application, two example chirp configurations for 6,14m have been provided in the TI design TIDEP-01000. The Application requires 512KB of Memory and has been optimized for Max velocity/Velocity resolution via the Chirp design. With these limitations, changing the Chirp slope is the option to adapt the demo for expected Rmax.

       After a Chirp configuration is arrived at, the Demo needs to be tuned for a better experience which is explained in the People Counting Customization guide at <mmwave_industrial_toolbox_install_path>\labs\lab0011-pplcount\docs in your PC

Similar Threads: None

Question/Query: How is the Data processing Chain implemented?


The People counting Demo Application Data processing which runs on the IWR1642 is partitioned into two stages

  1. Object Detection: Range, Angle of Arrival and Doppler processing is carried out on the Sensor ADC data in C674x DSP. The output of this stage is Point cloud which for every detection point has range, Doppler and angle information
  2. Object Tracking: ARM Cortex-R4F implements the Tracking algorithm which takes in the point cloud output and implements a Kalman filter based Tracker.

For more details on the data processing chain implementation, please refer to the People Tracking and Counting reference design document    

Similar Threads: None

Category: People Counting-H/W –SoC related

Question/Query:   What is the Angular resolution of People Counting Demo


The Angular resolution is a function of number of Rx and Tx antennas. IWR1642BOOST EVM has 2 Tx and 4Rx. The People Counting application uses the MIMO concept which results in the 8 synthesized array of antennas. Since the EVM antenna provides a FOV of 120deg, the Angular resolution is 15deg which means two people can be separated in angle at the range from the Radar sensor if they are 15 deg apart.  

Similar Threads: None

Question/Query: Can People counting be ported to IWR1443


The People counting Demo is implemented on the IWR1642 wherein the Object Detection algorithm runs on the C674x DSP whereas the Object tracking on the ARM Cortex-R4F. The application requires 512KiB of Radar cube memory. IWR1443 does not have a C674x DSP and the memory required to implement People counting Signal processing chain. Hence it cannot be ported to IWR1443.

Similar Threads:

IWR1443: Can the people counter run on the IWR 1443?

Question/Query: How to get 1D FFT output in People counting application?

Response: Below mentioned are the two ways to achieve the same.

  1. Use Demo visualizer-Record option to record the Data on the UART. The People counting application sends out the Range FTT data. The customer would need to parse the data as per the data format described in the People counting user guide    
  2. Use the capture demo in SDK1.1. Please refer to the SDK1.1 user guide for the same.

Similar Threads:

CCS/AWR1642: Does the fftOut1D store the FFT results of all chirps of one frame in pplcount demo project, how to send out the FFT result of only one chirp of one frame to GUI by UART


High Accuracy Lab 16xx:

Question: high accuracy 16xx lab ccs project doesn’t compile?

Answer: Usually this is caused by missing dsplib, need to refer user guide and install c674x-dsplib_1_03_00_01. (this is not needed for version after mmwave Training –v:1.6.2)

Please refer to the following threads

CCS/AWR1642BOOST: AWR1642 High Accuracy lab doesn't seem to work

CCS/AWR1642BOOST: cannot find file "dsplib674x_elf.lib

 mmWave SDK Demo:

Question: Out of Box demo does not work

Answer:  There a few things that could be checked in case you are do not see the out of box demo not working.  Steps for running the Out of Box demo are documented in MMWAVE SDK User Guide “Running the Demo” section and demonstrated in video  mmWave SDK EVM Out-of-Box Demo

 If you continue to see issues here are a few things to check/debug:

1.  Is the correct Image flashed on the device?

Check the steps for Flashing the Out of Box demo in MMWAVE SDK User Guide “How to” Section.

2.  Can the mmWave Visualizer  recognize the EVM’s COM Ports?

Check the  Section x in document Y.

3.  Please use Google Chrome  Browser for running the mmWave Visualizer.


Similar Threads

AWR1642BOOST: mmWave SDK EVM Out-of-Box Demo 


Question: Which flash memory chips are compatible with the mmWave Sensors?

Answer: Only a few have been tested and are available in the DFP Release Notes:

Spansion S25FL256S

Spansion S25FL132K0XNFB010

Macronix MX25L3233F

Macronix MX25R1635FZNIH0 (Wide voltage part variant)

In addition, these chips have been tested with xWR1642: 

MX25U1633FZNQ - 16Mb, 1.65V - 2.0V, WSoN(6x5mm), -40 to +125 Degree Celsius

MX25V1635FZNQ - 16Mb, 2.30V - 3.6V,  WSoN(6x5mm), -40 to +125 Degree Celsius

MX25V8035FM1Q - 8Mb / 2.30V - 3.60V / Quad SPI (104MHz) / 8 SoP / -40°C to 125°C


Question: Where can I find a list of registers/memory map/IO and peripheral description/device specific information?

Answer: The Technical Reference Manual contains information about the function of every piece of the device.  It can be found on the device page at under Technical Documents:



Question: How can I record or save data from the mmWave Visualizer?

Answer: A beta Visualizer with recording functionality is available here. A guide to using this function is available here:




Question: I'm getting an error when I try to load any mmWave Visualizer off the TI Gallery.

Answer: This can be resolved by simply clearing your browsers cookies.