TIDEP-01021: Software without MMWAVE-SDK

Hi,

Most of the demos provided in the automotive toolbox on tirex use identical UART based communication to a Host.

In the demos provided the Host is a GUI running on the PC.

In your project, you would just need to establish UART communication with the AWR1843BOOST board. Once you are able to receive the data on the Jetson Nano, you would need to parse it in the same way it is done in the demo GUI.

I recommend you review the GUI provided for the tirex demo associated with the TIDEP-01021 TI Design

labs\lab0011_mrr_beamsteering

Hi Cesar,

Thanks for your quick reply. I understand but actually I want a document like a datasheet for the communication. For example, if I want to get distance value I should send to AABBCCDD dataset to AWR1843BOOST from Jetson Nano using the UART communication protocol. I need datasets like that. I don't know if I could explain it clearly. 

Hi,

Could you please explain this in more detail:

Lacin Tuncer said:

f I want to get distance value I should send to AABBCCDD dataset to AWR1843BOOST from Jetson Nano using the UART communication protocol

I am not clear what this means

thank you

Cesar

Hi again,

Sorry.

What I mean is that in the communication we're going to do using the UART protocol, I need to know the data sets as below. Basicly, I need rules. The image below is an excerpt from the datasheet of the PGA460.

Hi,

Please note that unlike the PGA460, the labs\lab0011_mrr_beamsteering is a demo that can be modified as needed.

In following implementation,

\mmwave_automotive_toolbox_3_2_0\labs\lab0011_mrr_beamsteering

Starting and Configuration of Demo

• the start of the demo and the configuration of the demo is hard coded
• The UART is not used in this process

Sending Data to Host

• every frame, a set of buffers are sent to the Host
• Output Data Format is described in Slides 11-14
  • lab0011_mrr_beamsteering\docs\mrr_2_0_Developer_Guide.pdf
• This Data must be received and parsed by the host in the same way as the GUI pareses it.

thank you

Cesar

Hi, 

Thanks for your reply. 

I cant find documents you said. 

\mmwave_automotive_toolbox_3_2_0\labs\lab0011_mrr_beamsteering ??

lab0011_mrr_beamsteering\docs\mrr_2_0_Developer_Guide.pdf ??

labs\lab0011_mrr_beamsteering ??

Where can I find these file addresses?

Hi,

The demo can be found in the mmWave Automotive Toolbox in the TI Resource Explorer

https://dev.ti.com/tirex/explore/node?a=VLyFKFf__1.0.4&node=AFeCagqbt7.hu2lHOXE4eA__AocYeEd__LATEST

Please download and install it on your PC.

You will find the folders mentioned previously.

I did not realize that you did not run the demo previously.

I think your first step would be to run the demo on an AWR1843BOOST EVM

Thank you

Cesar

Hi Cesar, 

Thank you.

I will examine that. I have another question,

1) I dont want to buy DCA1000EVM for run it. Is it possible? I mean, I don't want to buy another development board to drive AWR1843BOOST EVM. Is it possible to try the codes on this site you post without a development card? In my own project, I will get location information by communicating AWR1843BOOST EVM with Jetson Nano.

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Editing the question:

2) In this link (mmWaveSensors / Automotive Toolbox (3.3.0) / Labs / MRR Beam Steering) which of CCS Project DSS and CCS Project MSS should be uploaded to the processor in AWR1843BOOST? What is the difference between them?

3) And there are many files such as Medium Range Radar, Obstacle Detection in mmWaveSensors / Automotive Toolbox (3.3.0) / Labs address. Why did you only mention MRR Beam Steering? Are the others unimportant?

Hi,

1. The DCA1000 EVM is needed only for raw data capture

2. You will need both as mentioned in the User Guide. The AWR1843 has a DSS and an MSS core. Both are used in the demo

3. Initially your request was regarding TIDEP-01021 which is the TI Design regarding beam steering.

If you have not run yet the mmWave SDK demo, I recommend you try this demo first since it is the most generic and easy to use.

thank you

Cesar

Hi Cesar,

Thanks for informations. I understand, please check me.

I can use another board like Jetson Nano for raw data capture. I can some changes in code for communication. I can get distance I need. MRR Beam Steering is enough for calculate distance. Am I right?

Can you please provide more information regarding your application?

