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AWR6843ISK: Missing Z-Axis data and switching over to 3.06 specs

Parker Lovesee
Prodigy 10 points
Part Number: AWR6843ISK

Tool/software:

Hello,

We're doing some testing using a provided configuration file (test_5.cfg),

version
sensorStop
flushCfg
dfeDataOutputMode 3
channelCfg 15 7 0
adcCfg 2 1
adcbufCfg -1 0 1 1 1
lowPower 0 0
profileCfg 0 61.0 10 6 135 0 14970880 3.6 1 256 2000 0 0 48
profileCfg 1 61.0 10 6 135 0 10276864 3.6 1 256 2000 0 0 48
profileCfg 2 61.0 10 6 135 0 6565888 3.6 1 256 2000 0 0 48
profileCfg 3 61.0 10 6 135 0 1871872 3.6 1 256 2000 0 0 48
chirpCfg 0 0 0 0 0 0 0 7
chirpCfg 1 1 1 0 0 0 0 7
chirpCfg 2 2 2 0 0 0 0 7
chirpCfg 3 3 3 0 0 0 0 7
advFrameCfg 4 0 0 1 0
subFrameCfg 0 0 0 1 128 80 0 1 1 80
subFrameCfg 1 0 1 1 128 80 0 1 1 80
subFrameCfg 2 0 2 1 128 80 0 1 1 80
subFrameCfg 3 0 3 1 128 160 0 1 1 a160
guiMonitor -1 1 0 0 0 0 0
cfarCfg -1 0 2 8 4 3 0 12 0
cfarCfg -1 1 0 4 2 3 1 12 0
multiObjBeamForming -1 1 0.5
clutterRemoval -1 1
calibDcRangeSig -1 0 -5 8 256
extendedMaxVelocity -1 0
bpmCfg -1 0 0 1
lvdsStreamCfg -1 0 0 0
compRangeBiasAndRxChanPhase 0.0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0
%Long Range People Detection performance is greatly improved by calculating the compRangeBiasAndRxChanPhase for the individual EVM. An example of this is below, but please calculate with the procedure described in the mmWave SDK users guide
%compRangeBiasAndRxChanPhase 0.0 0.71313 -0.07993 0.80444 0.32242 0.65005 0.43036 0.63889 0.31528 0.56631 -0.49283 0.87103 -0.20547 0.80157 -0.02173 0.72357 -0.10864 0.39642 -0.74313 0.82355 -0.56723 0.82816 -0.34360 0.71524 -0.39929
measureRangeBiasAndRxChanPhase 0 1.5 0.2
CQRxSatMonitor 0 3 4 63 0
CQSigImgMonitor 0 127 4
analogMonitor 0 0
aoaFovCfg -1 -70 70 -90 90
cfarFovCfg -1 0 0 200
cfarFovCfg -1 1 -30 30.00
%SceneryParam -50 50 0.5 60 -6 6
staticBoundaryBox -150 150 0.5 230 -0.5 6
boundaryBox -150 150 0.5 220 -0.5 6
gatingParam 18 20 20 20 10
stateParam 4 10 60 600 20 600
allocationParam 30 30 0.5 3 2 2
maxAcceleration 0.1 0.1 0.1
trackingCfg 1 2 500 10 78 121 400
sensorPosition 2 0 0
presenceBoundaryBox -3 3 2 6 0.5 2.5
sensorStart
 

We aren't getting the 3D data expected (using the radar toolbox visualizer):

Here's the output from the visualizer:

