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IWR1843BOOST: Timing of Tracking Output in MRR Lab

Fong Zi Hao
Prodigy 95 points
Part Number: IWR1843BOOST


Tool/software:

Hi. I'm using the IWR1843BOOST with the medium-range radar (MRR) demo that configures two subframes: MRR and USRR. Each subframe runs every 30 ms, so the overall frame periodicity is 60 ms. I’m doing sensor fusion with a camera, so I need to synchronize the tracking output timestamps precisely with what the radar "saw."

My question is: Does the tracking output represent the results from every 60 ms (after both subframes)? Or is it updated every 30 ms after each subframe independently?

According to "Advanced Frame - Sub Frame Processing" documentation on Millimeter Wave (mmw) Demo for XWR16XX from SDK 2.1, data is sent after every subframe suggesting the tracking output is updated every 30 ms. If that is the case, then I assume the timestamp in the header corresponds to the end of processing, and to estimate the actual object detection time, I would need to subtract the processing delay from the timestamp.

Also, could you please confirm whether this understanding is correct, and clarify which timestamp field (e.g., timeCpuCycles) should be used for accurate synchronization? Thanks.

  • 0
    TI__Expert 4440 points

    Hello,

    Technically the the tracking output would be sent per frame since the TLV's are sent every frame. This should have all the information taken by both sub-frames and in the visualizer it can differentiate between the two so I'm sure that's the case in the TLV. Also you can refer to the MRR user guide in the radar toolbox for more info.

    C:\Repo\radar_toolbox\source\ti\examples\Automotive_ADAS_and_Parking\medium_range_radar\docs\Medium_Range_Radar_users_guide

    Another option as well is to start the synchronization with only one subframe enabled to better learn how the processing is done per each subframe.

    Best,

    Gabriel

  • 0 in reply to Gabriel Gigliotti
    Prodigy 95 points

    Hi Gabriel,

    Thanks for the reply. Since the tracking output is sent per frame, the other TLVs like detected points, clusters would be sent per frame too together with tracking output TLV indicated by the figure given in the user guide. If this is the case, how would the visualizer differentiate which detected point corresponds to which subframe as subframe number is given in the message header only, not in the TLV value.

  • 0 in reply to Fong Zi Hao
    TI__Expert 4440 points

    Hello,

    You can observe some of the TLV types in mrr_output.h. There are various timing number outputs and also subframe numbers.

    MmwDemo_output_message_header

    MmwDemo_output_message_stats_t

    Refer to the structs above and I believe you can find the output information you are looking for 

    Best,

    Gabriel