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AWR1642: SUCCESSFULLY DECODED THE USRR Data and now, i want to calculate the distance of the each detected object

Part Number: AWR1642


AWR1642BOOST DATA STRUCTURE

notes:

word(4 bytes) = [1  256  65536  16777216]

platformType = hex2dec('a1642') ---- 66 22 10 0 = A1642 (HEX VALUE)

TLV TYPES:

MMWDEMO_UART_MSG_DETECTED_POINTS    = 1;

MMWDEMO_UART_MSG_CLUSTERS           = 2;

MMWDEMO_UART_MSG_TRACKED_OBJ        = 3;

MMWDEMO_UART_MSG_PARKING_ASSIST     = 4;

MMWDEMO_UART_MSG_STATS = 6;

DATA FRAME:

HEADER ( 40 BYTES )

2 1 4 3 6 5 8 7 -- MAGIC FRAME

0 0 6 3 -- version

0 2 0 0 --totalPacketLen

66 22 10 0 --platform

207 63 0 0 --frameNumber

203 5 23 119 --timeCpuCycles

40 0 0 0 --numDetectedObj

3 0 0 0 --numTLVs

1 0 0 0 --subframeNumber



1 0 0 0 --type of TLV (detected points)

68 1 0 0 --length of TLV (324 bytes)

40 0 -- detected numObj 

7 0  --xyzQFormat

0 0 --doppler

158 16 --peakVal

62 1 --x

131 1 --y

0 0 185 16 65 1 136 1 

0 0 234 16 155 0 143 2 

0 0 218 17 137 0 153 2 

0 0 52 17 137 0 158 2 

0 0 1 17 44 0 188 3 

0 0 128 17 41 0 193 3 

0 0 213 16 30 0 200 3 

0 0 188 16 226 255 49 4

0 0 169 16 218 255 54 4 

0 0 160 16 255 255 66 4 --10th detected points

0 0 165 16 154 255 206 4 

0 0 13 17 154 255 212 4 

0 0 250 15 140 255 216 4 

0 0 167 14 24 255 254 5 

0 0 24 16 53 255 8 6 

0 0 179 15 62 255 14 6 

0 0 136 15 22 255 132 6 

0 0 52 15 18 255 137 6 

0 0 193 14 25 255 149 6 -- 20th detected points

0 0 15 15 241 254 45 7 

0 0 75 15 218 254 47 7 

0 0 148 14 181 254 46 7 

0 0 120 14 253 254 136 7 

0 0 203 14 4 255 143 7 

0 0 79 15 191 254 177 7 

0 0 30 15 176 254 181 7 

0 0 19 14 146 254 49 8 

0 0 229 13 168 254 58 8 

0 0 150 13 135 254 103 8 ---30th detected points

0 0 42 14 62 254 139 9 

0 0 50 16 73 253 99 9 

0 0 193 16 51 253 97 9 

0 0 83 15 251 252 86 9 

0 0 43 14 175 251 239 8 

47 255 53 17 132 254 42 3 

47 255 169 17 102 254 59 3 

47 255 239 17 215 254 124 3 

47 255 12 15 67 254 215 3 

47 255 232 12 207 253 10 5 --40th detected points




2 0 0 0 – type of TLV(cluster)

44 0 0 0 --length of TLV

5 0 -- detected numObj

7 0 --xyzQFormat

143 0 --x

151 2 --y

10 0 --x size 

7 0 -- y size

226 255 68 4 78 0 140 0 

40 253 94 9 65 0 62 0 

232 254 40 7 103 0 99 1 

129 254 110 3 79 0 92 0  --- 5*8 = 44 bytes




4 0 0 0 --type of TLV (parking assist)

68 0 0 0 --length of TLV

32 0 -- detected numObj

7 0 --xyzQFormat

186 3 -- range (186*1 + 3*256 + 1/7 --xyzQFormat) = 954.142

158 2 

158 2 

158 2 

158 2 

158 2 

94 7 

241 1 

240 1 

240 1 ---10th obj

240 1 

240 1 

87 5 

253 9 

36 9 

36 9 

36 9 

36 9 

165 6 

228 6 --20th obj

232 6 

57 7 

45 7 

170 3 

144 3 

144 3 

145 3 

190 3 

204 4 

46 4 

46 4 

46 4 --32th obj

15 15 15 15 15 15 15 15 15 15 15 15 --- PADDING BYTES (MULTIPLE By 32 with TOTAL LENGTH)




Total : 40 + 324 + 56 + 80 + 12 = 512 / 32 =16…..


 
----> how to  calculate distance, velocity and speed ?
-----> For example, calculate the terms for giving data.