IWR6843ISK: How to get Radar Cube Data

Hello Tetsuro,

Thank you for reaching out of our e2e forums! Are you working with one of our labs from the industrial toolbox or are you using our out of box demo? If using the industrial toolbox, which lab are you working with?

Thanks,

Angie

Hello, Angie.

Thank you for your quick reply.
We use mmwave_industrial_toolbox_4_12_0 out of box demo and using mmWave_Demo_Visualizer ver 3.5.0 as below

dev.ti.com/.../

We have additional questions.

What does the "Range Profile for zero Doppler" and "Doppler-Range Heatmap" displayed out of box demo represent?

Is it the data of one representative receiving antenna? Or is it the result of summing the data obtained from each receiving antenna?

Is it possible to get the raw data from each antenna using the out of box demo? If it is not possible, please tell me another way.

We want to get the Radar Cube Data at our own chirp parameters (eg ADC Sampling Time, Frequency Slope, Ramp End Time, Frame Period, Output Power, etc.).

Thank you.

Tetsuro

Hello Tetsuro,

This guide has information on all our TLVs to help you get started. More details can be found in the SDK user's guide in the SDK download at <mmwave_sdk_03_05_00_04\docs> and in the .html documentation site. The data output over the TLVs is the summation across the receiving antennas. 

We have also this guide on raw data capture with a DCA1000 board. In the mmWaveStudio tool mentioned in this guide settings like ADC Sampling Time, Frequency Slope, Ramp End Time, Frame Period, Output Power can be set and raw data can be collected. You can also select which TX to look at in mmWaveStudio.

Thanks,

Angie

Hello, Angie.

Thank you for your kind reply. I read Understanding UART Data Output Format (ti.com).

Please tell me more details about the Q9 format of the range profile.

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

Range Profile

Type: 2
Length: 2 Bytes x Range FFT size
Value: Array of profile points at 0th Doppler (stationary objects). The points represent the sum of log2 magnitudes of received antennas expressed in Q9 format.

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

Thank you,

Tetsuro

Hi Tetsuro,

Q9 means that the value has been bit shifted 9 times to allow the output to be an integer value rather than a float. You need to divide the value by 512 to get its original value. 

Here is some more information in this e2e thread: https://e2e.ti.com/support/sensors-group/sensors/f/sensors-forum/1108234/iwr6843aopevm-interpretation-of-range-profile-data?tisearch=e2e-sitesearch&keymatch=q9%252525252520range%252525252520profile# 

Thank you,

Angie

Hi, Angie,

Thank you for your kind reply.

I tried dividing the UART data by 512 to get the original value.

But it doesn't have the same y-axis scale as the Out of Box demo.
How can I convert the UART data to the same dB scale as the Out of Box Demo after dividing by 512?

For reference, I've attached the graph shown in the Out of Box demo and the graph we got from the UART and divided by 512.

And, what does "Relative Power(dB)" mean?

Thank you.

Tetsuro

Hello.

Angie is out of office and will be able to provide an answer next week.

Sincerely,

Santosh

Hello,

I have an additional question. 
I am trying to output TLVs data from UART data. Please tell me how to convert each TLVs output data to true value.

Thank you.

Warm regards,

Hello Tetsuro.

Here is a guide regarding how to interpret the TLVs.

Hope this helps,

Santosh

Link: https://dev.ti.com/tirex/explore/node?node=A__ADnbI7zK9bSRgZqeAxprvQ__com.ti.mmwave_industrial_toolbox__VLyFKFf__4.12.1

Hello Santosh.

Thank you for your guide regarding how to interpret the TLVs.

Please tell me about the array of MATRIX data in the Range-Doppler Heatmap.

The guide says:

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

X(range bin 0, Doppler bin 0),...,X(range bin 0, Doppler bin D-1),
...
X(range bin R-1, Doppler bin 0),...,X(range bin R-1, Doppler bin D-1)

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

For example, if there are 256 Range bins and 16 Doppler bins, is my thinking below correct?
First, 16 Doppler bins of the nearest range bin 0 are arranged, and then 16 Doppler bins are output repeatedly up to range bin 255?

As a test, the data output from Range-Doppler Heatmap with UART is shown below. This is the result when there is no moving object in the surroundings, but the data looks like the energy is not concentrated at 0m/s.

