IWR6843ISK: Sensors forum

Ziyou Xiong

Part Number: IWR6843ISK
Other Parts Discussed in Thread: DCA1000EVM, MMWAVEICBOOST, 4430

Hi:

By following the section "Capturing Raw ADC Data" of the "mmwave_studio_user_guide.pdf" document, I have been able to use mmWaveStudio to capture raw ADC data using two transmitters (e.g., Tx0, Tx2) and all four receivers. I have also managed to read all the data of the 8 virtual channels. But when I apply the Capon algorithm to generate the range-azimuth heatmap, for the 8 virtual data, I do not get the heatmaps correctly. However, for applying the Capon algorithm to the first 4 channel data, I get meaningful and correct heatmaps displaying movement of the people in range-azimuth over time. This suggests that some extra step needs to apply to the 5th - 8th virtual channel data. Could you tell me what I am missing here?

Many thanks.

Ziyou

over 5 years ago

0 Nitin Sakhuja over 5 years ago

TI__Mastermind 30405 points

This ticket has been assigned to an expert and they will respond to your question asap. Thanks for your patience.

Regards
-Nitin

0 zigang Yang over 5 years ago

TI__Mastermind 32825 points

Hi, Ziyou:

It is very likely that you will need to run the phase offset calibration to align the phase offset between different TX/RX pair.

Refer to the section "Range Bias and Rx Channel Gain/Offset Measurement and Compensation" in the doxygen documentation at: C:/ti/mmwave_sdk_03_01_01_02/packages/ti/demo/xwr68xx/mmw/docs/doxygen/html/index.html

You can easily run the gain/phase calibration through visualizer GUI. Here are the steps:
1) Set the target as explained in the demo documentation and update the mmwave_sdk_<ver>\packages\ti\demo\<platform>\mmw\profi appropriately.les\profile_calibration.cfg
2) Set up Visualizer and mmW demo as mentioned in the section . Running the Demos Use the "Load Config From PC and Send" button on plots tab to send the mmwave_sdk_<ver>\packages\ti\demo\<platform>\mmw\pr ofiles\profile_calibration.cfg.
3) The Console messages window on the Configure tab will dump the "compRangeBiasAndRxChanPhase" command to be used for subsequent runs where compensation is desired.
4) Copy and save the string for that particular mmWave sensor to your PC. You can use it in the "Advanced config" tab in the Visualizer and tune any running profile in real time. Alternatively, you can add this to your custom profile configs and use it via the "Load Config From PC and Send" button.

You can also use this result to apply in your post processing for your DCA captured data. Here is a quick example of what you get from visualizer.

compRangeBiasAndRxChanPhase 0.0571678 0.59717 0.59137 0.22586 0.76904 -0.06100 0.67480 -0.03009 0.72189 0.72018 0.10983 0.65768 0.39835 0.38239 0.65680 0.43262 0.72324 0.88715 0.13147 0.80719 0.55542 0.26929 0.96307 0.17258 0.86649

Then, you can use the vector as below
>> a = [0.59717 0.59137 0.22586 0.76904 -0.06100 0.67480 -0.03009 0.72189 0.72018 0.10983 0.65768 0.39835 0.38239 0.65680 0.43262 0.72324 0.88715 0.13147 0.80719 0.55542 0.26929 0.96307 0.17258 0.86649];
>> phaseRot = [a(1:2:end) + 1j*a(2:2:end)].‘;
>> X_comp = X.* phaseRot; % actual compensation, assume X is the DOA input.

Best,
Zigang

0 Ziyou Xiong over 5 years ago in reply to zigang Yang

Prodigy 240 points

Zigang:

Thanks for the reply. I'll try as you've suggested.

Also, the IWR6843ISK+MMWAVEICBOOST+DCA1000EVM unit I have can run the people detection demo under "mmwave_industrial_toolbox_3_1_1" package and produce meaningful people's movement tracks. I know that it specifies to use the two transmitters (e.g., Tx0, Tx2) and all four receivers. This means that the unit could work off-the-bat without me doing the phase offset calibration. Could you explain to me how is possible? Are the calibration parameters already "embedded" in the demo program?

