IWR6843AOP: IWR6843 AOP 3D point cloud data received does not match settings in configurations. Goes beyond the FOV.

Ahmed Tariq

Part Number: IWR6843AOP
Other Parts Discussed in Thread: IWR6843

Hi,

I have set up my stand alone IWR6843 AOP sensor with 3D people tracking demo.

I am sending the following configurations to the chip (This is the same cfg file present in the demo):

"sensorStop\n",
    "flushCfg\n",
    "dfeDataOutputMode 1\n",
    "channelCfg 15 7 0\n",
    "adcCfg 2 1\n",
    "adcbufCfg -1 0 1 1 1\n",
    "lowPower 0 0\n",
    "bpmCfg -1 1 1 2\n",
    "profileCfg 0 60.75 30.00 25.00 59.10 0 0 54.71 1 96 2950.00 2 1 36 \n",
    "chirpCfg 0 0 0 0 0 0 0 1\n",
    "chirpCfg 1 1 0 0 0 0 0 6\n",
    "chirpCfg 2 2 0 0 0 0 0 6\n",
    "frameCfg 0 2 48 0 55.00 1 0\n",
    "dynamicRACfarCfg -1 4 4 2 2 8 12 4 12 5.00 8.00 0.40 1 1\n",
    "staticRACfarCfg -1 6 2 2 2 8 8 6 4 8.00 15.00 0.30 0 0\n",
    "dynamicRangeAngleCfg -1 0.75 0.0010 1 0\n",
    "dynamic2DAngleCfg -1 3.0 0.0300 1 0 1 0.30 0.85 8.00\n",
    "staticRangeAngleCfg -1 0 8 8\n",
    "fineMotionCfg -1 1 1.0 10 2\n",
    "antGeometry0 -1 -1 0 0 -3 -3 -2 -2 -1 -1 0 0\n",
    "antGeometry1 -1 0 -1 0 -3 -2 -3 -2 -3 -2 -3 -2\n",
    "antPhaseRot 1 -1 1 -1 1 -1 1 -1 1 -1 1 -1\n",
    "fovCfg -1 70.0 70.0\n",
    "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\n",
    "staticBoundaryBox -3 3 0.5 7.5 0 3\n",
    "boundaryBox -4 4 0 8 0 3\n",
    "sensorPosition 2 0 15\n",
    "gatingParam 3 2 2 3 4\n",
    "stateParam 3 3 12 500 5 600\n",
    "allocationParam 20 100 0.1 20 0.5 20\n",
    "maxAcceleration 0.1 0.1 0.1\n",
    "trackingCfg 1 2 800 30 46 96 55\n",
    "presenceBoundaryBox -3 3 0.5 7.5 0 3\n",
    "sensorStart\n"

As you can see, the field of view is set up as 140 azimuth and 140 elevation.

I get the following frame after I run the sensor :

02 01 04 03 06 05 08 07 04 00 05 03 80 02 00 00
43 68 0A 00 AA 00 00 00 00 00 00 00 2C 00 00 00
05 00 00 00 00 00 00 00 FC 03 00 00 74 01 00 00
0A D7 23 3C 0A D7 23 3C F7 CC 92 39 6F 12 83 39
0A D7 23 3D F7 8A 00 00 ED 05 F1 03 07 8B 00 00
EA 06 C6 1E 07 8B 00 00 E7 07 C6 37 FF 8B 00 00
E4 08 74 26 F7 8D 00 00 ED 05 EE 03 07 8D 00 00
EA 06 20 1B 07 8D 00 00 E7 07 51 2F FF 8E 00 00
E4 08 31 21 FB 90 00 00 ED 05 EB 03 07 90 00 00
EA 06 28 18 07 90 00 00 E7 07 C2 28 FF 90 00 00
E4 08 FB 1C FF 92 00 00 ED 05 EE 03 07 92 00 00
EA 06 BE 15 0B 91 00 00 E7 07 A2 23 FF 92 00 00
E4 08 96 19 FF 95 00 00 ED 05 F1 03 0B 93 00 00
EA 06 D0 13 0B 93 00 00 E7 07 9E 1F FF 95 00 00
E4 08 D7 16 FF 97 00 00 ED 05 F5 03 0B 96 00 00
EA 06 46 12 0B 96 00 00 E7 07 6E 1C FF 97 00 00
E4 08 98 14 03 99 00 00 ED 05 FB 03 0B 98 00 00
EA 06 11 11 0B 98 00 00 E7 07 EA 19 FF 99 00 00
E4 08 BD 12 03 9B 00 00 ED 05 04 04 0B 9A 00 00
EA 06 23 10 0B 9A 00 00 E7 07 EA 17 FF 9B 00 00
E4 08 33 11 03 9C 00 00 ED 05 0E 04 0B 9C 00 00
EA 06 6E 0F 0B 9C 00 00 E7 07 57 16 FF 9C 00 00
E4 08 EB 0F 03 9E 00 00 ED 05 1A 04 0B 9D 00 00
EA 06 EE 0E 0B 9D 00 00 E7 07 18 15 03 A0 00 00
ED 05 2A 04 0B 9F 00 00 EA 06 96 0E FF A7 00 00
B3 18 8D 00 07 AD 00 00 B0 19 D5 00 F3 B2 00 00
AC 1A 07 01 F2 03 00 00 70 00 00 00 00 00 00 00
7A 14 BD BE CA A8 DD 3E B7 1E E4 3D 37 C0 89 3D
A1 81 65 3E B5 D4 6E 3D 26 AC 17 BE 83 F9 04 BE
08 AA 29 BF A4 68 90 3F 9E 81 B0 BC 70 DC 8A BC
00 A5 A2 BB 9E 81 B0 BC 06 CF 69 3F EC 8C 03 BD
F3 FD 0C BC 70 DC 8A BC EC 8C 03 BD 47 79 69 3F
F8 0F D1 BB 00 A5 A2 BB F3 FD 0C BC F8 0F D1 BB
75 AB 8D 3E 00 00 40 40 D7 35 79 3F F4 03 00 00
0C 00 00 00 00 00 00 00 0C DF 8C 3F 5E A8 77 3F
F3 03 00 00 1F 00 00 00 00 00 00 00 00 00 00 00
00 00 00 00 00 FF 00 00 00 00 00 00 00 00 00 00
00 00 00 00 00 00 FF FD 03 00 00 04 00 00 00 01
00 00 00 BE BE BE BE BE BE BE BE BE BE BE BE BE
BE BE BE 00 00 00 00 00 00 00 00 00 00 00 00 00

If you view the first point received in the 3D point cloud we get the following data:

TLV type found: 1020
      Databytes: 372
TLV header stored.TLV :1020
TLV header stored.len :372
[     elevationUnit: 0.010000
      azimuthUnit:   0.010000
      dopplerUnit:   0.000280
      rangeUnit:     0.000250
      SNRUnit:       0.040000 ]
___________
[      elevation mul: 247
      azimuth mul : 138
      doppler mul : 0
      range mul    : 1517
      snr mul      : 1009

]
3D point: 0

[
      elevation (rads): 2.470000
      azimuth (rads):   1.380000
      doppler (m/s):    0.000000
      range (m):        0.379250
      SNR :             10.090000 ]

As you can see, the elevation in radians is 2.47 which is way more than +70_ -70 fov sent in the cfg.

I wanted to know if this is an error in the sensor or my method of data extraction is incorrect?

8 months ago