AWR6843AOPEVM: Transmitting Heatmaps in Overhead 3D People Tracking Demo

Tool/software:

Hello Ti Forum,

I would like to transmit a range doppler map in addition to the point cloud in the Overhead 3D People Tracking demo.


When I have a look at the out of the box demo, I see that the range doppler map is extracted in the transmit process as follows:

void MmwDemo_transmitProcessedOutput(UART_Handle uartHandle,
                                     DPC_ObjectDetection_ExecuteResult *result,
                                     MmwDemo_output_message_stats      *timingInfo)
{
    MmwDemo_output_message_header header;
    MmwDemo_GuiMonSel   *pGuiMonSel;
    MmwDemo_SubFrameCfg *subFrameCfg;
    uint32_t tlvIdx = 0;
    uint32_t i;
    uint32_t numPaddingBytes;
    uint32_t packetLen;
    uint8_t padding[MMWDEMO_OUTPUT_MSG_SEGMENT_LEN];
    uint16_t *detMatrix = (uint16_t *)result->detMatrix.data;
    
    ...
    
    UART_writePolling (uartHandle,
           (uint8_t*)&tl[tlvIdx],
           sizeof(MmwDemo_output_message_tl));

    UART_writePolling (uartHandle,
            (uint8_t *) result->azimuthStaticHeatMap,
            result->azimuthStaticHeatMapSize * sizeof(cmplx16ImRe_t));

        tlvIdx++;
        
}

The detMatrix is then transferred to the PC via a TLV.


I have implemented this in my code

tl.type = MMWDEMO_OUTPUT_MSG_RANGE_DOPPLER_HEAT_MAP;
tl.length = sizeof(MmwDemo_output_message_tl) + gMmwMssMCB.heatMapOutFromDSP.dataSize;
memcpy(txBufPtr, (uint8_t*) &tl,
       sizeof(MmwDemo_output_message_tl));
txBufPtr += sizeof(MmwDemo_output_message_tl);

uint16_t *detMatrix = (uint16_t *)gMmwMssMCB.heatMapOutFromDSP.data;

memcpy(txBufPtr, (uint8_t*) &detMatrix,
       gMmwMssMCB.heatMapOutFromDSP.dataSize);
txBufPtr += gMmwMssMCB.heatMapOutFromDSP.dataSize;

But unfortunately, when I look at the transmitted data, it seems that there is no range doppler map stored. Instead some profile information etc. is stored.

(The gMmwMssMCB.heatMapOutFromDSP.dataSize shows a size of 16,384)

(Only a small part of the data, unfortunately I cannot upload the whole file)


I found this post here with more or less the same problem: https://e2e.ti.com/support/sensors-group/sensors/f/sensors-forum/1263500/awr6843aopevm-transmitting-float-data-type-heatmaps-via-uart-in-3d-people-counting-demo

But as far as I can reconstruct the steps, I understand that the address has to be converted to read the data out of the DSS.

uint32_t * heatMapAdd = (uint32_t *)0x20093AF0 - (uint32_t *)0x20000000 + (uint32_t *)0x51000000;
heatData = *heatMapAdd;

I have inserted this code in the handleObjectDetResult function in mss_main.c

Can anyone point me in the right direction as to what the next correct step would be?

Is it possible to extract a range doppler map in the 3D people tracking demo?

Many thanks :)

Best Regards,

Tobias