Thanks again.

Ziyou

0 zigang Yang over 5 years ago in reply to Ziyou Xiong

TI__Mastermind 32825 points

HI, Ziyou:

You can try people counting demo to see whether the results is good. Because people counting demo is using the same capon beamforming to generate the range-azimuth heatmap. One other thing is I am not sure whether different DOA algorithm or different implementation of the same algorithm can have different sensitivity to the phase error due to the lack of calibration.

Best,
Zigang

0 Ziyou Xiong over 5 years ago in reply to zigang Yang

Prodigy 240 points

Zigang:

As I have written in my earlier question, I see that the people counting demo produces meaningful people's movement tracks. I've also studied the Matlab script implementing the demo GUI and interacting with the flashed firmware. My conclusion is that the demo could work off-the-bat without me doing the phase offset calibration. This brings me to a question about the implementation of the Capon DOA algorithm. Is there a Capon DOA algorithm that will have no sensitivity to the phase error due to the lack of calibration? If yes, could you provide me a pointer/reference?

Many thanks again.

Ziyou

0 Piyush_ over 5 years ago in reply to Ziyou Xiong

TI__Expert 5235 points

Just like you verified only using the 1st group (1st-4th) and looked o.k, did you try using only the 2nd group (5th-8th) and see if the result is o.k? As far as calibration is concerned, we have generally seen bigger phase discrepancy relative between two groups versus antennas within each group [indicating differences due to tx is more enhanced compared to rx on most boards]. Another thing is are you by any chance constructing the virtual array in your post-processing in the wrong order - e.g it will be messed up if the two groups are swapped relative to each other, the order of spatial progression of tx has to match the order of spatial progression of rx. It may still be useful to rule out calibration.

0 Ziyou Xiong over 5 years ago in reply to Piyush_

Prodigy 240 points

Piyush_:

Thanks for your reply. Following your suggestion, I have checked the result using the 2nd group (5th-8th) and the result is indeed OK. Like the result I get using the 1st group(1st-4th), the heatmaps show objects moving in a meaningful fashion, changing in range and azimuth according to the movement of the objects(persons). But when I use all 8 virtual channels (1st-8th), the result is, once again, not right. Also I have observed that the objects in the heatmaps seldom change in azimuth! They only change in range bins!

I have also checked the values of the Rx chirp values. The 1st Rx values are quite similar to the 5th, 2nd Rx values are quite similar to the 6th, 3rd Rx values are quite similar to the 7th, and 4th Rx values are quite similar to the 8th. I believe this is as expected. I've copy-and-pasted one instance of a 128x8 complex matrix [ 128 sample per chirp, 8 virtual channels ] below for your reference.

For example, in the first row:

-0.4260 - 0.1500i 0.1870 - 0.6140i 0.0260 - 0.3670i 0.1960 - 0.1280i -0.4360 - 0.1030i 0.1990 - 0.6650i 0.0200 - 0.3380i 0.2490 - 0.1890i

there are eight complex numbers:

-0.4260 - 0.1500i

0.1870 - 0.6140i

0.0260 - 0.3670i

0.1960 - 0.1280i

-0.4360 - 0.1030i

0.1990 - 0.6650i

0.0200 - 0.3380i

0.2490 - 0.1890i

You can see that the 1st value is quite similar to the 5th, ..., and 4th value is quite similar to the 8th.

It seems unlikely that I've constructed the virtual array in my post-processing in the wrong order, otherwise how can I explain that I've got meaningful heatmaps using the 1st group(1st-4th) and the 2nd group (5th-8th), respectively?

Any insight?

Thanks again.