Range-Doppler 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12,2100,1995,1921,2138,2201,2136,2084,2063,2489,2664,2426,2289,2357,2241,2246,1984,2130,2071,2012,2166,2164,2057,2110,2147,2515,2848,2588,2264,2328,2341,2269,2168,2164,2209,2139,2157,2152,2062,2172,2176,2664,2752,2555,2033,2231,2235,2151,2150,2050,2231,2144,2096,1904,1985,2125,2016,2490,2828,2518,2138,2214,2156,1935,1709,1923,2160,2174,2118,1995,1831,2023,2034,2605,3000,2746,2266,2200,2253,2093,2115,2118,2105,1990,2123,2106,2054,2120,2180,2771,2978,2806,2145,2166,2274,2324,2219,2113,2114,2176,1984,2143,2113,2015,2074,2753,2911,2694,2100,2299,2369,2230,2044,1987,2103,2173,1993,2045,2060,2026,2011,2696,2673,2449,2203,2348,2497,2389,2196,2161,2186,2140,2232,2214,2191,2136,2262,2619,2779,2513,2249,2334,2506,2393,2228,2136,2216,2188,2170,2182,2159,2212,2279,2617,2918,2685,2110,2324,2297,2109,2036,2024,2168,2189,2167,2070,2146,2141,2227,2718,3069,2839,2162,2192,2257,2121,2076,1985,2111,2122,2115,2014,2120,1981,2193,2858,2904,2710,2265,1892,2127,2189,2112,2116,2106,2116,2161,2138,2113,2115,2118,2778,2882,2692,2149,2094,2182,2128,2069,2096,2169,2109,2146,2174,2212,2250,2040,2643,2891,2732,2129,2095,2200,2250,1990,2019,2097,2025,1962,2140,2260,2185,1981,2590,2976,2788,2250,2205,2175,2140,2195,2238,2196,2087,1872,2089,2227,1930,1985,2726,2938,2743,2222,2241,2280,2138,2290,2291,2188,2115,1958,2019,2130,1989,2034,2699,2886,2656,2057,2082,2283,2162,2117,2151,2172,1966,2013,2099,2203,2232,2206,2677,2717,2575,2170,2157,2176,2069,2079,2076,2038,2117,2066,1983,2265,2280,2209,2587,2735,2544,2260,2262,2177,1940,2171,2046,2021,2153,2137,2073,2218,2153,2113,2549,2636,2476,2186,2162,2111,2026,2097,1971,1891,2200,2049,2113,2140,2080,2095,2436,2610,2409,2117,2109,2022,2022,2093,2104,2058,2171,2172,2135,1993,1976,2030,2437,2678,2474,2104,1978,2194,2211,2105,2174,2190,2216,2300,2234,2081,1927,2025,2526,2718,2551,2255,1951,2205,2104,2098,2060,2052,2081,2100,2183,2099,1983,2001,2528,2679,2497,2310,2256,2244,2117,2136,2169,1999,1964,1960,2041,2091,2092,1973,2496,2452,2365,2275,2223,2170,2243,2197,2256,2163,2063,2231,2119,2084,2124,1978,2358,2567,2350,2129,2154,2251,2210,2104,2135,2053,2230,2190,2061,2075,1970,1935,2359,2741,2541,2129,2220,2335,2176,1924,1907,2022,2180,2180,2002,2070,1909,2041,2527,2776,2468,2207,2321,2390,2243,2049,2005,2139,2030,2177,2181,2134,2177,2118,2535,2793,2494,2141,2308,2355,2201,2129,2117,2138,2031,2137,2252,2000,2154,2168,2572,2778,2477,2056,2237,2259,2147,2123,2122,1974,2068,2128,2174,2219,2259,2157,2579,2519,2408,2043,2093,2176,2147,1930,2050,2026,2083,2024,2111,2292,2361,2255,2305,2541,2386,2185,2168,1990,2018,1954,2048,1917,1989,2087,2180,2245,2256,2196,2266,2586,2388,2249,2210,2171,2170,2171,2055,1788,2005,2137,2087,2102,2127,2001,2395,2602,2402,2178,2162,2202,2197,2060,1992,2079,2035,2094,2064,2111,2091,2018,2437,2655,2469,2207,2120,2152,2154,2087,2152,1984,2057,2152,2205,2131,2100,2134,2453,2721,2553,2143,2192,1990,2098,2162,1894,2055,2133,2200,2271,2209,2041,2018,2440,2771,2525,2264,2206,2042,2028,2117,2183,2227,2168,2133,2252,2104,1909,1947,2518,2754,2514,2268,2186,2164,2050,2135,2177,2131,2126,2040,2060,2008,2090,2069,2502,2802,2653,2259,2248,2232,2186,2171,2232,2229,2169,2010,1871,2025,2032,2187,2558,2749,2586,2203,2234,2215,2155,2209,2225,2170,2129,2073,2132,2162,2210,2130