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IWR6843ISK: Output Packet and memory calculate when using subframe in OOB demo

Part Number: IWR6843ISK

Hi,

I used subframe configuration for long range detection in OOB demo. (SDK 3.5, Refer to configuration in Long Range People Detection Lab)

These subframes are aiming to focus on the angle of [-33.75, -11.25, 11.25, 33.75]. 

sensorStop
flushCfg
dfeDataOutputMode 3
channelCfg 15 7 0
adcCfg 2 1
adcbufCfg -1 0 1 1 1
profileCfg 0 61.0 10 6 135 0 14970880 1.8 1 256 2000 0 0 48
profileCfg 1 61.0 10 6 135 0 10276864 1.8 1 256 2000 0 0 48
profileCfg 2 61.0 10 6 135 0 6565888 1.8 1 256 2000 0 0 48
profileCfg 3 61.0 10 6 135 0 1871872 1.8 1 256 2000 0 0 48
chirpCfg 0 0 0 0 0 0 0 7
chirpCfg 1 1 1 0 0 0 0 7
chirpCfg 2 2 2 0 0 0 0 7
chirpCfg 3 3 3 0 0 0 0 7
advFrameCfg 4 0 0 1 0
subFrameCfg 0 0 0 1 128 80 0 1 1 80
subFrameCfg 1 0 1 1 128 80 0 1 1 80
subFrameCfg 2 0 2 1 128 80 0 1 1 80
subFrameCfg 3 0 3 1 128 160 0 1 1 160
lowPower 0 0
guiMonitor -1 2 0 0 0 0 0
cfarCfg -1 0 2 8 4 3 0 12 0
cfarCfg -1 1 0 4 2 3 1 12 1
multiObjBeamForming -1 1 0.5
clutterRemoval -1 0
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 4 63 0
CQSigImgMonitor 0 127 4
analogMonitor 0 0
aoaFovCfg -1 -70 70 -90 90
cfarFovCfg -1 0 0.6 200
cfarFovCfg -1 1 -30 30.00
calibData 0 0 0
sensorStart

Q1. Is the output point cloud of each frame/subframe output coordinates with angular focus corrected? Or are the coordinates uncorrected for angles?

 

Q2. When using a single frame, the radar cube memory is (NumRx * NumTx * RangeFFT * DopplerFFT * SampleSize).

If 4 subframes are used, can radar cube memory multiply the above value by 4? (NumSubframe * NumRx * NumTx * RangeFFT * DopplerFFT * SampleSize).

 

Thanks.

  • Hello,

    I don't believe there is any correction applied to the pointcloud. The processing will already resolve the angle based on the reflection from the object.

    The memory is not multiplied by four. This is because the subframes are all chirped and processed individually. So sub frame 1 would chirp, fill the radar cube, process the data, and save the pointcloud. Then sub frame 2 would chirp, replace the radar cube, and keep going.

    Regards,

    Jackson