What type of object are you trying to detect? Static or Moving? At what range is the object?

What angular resolution is needed?

You probably don't need MRR beam steering, maybe a simpler demo will work for you

thank you

Cesar

Hi Cesar,

I will work on autonomus driving systems and our goal is to detect moving objects around us, to determine the speed of objects and to measure the distance between us and objects with a radar mounted on a mobile robot. The moving robot is our project, and you can think of it as a tiny car. This robot will realize the adaptive driving control system by adjusting the speed of the object in front of it. 

We will mount the AWR1843BOOST on the robot. We will read distance, speed and direction information from AWR1843BOOST by communicating with Jetson Nano via SPI communication protocol. AWR1843BOOST will never be connected with the computer.It will be located on a moving vehicle.

Thank you for the additional details

The Industrial mmWave team did a demo where the sensor was communicating with a ROS gui running on Ubuntul Linux PC

(99) Robotics sense and avoid demonstration using TI mmWave sensors - YouTube

The sensor was sending the pointcloud information to the ROS gui.

If you are working at a 1-10m distance, you should consider using the mmWave SDK demo running on AWR1843BOOST.

This will be a better choice for this type of application since it will provide better angular resolution which is indispensable in this type of robotics applications.

The MRR lab was designed for detecting vehicles at 120m. The price paid for this higher range is the lower angular resolution.

Thank you

Cesar

Thank you Cesar,

But 1-10m not enough for us. I already use ultrasonic sensors and these are working for short range measurement. I want to measure at least up to 25m. We want to see it as a small car project. Our target is ADAS.

The video you sent does not contain much detail. I did not understand which communication protocol, which ready codes were used.  Where is the mmWave SDK demo code? mmwave_automotive_toolbox_3_3_0\labs\ ???

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Editing the question:

Additionally, what communication protocols are available in AWR? What communication protocol can we use for communication when using this development kit? (Remember that we will not make a computer connection.) Can you show the communication ports (SPI, I2C or UART etc.) on the development board with a visual aid? The communication protocol I asked should belong to the TM4C1294NCPDTT3 microcontroller on the development kit. Because we will send data to Jetson Nano through this microcontroller.

Hi,

The EVM page provides the EVM User Guide which describes all the connectors available on the BOOST EVM.

https://www.ti.com/tool/AWR1843BOOST

https://www.ti.com/lit/ug/spruim4b/spruim4b.pdf

I am not clear regarding the "TM4C1294NCPDTT3". The TIVA processor is used for the XDS110 emulator.

The AWR1843 has integrated R4F MCU that controls the peripherals.

You can use SPI to to communicate with the Jetson Nano.

Regarding the processing chain, you can still use the mmWave SDK OOB MIMO demo for this application. You should have no problems detecting cars at 25m with this processing chain. Using MIMO will provide better angular resolution than Beamforming.

Beamforming is only needed at ranges larger than 40-50m.

At the same time, there is no problem using the MRR/USRR processing chain as well.

If you have not done that already please take some time and run some of this demo on the BOOST evm.

Cesar

Hi again,

Thanks for informations. 

I can't try the demo because I haven't purchased it yet. Since it has a high price, I cannot purchase without being sure that all my questions have been solved first, so I cannot try.

1) How do I get the distance information if I am not connecting to the microcontroller with SPI? So what is the microcontroller on the AWR1843BOOST development kit for? Will I communicate directly with the AWR1843 sensor? What I understand is that if I am using the ready-made software, this microcontroller is working to make imaging from the computer, that ready-made software is loaded into this microcontroller. But if I want to send data to another system from the outside (like Jetson Nano), that microcontroller is nonfunctional, I cannot pull the ready distance data calculated by the microcontroller directly from the microcontroller on the AWR1843BOOST. Am I right? If this is true, wouldn't it be pointless for me to buy this system? Because if I cannot read the distance data from your microcontroller as ready, if I will try to communicate with the sensor over my own system again, it does not serve my purpose. If I am wrong, please explain clearly.

2) Do you have a sample project where SPI communication with AWR1843BOOST is realized? I want to examine. Because I could not understand what SPI communication was done. I have to learn the data order that will enable communication. I mean, when I request distance information or speed information by Jetson Nano, how should I send AWR1843BOOST code order so that AWR1843BOOST gives me the information I want. In which bit order should I read the data sent by AWR1843BOOST so that I can obtain meaningful data. I need a software datasheet.