Ziyou

1.0e+03 *

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0 Piyush_ over 5 years ago in reply to Ziyou Xiong

TI__Expert 5235 points

If you plot the unwrapped phase of the virtual array obtained say for a strong object known at some angle, it should show a linear progression [the slope will be depend on the angle, in an ideally calibrated one for example at boresight you should see flat line]. The azimuth Tx antennas are separated by 2*lambda so that when you line up the data of rx-es corresponding to them you create an equivalent spatial array of 8 antennas (4*lambda/2 = 2*lambda). So if you see both groups looking almost like a repeat (the small change is just receiver noise) then it seems as if the data was from chirping same single tx antenna (the small variation is just noise) instead of doing two alternating azimuth tx antennas. I see that in your first post you mention Tx0,Tx2 so that looks right (they are azimuth antennas) so not sure what is going on, can you double check your studio configuration?

When I mentioned swapped what I meant is that in the EVM, the spatial direction of rx progression needs to match the spatial direction of tx progression. If you see Figure 10 in www.ti.com/.../swru546a.pdf , then the rx progression of r1,r2,r3,r4 matches the tx order of Tx1 -> Tx3 for the azimuth antennas [in the EVM they are labeling 1 based instead of 0 based, so 0 based will be Tx0 -> Tx2]. So if the data corresponding to Tx0 was a1,a2,a3,a4 and tx2 was b1,b2,b3,b4 then your virtual array needs to be [a1 a2 a3 a4 b1 b2 b3 b4]. If instead the groups got swapped for some reason in your matlab processing i.e [b1 b2 b3 b4 a1 a2 a3 a4] then it will not work [even though individual a or b works]. But looking at the data it does not seem to be this swapping problem, it is more basic than that, as I mentioned before it almost looks like you it is chirping the same tx antenna.

0 Ziyou Xiong over 5 years ago in reply to Piyush_

Prodigy 240 points

Piyush:

Let me show you the settings I specified on the mmwave_studio_02_00_00_02 GUI:

The first picture shows "all connections are OK".

The second picture shows that I choose Tx0 and Tx2. Also I specify "Complex1x" under "ADC Config -> Format".

The third picture shows all the "default" option after I made the choices in the second picture. Note that "Lane 3" and "Lane 4" are automatically grayed out so I could not change those.

The fourth picture has the "profile" parameters I specify. Note that I have also checked "Tx0" and "Tx2" at the lower-left of the picture.

These are all the choices I've made. Then after I have captured data by clicking "Trigger Frame", I click "PostProc" to get the "*.bin" file. I then wrote some Matlab script to get the data in order.

What could have been wrong?

BTW, I've read that on page 25 of "mmwave_studio_user_guide.pdf" the following:

NOTE: 1. Matlab post processing supports data capture only in following modes a. 4 RX channel, 4 LVDS lanes b. 2 RX channels, 2 LVDS lanes c. 1 RX channel, 1 LVDS lane

This makes me wonder: I have chosen all 4 Rx's and 2 Tx's(Tx0 and Tx2), why is that "Lane 3" and "Lane 4" are automatically grayed out in the third picture? I have chosen 4 4 Rx's, shouldn't all 4 LVDS lanes be checked?

Thanks again.

Ziyou

0 Piyush_ over 5 years ago in reply to Ziyou Xiong

TI__Expert 5235 points

Your configuration is not setup for TDM-MIMO. The enabling of both tx-es in the last picture indicates that in every single chirp you are enabling both Tx0 and Tx2 (simultaneous) transmissions which is the reason why your data is essentially looking the same from one chirp to next [between the two groups of 4 rxes]. You need to setup to chirp alternatively with only Tx0 active in even chirps and only Tx2 active in odd chirps. You need to understand the meaning/relationship among chirp configuration, profile and frame configuration in order to be able to do this correctly. The following thread may help: http://e2e.ti.com/support/sensors/f/1023/p/624663/2312421?tisearch=e2e-sitesearch&keymatch=mmwave%20studio%20tdm%20mimo#2312421

0 Ziyou Xiong over 4 years ago in reply to Piyush_

Prodigy 240 points

Piyush_:

Thank you very much for this clarification. I am able to follow the instructions and got the 8 virtual channels to work.

Ziyou