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IWR6843ISK: Getting a nan when converting the position data from uint8 to float in mmWave out of the box demo

Gayatri Menon
Intellectual 796 points
Part Number: IWR6843ISK

Hi, 

I am using the OOB demo to read detected points. Sporadically I am getting [0,0,0xff,0xff] for the position (Y data) in TLV MMWDEMO_OUTPUT_MSG_DETECTED_POINTS. [0,0,0xff,0xff] when converted to float represents Nan. I am not sure what does this represent. 

Below are a few observations

  • I had set a baud rate of 921600 with only detection streaming. I had around 135-160 detections when this issue happened. Doesn't seem like a data drop. 
  • The issue is highly sporadic 
  • The byte order in my code is correct. Other than this sporadic incident, I never had any other issue with parsing 

Please help me debug this issue

Thanks 

  • 0
    TI__Expert 4448 points

    Hi,

    Is there any identifiable pattern to the occurrence of the NaN (i.e. scene, scenario)? Can you share/describe the code and configuration being used such that we can see if we can replicate the error?

    Regards,
    Luke

  • 0 in reply to Luke Rouleau
    Intellectual 796 points

    Hi Luke,

    Thanks for looking into this.

    I was capturing the data in a cafeteria where 3 -5 people were walking in random directions. Following is the config I used.


    % Created for SDK ver:03.06
    % Created using Visualizer ver:3.6.0.0
    % Frequency:60
    % Platform:xWR68xx
    % Scene Classifier:best_range_res
    % Azimuth Resolution(deg):15
    % Range Resolution(m):0.047
    % Maximum unambiguous Range(m):15.04
    % Maximum Radial Velocity(m/s):3.74
    % Radial velocity resolution(m/s):0.24
    % Frame Duration(msec):100
    % RF calibration data:None
    % Range Detection Threshold (dB):15
    % Doppler Detection Threshold (dB):15
    % Range Peak Grouping:enabled
    % Doppler Peak Grouping:enabled
    % Static clutter removal:disabled
    % Angle of Arrival FoV: Full FoV
    % Range FoV: Full FoV
    % Doppler FoV: Full FoV
    % ***************************************************************
    sensorStop
    flushCfg
    dfeDataOutputMode 1
    channelCfg 15 5 0
    adcCfg 2 1
    adcbufCfg -1 0 1 1 1
    profileCfg 0 60 127 7 40 0 0 100 1 384 11999 0 0 158
    chirpCfg 0 0 0 0 0 0 0 1
    chirpCfg 1 1 0 0 0 0 0 4
    frameCfg 0 1 32 0 100 1 0
    lowPower 0 0
    guiMonitor -1 1 0 0 0 0 0
    cfarCfg -1 0 2 8 4 3 0 15 1
    cfarCfg -1 1 0 8 4 4 1 15 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 99 0
    CQSigImgMonitor 0 127 6
    analogMonitor 0 0
    aoaFovCfg -1 -90 90 -90 90
    cfarFovCfg -1 0 0 14.39
    cfarFovCfg -1 1 -3.74 3.74
    calibData 0 0 0
    sensorStart


    In addition, I had peak grouping in both directions disabled and static clutter removal disabled. I had more than 100 detected points.

    The issue was sporadic so I cannot say the exact reproduction scenario.

    [0 0, 0, 0,0,0,255,255,190 63 89 73 68 64 0 0], This was the points corresponding to the particular detection.


    Thanks
    Gayatri

  • 0 in reply to Gayatri Menon
    TI__Expert 4448 points

    Hi,

    I am still looking into this, please give me some time. I should get back to you within 24 hours.

    Regards,
    Luke

  • 0 in reply to Luke Rouleau
    TI__Expert 4448 points

    Hello Gayatri,

    Can you place the device into debug mode and place breakpoints in the radial to cartesian conversion function and see if we can diagnose if the error is coming from an erroneous conversion? 

    Regards,
    Luke

  • 0 in reply to Luke Rouleau
    Intellectual 796 points

    The issue is really sporadic. I am not sure how much I can debug . I'll try though 

    Regards

    Gayatri