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AWR1843AOP: Clarification on CAN Message 0xD4 and Object Association in Message 0xD1 (AWR1843AOP with MRR Application)

mitesh rajpurohit
Intellectual 290 points
Part Number: AWR1843AOP

Tool/software:

Hello TI Team,

I am currently working with the AWR1843AOP using the MRR (Medium Range Radar) application, and analyzing the radar packet data being sent over the CAN interface.

I have found documentation for the CAN message formats with the following IDs: 0xC1, 0xB1, 0xD1, 0xD2, and 0xD3, which was very helpful.

However, I am unable to find detailed information about the CAN message with ID 0xD4, which I believe is related to Parking Assist data.

  • Could you please provide documentation or details explaining the byte structure and data format of this message?
  • Also, I noticed that message 0xD4 is not sent continuously. Could you clarify under what conditions this message is triggered?

Additionally, I have a question regarding the 0xD1 message (MMW demo detected points):
Do the detected points reported in this message represent individual points from multiple distinct objects, or could multiple points belong to the same object?

Looking forward to your support and clarification.

Best regards,
Mitesh

  • 0
    TI__Guru*** 148244 points

    Hi,

    Unfortunately the team that developed this code is no longer available for support. 

    So, we need to review the code to answer some of your questions

    • Could you please provide documentation or details explaining the byte structure and data format of this message?
    • Also, I noticed that message 0xD4 is not sent continuously. Could you clarify under what conditions this message is triggered?

    The function that creates the packets sent is defined in dss_main.c " MRR_DSS_SendProcessOutputToMSS()"

    The message type for Parking Assist is MMWDEMO_OUTPUT_MSG_PARKING_ASSIST

    You can see this video that shows how it works. I think The Free Space Grid (in pink) is built using the Parking Assist information. You are correct this information may not be sent every frame.

    Short-range radar demonstration: Object clustering and tracking

    Additionally, I have a question regarding the 0xD1 message (MMW demo detected points):
    Do the detected points reported in this message represent individual points from multiple distinct objects, or could multiple points belong to the same object?

    The radar does not have the notion of object. The detected points are all the reflections received in one frame. They are not from same object since the radar does not know what object means.

    thank you

    Cesar

  • 0 in reply to Cesar
    Intellectual 290 points

    Hello Cesar,

    I noticed that message 0xD4 (MMWDEMO_OUTPUT_MSG_PARKING_ASSIST) contains information related to obj->parkingAssistBins.

    Could you please explain what kind of object-related information is included in parkingAssistBins?

    Thank you in advance for your support.

  • 0 in reply to mitesh rajpurohit
    TI__Guru*** 148244 points

    Hi,

    Parking assist 

    in dss_main.c I can see that obj->parkingAssistNumBins = 0 for MRR and obj->parkingAssistNumBins = 32 for USRR. So, parking assist TLV occurs only for USRR subframe.

    Please also see 

    https://e2e.ti.com/support/sensors-group/sensors/f/sensors-forum/1341955/awr1843boost-awr1843-mrr-demo---parking-assist-tlv

    Thank you

    Cesar