INFO     [gui_parser.py:289] Connected
b'version\n'
b'Platform                : xWR68xx\n'
b'\rmmWave SDK Version      : 03.05.00.04\n'
b'\rDevice Info             : IWR68XX QM non-secure ES 02.00\n'
b'\rRF F/W Version          : 06.03.02.06.20.08.11\n'
b'\rRF F/W Patch            : 00.00.00.00.00.00.00\n'
b'\rmmWaveLink Version      : 01.02.06.06\n'
b'\rLot number              : 4226697\n'
b'\rWafer number            : 16\n'
b'\rDie coordinates in wafer: X = 6, Y = 18\n'
b'\rDone\n'
b'\rmmwDemo:/>sensorStop\n'
b'Ignored: Sensor is already stopped\n'
b'\rDone\n'
b'\rmmwDemo:/>flushCfg\n'
b'Done\n'
b'\rmmwDemo:/>dfeDataOutputMode 3\n'
b'Done\n'
b'\rmmwDemo:/>channelCfg 15 7 0\n'
b'Done\n'
b'\rmmwDemo:/>adcCfg 2 1\n'
b'Done\n'
b'\rmmwDemo:/>adcbufCfg -1 0 1 1 1\n'
b'Done\n'
b'\rmmwDemo:/>lowPower 0 0\n'
b'Done\n'
b'\rmmwDemo:/>profileCfg 0 61.0 10 6 135 0 14970880 3.6 1 256 2000 0 0 48\n'
b'Done\n'
b'\rmmwDemo:/>profileCfg 1 61.0 10 6 135 0 10276864 3.6 1 256 2000 0 0 48\n'
b'Done\n'
b'\rmmwDemo:/>profileCfg 2 61.0 10 6 135 0 6565888 3.6 1 256 2000 0 0 48\n'
b'Done\n'
b'\rmmwDemo:/>profileCfg 3 61.0 10 6 135 0 1871872 3.6 1 256 2000 0 0 48\n'
b'Done\n'
b'\rmmwDemo:/>chirpCfg 0 0 0 0 0 0 0 7\n'
b'Done\n'
b'\rmmwDemo:/>chirpCfg 1 1 1 0 0 0 0 7\n'
b'Done\n'
b'\rmmwDemo:/>chirpCfg 2 2 2 0 0 0 0 7\n'
b'Done\n'
b'\rmmwDemo:/>chirpCfg 3 3 3 0 0 0 0 7\n'
b'Done\n'
b'\rmmwDemo:/>advFrameCfg 4 0 0 1 0\n'
b'Done\n'
b'\rmmwDemo:/>subFrameCfg 0 0 0 1 128 80 0 1 1 80\n'
b'Done\n'
b'\rmmwDemo:/>subFrameCfg 1 0 1 1 128 80 0 1 1 80\n'
b'Done\n'
b'\rmmwDemo:/>subFrameCfg 2 0 2 1 128 80 0 1 1 80\n'
b'Done\n'
b'\rmmwDemo:/>subFrameCfg 3 0 3 1 128 160 0 1 1 160\n'
b'Done\n'
b'\rmmwDemo:/>guiMonitor -1 1 0 0 0 0 0\n'
b'Done\n'
b'\rmmwDemo:/>cfarCfg -1 0 2 8 4 3 0 12 0\n'
b'Done\n'
b'\rmmwDemo:/>cfarCfg -1 1 0 4 2 3 1 12 0\n'
b'Done\n'
b'\rmmwDemo:/>multiObjBeamForming -1 1 0.5\n'
b'Done\n'
b'\rmmwDemo:/>clutterRemoval -1 1\n'
b'Done\n'
b'\rmmwDemo:/>calibDcRangeSig -1 0 -5 8 256\n'
b'Done\n'
b'\rmmwDemo:/>extendedMaxVelocity -1 0\n'
b'Done\n'
b'\rmmwDemo:/>bpmCfg -1 0 0 1\n'
b'Done\n'
b'\rmmwDemo:/>lvdsStreamCfg -1 0 0 0\n'
b'Done\n'
b'\rmmwDemo:/>compRangeBiasAndRxChanPhase 0.0 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'
b'Done\n'
b'\rmmwDemo:/>measureRangeBiasAndRxChanPhase 0 1.5 0.2\n'
b'Done\n'
b'\rmmwDemo:/>CQRxSatMonitor 0 3 4 63 0\n'
b'Done\n'
b'\rmmwDemo:/>CQSigImgMonitor 0 127 4\n'
b'Done\n'
b'\rmmwDemo:/>analogMonitor 0 0\n'
b'Done\n'
b'\rmmwDemo:/>aoaFovCfg -1 -70 70 -90 90\n'
b'Done\n'
b'\rmmwDemo:/>cfarFovCfg -1 0 0 200\n'
b'Done\n'
b'\rmmwDemo:/>cfarFovCfg -1 1 -30 30.00\n'
b'Done\n'
b'\rmmwDemo:/>staticBoundaryBox -150 150 0.5 230 -0.5 6\n'
b"'staticBoundaryBox' is not recognized as a CLI command\n"
b'\rmmwDemo:/>boundaryBox -150 150 0.5 220 -0.5 6\n'
b"'boundaryBox' is not recognized as a CLI command\n"
b'\rmmwDemo:/>gatingParam 18 20 20 20 10\n'
b"'gatingParam' is not recognized as a CLI command\n"
b'\rmmwDemo:/>stateParam 4 10 60 600 20 600\n'
b"'stateParam' is not recognized as a CLI command\n"
b'\rmmwDemo:/>allocationParam 30 30 0.5 3 2 2\n'
b"'allocationParam' is not recognized as a CLI command\n"