,2492,2631,2438,2192,2104,2145,2139,2116,2165,2053,1965,1983,2097,2222,2237,2078,2433,2493,2392,2150,2228,2158,2047,2180,2139,2191,1976,1930,1891,2111,2162,2148,2344,2689,2523,2195,2244,2194,2225,2116,2131,2036,2048,2148,2090,2082,2121,2100,2484,2676,2524,2139,2154,2201,2247,2123,2014,1948,2144,2137,2063,2108,2174,2023,2550,2596,2452,2155,2099,2143,2130,2185,2135,2054,2073,2098,2017,1988,2074,2056,2420,2659,2483,2185,2111,2188,2100,2092,2170,2052,2096,1975,2016,2121,2088,2132,2382,2722,2564,2249,2217,2164,2096,1941,2098,2060,2178,1909,1916,2144,2182,2054,2475,2632,2530,2264,2172,2107,2066,1892,1987,2017,2036,1759,1958,2116,2105,2055,2455,2580,2412,2059,1991,2046,1939,1942,2017,2038,1895,1942,2060,2069,1913,2019,2392,2447,2200,2149,2002,2060,1960,1943,2032,2041,1882,2027,2185,2070,1946,1998,2215,2453,2237,2206,2119,2019,2022,1984,2017,1980,1816,1841,2006,1916,1943,1952,2300,2373,2169,2050,1956,1888,1918,1692,1894,1883,1887,1640,1706,1800,1810,1649,2217,2186,2166,1932,1883,1829,1894,1813,1837,1761,1866,1728,1661,1795,1768,1845,2111,2344,2168,1853,1894,1933,1888,1888,1879,1910,1764,1806,1790,1870,1866,1862,2191,2283,2155,1915,1848,1883,1855,1743,1861,1974,1911,1752,1780,1913,1760,1650,2029,2239,2076,1751,1694,1691,1518,1673,1813,1788,1765,1736,1790,1734,1716,1691,1992,2167,2043,1692,1709,1694,1679,1819,1816,1632,1856,1881,1699,1517,1584,1810,2050,2245,2077,1834,1687,1853,1755,1922,1846,1789,1831,1781,1672,1702,1747,1768,2030,2116,1912,1648,1823,1975,1714,1893,1909,1698,1699,1868,1827,1875,1836,1781,1928,2006,1943,1784,1915,1908,1807,1933,2060,1946,1829,1882,1957,1896,1648,1700,1720,1949,1913,1891,1968,1866,1938,2175,2359,2226,1989,1888,1843,1654,1790,1880,1696,2020,1953,1837,1906,1888,1925,2164,2433,2321,1984,2199,2201,2219,2160,2048,1861,2154,2022,1912,1774,1633,1822,2039,2219,2133,1934,2383,2638,2773,2547,2070,1882,2180,1894,1946,1942,1700,1811,1966,1954,2043,2216,2678,2931,3053,2681,2052,2022,2277,2032,1890,2049,1803,2026,2008,1968,2045,2225,2676,2884,3021,2558,1922,2140,2526,2352,1851,2086,2070,2042,2077,2007,2033,2100,2321,2469,2658,2186,1954,2329,2558,2412,2089,2096,2105,2063,2038,2057,2032,2055,2021,2131,2096,1842,1871,2272,3052,2830,2171,2141,2146,1996,2003,2007,2070,2088,2114,2164,2075,2102,2072,2799,

Thank you.

Tetsuro

Yes you are correct.  According to the guide, each row contains the doppler information for a range bin, all the way up to the last range bin.  So in your case, it would be a 256 row(range bins) by 16 column(doppler bins) matrix.

Sincerely

Santosh

Hello Santosh.

Thank you for your kind response.I have another question. 

According to "Azimuth Static Heatmap" of TLV4 guide.

"The antenna data are complex symbols, with imaginary first and real second in the following order:

Imag(ant 0, range 0), Real(ant 0, range 0),...,Imag(ant N-1, range 0),Real(ant N-1, range 0)
...
Imag(ant 0, range R-1), Real(ant 0, range R-1),...,Imag(ant N-1, range R-1),Real(ant N-1, range R-1)

This means the first 4 bytes of the payload is the radar cube complex value of the first range bin for the first virtual antenna(N=1)."

Question: Complex symboks antenna data is 4 bytes, so does the first 2 bytes mean the imaginary part and the last 2 bytes the real part?

Thank you.

Tetsuro

I believe your understanding is correct.

Sincerely,

Santosh