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IWR6843AOP: Config file for long range people detection

Manuel De Cicco
Prodigy 20 points
Part Number: IWR6843AOP
Other Parts Discussed in Thread: IWR6843

Hi,

I'm trying to use this sensor for detect people in a space. I've tried the IWR6843AOP with a 6m default cfg file, and it worked well. I've tried to modify the cfg file to work on a longer distance but I failed on it. Then I've tried using this tool: https://dev.ti.com/gallery/view/mmwave/mmWaveSensingEstimator/ver/2.2.2/, but the cfg file that it gives out does not work.

The cfg file that I'm using is this:

% SDK Parameters
% See the SDK user's guide for more information
% "C:\ti\mmwave_sdk_[VER]\docs\mmwave_sdk_user_guide.pdf"
sensorStop
flushCfg
dfeDataOutputMode 1
channelCfg 15 7 0
adcCfg 2 1
adcbufCfg -1 0 1 1 1
lowPower 0 0

% Detection Layer Parameters
% See the Detection Layer Tuning Guide for more information
% "<RADAR_TOOLBOX_INSTALL_DIR>\source\ti\examples\People_Tracking\docs\3D_people_tracking_detection_layer_tuning_guide.pdf"
profileCfg 0 60.75 30.00 25.00 59.10 394758 0 36 1 96 2950.00 2 1 36
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 96 0 60.00 1 0
dynamicRACfarCfg -1 4 4 2 2 8 12 4 12 11 9.00 0.40 1 3
staticRACfarCfg -1 6 2 2 2 8 8 6 4 8.00 15.00 0.30 0 0
dynamicRangeAngleCfg -1 0.75 0.0010 1 0
dynamic2DAngleCfg -1 3.0 0.0300 1 0 1 0.30 0.85 8.00
staticRangeAngleCfg -1 0 8 8
antGeometry0 -1 -1 0 0 -3 -3 -2 -2 -1 -1 0 0
antGeometry1 -1 0 -1 0 -3 -2 -3 -2 -3 -2 -3 -2
antPhaseRot 1 -1 1 -1 1 -1 1 -1 1 -1 1 -1
fovCfg -1 70.0 70.0
compRangeBiasAndRxChanPhase 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

% Tracker Layer Parameters
% See the Tracking Layer Tuning Guide for more information
% "<RADAR_TOOLBOX_INSTALL_DIR>\source\ti\examples\People_Tracking\docs\3D_people_tracking_tracker_layer_tuning_guide.pdf"
staticBoundaryBox -3 3 2 10 0 3
boundaryBox -4 4 0.5 12 0 3
sensorPosition 2 0 15
gatingParam 3 2 2 3 4
stateParam 3 3 12 500 5 6000
allocationParam 20 100 0.1 20 0.5 20
maxAcceleration 0.1 0.1 0.1
trackingCfg 1 2 800 30 46 96 60
presenceBoundaryBox -4 4 0.5 12 0 3
sensorStart
I've already tried to modify the boundary box to increase the space, but obviously it does not work.
What parameters should I change for longer distances, like 20/30m? And what values should I set?
Thanks a lot.
  • 0
    TI__Expert 4448 points

    Hello, 

    As for the CFG not working, the Sensing Estimator contains error checks on the many of the constraints for a CFG file, but not every possibility can be captured (though we do our best to continually improve it). Please start from the original working configuration and use the Advanced Tab to tune the config for a longer range. Only modify one cell value at a time and test the config again to make sure that it works before tuning other cells.

    I would check all CFG fields against the documents located in the comments of the config file. They contain limitations and notes which are applied to the cells; see if there are any violations.

    Please report back if it seems that there is an error-check that seems to be missing in the tool.

    Regards,
    Luke

  • 0 in reply to Luke Rouleau
    Prodigy 20 points

    I tried uploading and editing the conf from the app, but despite the fact that the output result tells me that the range is at 35m, after 10m at most it becomes "blind". This is the file so far, what could it be?

    % SDK Parameters
    % See the SDK user's guide for more information
    % "C:\ti\mmwave_sdk_[VER]\docs\mmwave_sdk_user_guide.pdf"
    sensorStop
    flushCfg
    dfeDataOutputMode 1
    channelCfg 15 7 0
    adcCfg 2 1
    adcbufCfg -1 0 1 1 1
    lowPower 0 0

    % Detection Layer Parameters
    % See the Detection Layer Tuning Guide for more information
    % "<RADAR_TOOLBOX_INSTALL_DIR>\source\ti\examples\People_Tracking\docs\3D_people_tracking_detection_layer_tuning_guide.pdf" 35m
    profileCfg 0 60.75 30 25 59.1 394758 0 10 1 96 2950.00 2 1 36
    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 96 0 60 1 0
    dynamicRACfarCfg -1 4 4 2 2 8 12 4 12 11 9.00 0.40 1 3
    staticRACfarCfg -1 6 2 2 2 8 8 6 4 8.00 15.00 0.30 0 0
    dynamicRangeAngleCfg -1 0.75 0.0010 1 0
    dynamic2DAngleCfg -1 3.0 0.0300 1 0 1 0.30 0.85 8.00
    staticRangeAngleCfg -1 0 8 8
    antGeometry0 -1 -1 0 0 -3 -3 -2 -2 -1 -1 0 0
    antGeometry1 -1 0 -1 0 -3 -2 -3 -2 -3 -2 -3 -2
    antPhaseRot 1 -1 1 -1 1 -1 1 -1 1 -1 1 -1
    fovCfg -1 70.0 70.0
    compRangeBiasAndRxChanPhase 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

    % Tracker Layer Parameters
    % See the Tracking Layer Tuning Guide for more information
    % "<RADAR_TOOLBOX_INSTALL_DIR>\source\ti\examples\People_Tracking\docs\3D_people_tracking_tracker_layer_tuning_guide.pdf"
    staticBoundaryBox -3 3 2 37 0 3
    boundaryBox -4 4 0.5 38 0 3
    sensorPosition 4 0 10
    gatingParam 3 2 2 3 4
    stateParam 3 3 12 500 5 6000
    allocationParam 20 100 0.1 20 0.5 20
    maxAcceleration 0.1 0.1 0.1
    trackingCfg 1 2 800 30 46 96 60
    presenceBoundaryBox -4 4 0.5 37 0 3
    sensorStart

    I modified the freqSlope in the profileCfg.
    Thank you very much

  • 0 in reply to Manuel De Cicco
    TI__Expert 4448 points

    Hi,

    The behavior that you are seeing is something that will be better documented in the next release of the Sensing Estimator. 

    The theoretical max range is 35m. Max Range = (Bandwidth * c) / (2 * Frequency Slope).

    However, in reality, there is not infinite transmit power, so the true range is lower. 

    The IWR6843 can be used for ranges much longer than 35m, so make sure to use a config with a theoretical max range well beyond the 35m so that you can in reality detect at the desired range.

    Regards,
    Luke

  • 0 in reply to Luke Rouleau
    Prodigy 20 points

    Ok thanks.

    One last question, is this information valid for the IWR6843AOP? Or are they different? If they are different, what is the maximum range that the AOP covers?

    Thank you

  • 0 in reply to Manuel De Cicco
    TI__Expert 4448 points

    Hi Manuel, 

    The AOP module is limited in range compared to that of the ISK due to antenna gain and configuration (limitations imposed by mounting it on the package). People tracking will run within 10m easily, and maybe out to 20-30m, but that would really be pushing it. The other challenge is you can't TX beam-steer on the AOP because the antennas aren't aligned in a single angular dimension.

    If range is critical, an ISK would have much better performance.

    Regards,
    Luke