3) It is very difficult to get answers to questions by sending a message with a delay of 1 day. Is there any way I can text you? It takes 1 week to solve problems that we can solve in 10 minutes.

Hi,

Before we discuss SPI details, I think that we need to take a step back and discuss how the demos provide the range information.

First Step

The RF front end is configured. This configuration will define the max range that will be detected.

Second Step.

The sensor will start transmitting a set of chirps in a certain amount of time called FRAME and will start receiving electromagnetic waves. This data is ADC sampled in the device

Third Step

The ADC data is processed by the DSP and HWA inside the device to determine range, velocity and angle of the detected objects. This processed data is called "object data"

This step is repeated every FRAME. So for example if the FRAME time is defined to be 100ms. Every 100ms there is new ADC data that will be processed.

Fourth Step

The ARM R4F can  be programmed to send the object data to a host through one of the peripherals available.

It is up to the programmer to decide if the data will be sent every frame or every so many frames.

For the demos TI provides, the object data is sent every FRAME to a PC Host through the UART.

What this means, is that if a another host is being used such as Jetson Nano, this host will receive object data every FRAME from the sensor.

There is not such notion as "pulling the data from the Host".

You will interface directly to the AWR1843 integrated ARM R4F MCU. There is no need for another MCU

The Nano will receive object data every FRAME.

Let's make sure this is clear before we move forward.

Thank you

Cesar

Cesar,

Thanks for detailed information. Then check what I said

1) AWR1843 radar sensor have integrated MCU and make calculations and send the datas itself without another MCU.

2) I should use UART on Jetson Nano for communication as a PC Host. 

If what I said is not true, can you explain why it is not true, and if it is true, would you answer my questions below?

1) If AWR1843 is no need for another MCU, what is the role of the TM4C1294NCPDTT3 microcontroller on this board? According to whatyou said, we can handle the calculation and communication over AWR1843. What do we do with the microcontroller?

2) Distance, velocity and angle data are sent in a calculated form within these frames, right? Is there a datasheet that explains these sent data blocks?

3) If I want to work with SPI, can I provide it? Is there a sample document? I haven't written software with TI before. So I may need some basic information as well.

Lacin Tuncer said:

1) AWR1843 radar sensor have integrated MCU and make calculations and send the datas itself without another MCU.

2) I should use UART on Jetson Nano for communication as a PC Host. 

This is correct. You can also use SPI to communicate to the Jetson Nano.

Lacin Tuncer said:

1) If AWR1843 is no need for another MCU, what is the role of the TM4C1294NCPDTT3 microcontroller on this board? According to whatyou said, we can handle the calculation and communication over AWR1843. What do we do with the microcontroller?

The TIVA processor is used for the on board XDS 110 emulator.

Lacin Tuncer said:

2) Distance, velocity and angle data are sent in a calculated form within these frames, right? Is there a datasheet that explains these sent data blocks?

Usually the demo documentation provides information regarding the data format that is sent to the host.

For the MRR demo it is provided in Slide 10-13

labs\lab0007_medium_range_radar\docs\MediumRangeRadar_DeveloperGuide.pdf

This data format is part of the demo code and can be modified if needed.

Lacin Tuncer said:

3) If I want to work with SPI, can I provide it? Is there a sample document? I haven't written software with TI before. So I may need some basic information as well.

Yes, you can use SPI. We have several examples that show how to use SPI.

Can you please start a new thread for this request?

thank you

Cesar

Hi Cesar,

I understand. I will start a new thread for SPI questions but I have a last question in this thread.

Cesar said:

The TIVA processor is used for the on board XDS 110 emulator.

Since that the TIVA microcontroller on the board is only used for XDS 110 emulator, do you have evaluation board without TIVA microcontroller? Work with AWR1843 is enough for me. Maybe you can offer a more affordable solution.

Thank you.

Hi,

Unfortunately we don't have an AWR1843 board without XDS110

thank you

Cesar

Hi,

So, when we transfer the existing software to the evaluation board, do we program the TIVA processor or the AWR1843 sensor? If I write software, how do I program the sensor?

Thank you.