When we use the file for long range 3D people detection included in the radar toolbox (6843_50m_3D.cfg, it functions more or less as expected:

sensorStop
flushCfg
dfeDataOutputMode 1
channelCfg 15 7 0
adcCfg 2 1
adcbufCfg -1 0 1 1 1
profileCfg 0 60 35 6 43.0 0 0 8.241 1 125 3433 0 0 48
chirpCfg 0 0 0 0 0 0 0 1 
chirpCfg 1 1 0 0 0 0 0 4 
chirpCfg 2 2 0 0 0 0 0 2 
frameCfg 0 2 96 0 100 1 0
lowPower 0 0
guiMonitor -1 1 0 0 0 0 0
cfarCfg -1 0 2 8 4 3 0 10 0
cfarCfg -1 1 0 4 2 3 1 10 0
multiObjBeamForming -1 1 0.5
clutterRemoval -1 1
calibDcRangeSig -1 0 -5 8 256
extendedMaxVelocity -1 0
bpmCfg -1 0 0 1
lvdsStreamCfg -1 0 0 0
compRangeBiasAndRxChanPhase 0.0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0
measureRangeBiasAndRxChanPhase 0 1.5 0.2
CQRxSatMonitor 0 3 4 63 0
CQSigImgMonitor 0 127 4
analogMonitor 0 0
aoaFovCfg -1 -90 90 -90 90
cfarFovCfg -1 0 0 59.99
cfarFovCfg -1 1 -30 30.00
staticBoundaryBox -50 50 0.5 60 -0.5 6
boundaryBox -50 50 0.5 60 -0.5 6
sensorPosition 2 0 0
gatingParam 4 6 6 6 10
stateParam 4 10 60 600 20 600
allocationParam 30 30 0.5 3 2 2
maxAcceleration 0.1 0.1 0.1
trackingCfg 1 2 250 20 78 121 99
presenceBoundaryBox -3 3 2 6 0.5 2.5
sensorStart


