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IWR6843AOPEVM: Area Scanner: Max range for dynamic point clouds is always limited at 10-11m

Thomas Pham
Prodigy 30 points
Part Number: IWR6843AOPEVM

Hi.

I am evaluating the IWR6843AOPEVM module and I have successfully run the Area Scanner demo lab (4.1.0) with the default configuration parameters. After that, I tried to increase the detection range of the dynamic objects to 30m. I have tuned the profile parameters using the OOB demo and successfully detected large objects at 30m. I copied the new parameters into the Area Scanner config file and gave it a try. However, the dynamic point clouds are still limited to 10-11m.

I have tried multiple parameters yet the max range still never gets past 11m. I am not sure if I have misconfigured something. Here is my current profile parameters in the config file compared to the default file.

-New:

-----------------------

sensorStop
flushCfg
dfeDataOutputMode 1
channelCfg 15 7 0
adcCfg 2 1
adcbufCfg -1 0 1 1 1
profileCfg 0 60 8 7 23.38 0 0 50 1 192 12499 0 0 158
chirpCfg 0 0 0 0 0 0 0 1
chirpCfg 1 1 0 0 0 0 0 2
chirpCfg 2 2 0 0 0 0 0 4
frameCfg 0 2 32 0 75 1 0
lowPower 0 0
guiMonitor -1 1 0 0 0 0 0
cfarCfg -1 0 2 8 4 3 0 10 0
cfarCfg -1 1 0 4 2 3 1 10 0
multiObjBeamForming -1 1 0.5
clutterRemoval -1 1
calibDcRangeSig -1 0 -5 8 256
extendedMaxVelocity -1 0
bpmCfg -1 0 0 1
lvdsStreamCfg -1 0 0 0
compRangeBiasAndRxChanPhase 0.0 1 0 -1 0 1 0 -1 0 1 0 -1 0 1 0 -1 0 1 0 -1 0 1 0 -1 0
measureRangeBiasAndRxChanPhase 0 1.5 0.2
% CQRxSatMonitor 0 3 15 125 0
% CQSigImgMonitor 0 115 6
CQRxSatMonitor 0 3 4 43 0
CQSigImgMonitor 0 87 4
analogMonitor 0 0
aoaFovCfg -1 -90 90 -90 90
cfarFovCfg -1 0 0 11.11
cfarFovCfg -1 1 -2.04 2.04
----------------------
-Default:
----------------------
sensorStop
flushCfg
dfeDataOutputMode 1
channelCfg 15 7 0
adcCfg 2 1
adcbufCfg -1 0 1 1 1
profileCfg 0 60.5 100 25 69 0 0 50 1 256 6000 0 0 30
chirpCfg 0 0 0 0 0 0 0 1
chirpCfg 1 1 0 0 0 0 0 2
chirpCfg 2 2 0 0 0 0 0 4
frameCfg 0 2 32 0 100 1 0
lowPower 0 0
guiMonitor -1 1 0 0 0 0 0
cfarCfg -1 0 2 8 4 3 0 20 0
cfarCfg -1 1 0 4 2 3 1 15 0
multiObjBeamForming -1 1 0.5
clutterRemoval -1 1
calibDcRangeSig -1 0 -5 8 256
extendedMaxVelocity -1 0
bpmCfg -1 0 0 1
lvdsStreamCfg -1 0 0 0
compRangeBiasAndRxChanPhase 0.0 1 0 -1 0 1 0 -1 0 1 0 -1 0 1 0 -1 0 1 0 -1 0 1 0 -1 0
measureRangeBiasAndRxChanPhase 0 1.5 0.2
CQRxSatMonitor 0 3 15 125 0
CQSigImgMonitor 0 115 6
analogMonitor 0 0
aoaFovCfg -1 -90 90 -90 90
cfarFovCfg -1 0 0 11.11
cfarFovCfg -1 1 -2.04 2.04
  • 0
    TI__Genius 14415 points

    Hello Thomas,

    If you are using ITB version 4.1, I suggest you download the newer version, as that one is very old. Likely the demo is similar but the new versions are better supported. Also, can you please post the full CFG you use for the area scanner lab? I don't see the commands for the static detection like staticDetectionCfg and heatMapGenCfg. 

    For info on modifying the range of the dynamic pointcloud, you will change profileCfg (as you have). To modify the range of the static point cloud, you will need to change the staticDetectionCfg command. Please see the following documents for info.

    Programming Chirp Parameters in TI Radar Devices (Rev. A)

    https://dev.ti.com/tirex/explore/node?a=VLyFKFf__4.10.1&node=ANeAbdL5iuCGKCHkfAqZgw__VLyFKFf__4.10.1&r=VLyFKFf__4.1.0 

    Regards,

    Jackson

  • 0 in reply to Jackson Thomas
    Prodigy 30 points

    Thank you for your quick reply.

    It is actually version 4.10.1,  my mistake. Here is the rest of my config file.

    -------------------------------------------------

    staticBoundaryBox -20 20 0 10 -1 2
    boundaryBox -100 100 0 30 -1 2
    gatingParam 4 10 10 10 20
    stateParam 3 10 10 70 1
    allocationParam 200 155 0.5 7 2 2
    maxAcceleration 3.0 3.0 3.0
    trackingCfg 1 2 250 20 132.7 830 75 90

    heatmapGenCfg -1 0  0 1 1 60.0 3.0 10
    staticDetectionCfg -1 0 -50.0 +50.0 -10.0 10.0 0.7 5.0 0.2 4 20.0
    sensorStart
    ---------------------------------------------------
    As you have noticed in the heatmapGenCfg command, I am setting the range bin for static detection at extremely low value. The static objects should not pollute the GUI as I am trying to config the dynamic object part alone. I don't think the static detection parameters affect the dynamic object detection processing chain.
  • 0 in reply to Thomas Pham
    TI__Genius 14415 points

    Hello,

    Please see the above resources for more information. But your chirp should already give you points beyond 11 meters. You can also try reducing the slope of the chirp instead of the ramp time.

    Are you expecting poincloud or tracks at longer ranges? And what are you seeing now? These are related but have different thresholds.

    Regards,

    Jackson

  • 0 in reply to Jackson Thomas
    Prodigy 30 points

    Thanks for the recommendation.

    I will try modifying the chirp slope. But being said, the same configuration worked on the OOB demo, which is really strange.

    I am trying to see dynamic point clouds at longer ranges initially. After getting it worked properly, I will tune the tracking parameters appropriately.  Right now, I can only see dynamic point clouds up to 10-11m.

  • 0 in reply to Thomas Pham
    Prodigy 30 points

    Update. I didn't change the cfarFovCfg parameters. It is limited at 11.11m, which explains why I couldn't see any point clouds above 11m. The parameter should be "cfarFovCfg -1 0 0 30.00" instead.

    Doppler cfarFovCfg should also be changed to "cfarFovCfg -1 1 -13.19 13.19" as configured in the chirp profile.

    Thanks for the help.