b'sensorStop\n'
b'Done\n'
b'\rmmwDemo:/>flushCfg\n'
b'Done\n'
b'\rmmwDemo:/>dfeDataOutputMode 1\n'
b'Done\n'
b'\rmmwDemo:/>channelCfg 15 7 0\n'
b'Done\n'
b'\rmmwDemo:/>adcCfg 2 1\n'
b'Done\n'
b'\rmmwDemo:/>adcbufCfg -1 0 1 1 1\n'
b'Done\n'
b'\rmmwDemo:/>profileCfg 0 60 35 6 43.0 0 0 8.241 1 125 3433 0 0 48\n'
b'Done\n'
b'\rmmwDemo:/>chirpCfg 0 0 0 0 0 0 0 1\n'
b'Done\n'
b'\rmmwDemo:/>chirpCfg 1 1 0 0 0 0 0 4\n'
b'Done\n'
b'\rmmwDemo:/>chirpCfg 2 2 0 0 0 0 0 2\n'
b'Done\n'
b'\rmmwDemo:/>frameCfg 0 2 96 0 100 1 0\n'
b'Done\n'
b'\rmmwDemo:/>lowPower 0 0\n'
b'Done\n'
b'\rmmwDemo:/>guiMonitor -1 1 0 0 0 0 0\n'
b'Done\n'
b'\rmmwDemo:/>cfarCfg -1 0 2 8 4 3 0 10 0\n'
b'Done\n'
b'\rmmwDemo:/>cfarCfg -1 1 0 4 2 3 1 10 0\n'
b'Done\n'
b'\rmmwDemo:/>multiObjBeamForming -1 1 0.5\n'
b'Done\n'
b'\rmmwDemo:/>clutterRemoval -1 1\n'
b'Done\n'
b'\rmmwDemo:/>calibDcRangeSig -1 0 -5 8 256\n'
b'Done\n'
b'\rmmwDemo:/>extendedMaxVelocity -1 0\n'
b'Done\n'
b'\rmmwDemo:/>bpmCfg -1 0 0 1\n'
b'Done\n'
b'\rmmwDemo:/>lvdsStreamCfg -1 0 0 0\n'
b'Done\n'
b'\rmmwDemo:/>compRangeBiasAndRxChanPhase 0.0 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'
b'Done\n'
b'\rmmwDemo:/>measureRangeBiasAndRxChanPhase 0 1.5 0.2\n'
b'Done\n'
b'\rmmwDemo:/>CQRxSatMonitor 0 3 4 63 0\n'
b'Done\n'
b'\rmmwDemo:/>CQSigImgMonitor 0 127 4\n'
b'Done\n'
b'\rmmwDemo:/>analogMonitor 0 0\n'
b'Done\n'
b'\rmmwDemo:/>aoaFovCfg -1 -90 90 -90 90\n'
b'Done\n'
b'\rmmwDemo:/>cfarFovCfg -1 0 0 59.99\n'
b'Done\n'
b'\rmmwDemo:/>cfarFovCfg -1 1 -30 30.00\n'
b'Done\n'
b'\rmmwDemo:/>staticBoundaryBox -50 50 0.5 60 -0.5 6\n'
b"'staticBoundaryBox' is not recognized as a CLI command\n"
b'\rmmwDemo:/>boundaryBox -50 50 0.5 60 -0.5 6\n'
b"'boundaryBox' is not recognized as a CLI command\n"
b'\rmmwDemo:/>sensorPosition 2 0 0\n'
b"'sensorPosition' is not recognized as a CLI command\n"
b'\rmmwDemo:/>gatingParam 4 6 6 6 10\n'
b"'gatingParam' is not recognized as a CLI command\n"
b'\rmmwDemo:/>stateParam 4 10 60 600 20 600\n'
b"'stateParam' is not recognized as a CLI command\n"
b'\rmmwDemo:/>allocationParam 30 30 0.5 3 2 2\n'
b"'allocationParam' is not recognized as a CLI command\n"
b'\rmmwDemo:/>maxAcceleration 0.1 0.1 0.1\n'
b"'maxAcceleration' is not recognized as a CLI command\n"
b'\rmmwDemo:/>trackingCfg 1 2 250 20 78 121 99\n'
b"'trackingCfg' is not recognized as a CLI command\n"
b'\rmmwDemo:/>presenceBoundaryBox -3 3 2 6 0.5 2.5\n'
b"'presenceBoundaryBox' is not recognized as a CLI command\n"
b'\rmmwDemo:/>sensorStart\n'
b'Done\n'

The problem is that in testing the radars only get about 35 meters of effective range with the latter file, and the file we received for testing was given to us specifically because it was setup to provide greater range.

How do we edit our provided config so that we can get Z axis data?  Can we do so and still maintain a 50 meter detection range?

As far as I know we are still using firmware 3.05 on the units, would upgrading the firmware to 3.06 address this?

Thank you,

Parker Lovesee

  • 0
    TI__Genius 12996 points

    Hey Parker,

    Thanks for reaching out regarding data visualization. I've looped in our visualizer expert to help out further, but I have a few questions and notes:

    1. What application are you flashing to the device? 
    2. What is the environment that you are testing the device in? I'm seeing a wide spread of points which leads me to believe that the test area may be cluttered. Could you retest in a less cluttered or more open environment?
    3. It appears you are using Linux or a VM. Could you retest on Windows instead?
    4. Are you using the latest version of the Radar Toolbox, 3.10.00.05?
    5. I would recommend updating to the latest SDK, 3.6.2.0, though some of our example demos from the Radar Toolbox may be on older versions of the SDK, so please review any associated user guide documentation.

    Regards,

    Kristien