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IWR6843AOPEVM: ROS and Long Range Detection cant figure the config file

CHARALAMPOS TZANETOS
Prodigy 20 points
Part Number: IWR6843AOPEVM
Other Parts Discussed in Thread: IWR6843AOP

Tool/software:

Hello everyone,

I'm using the IWR6843AOPEVM and Ros1 and i want to capture some range measurements at 20 meters of a person. Doing the real time measurements the best one i got is 8.5 meters. The main experiment will be using a drone(40cm big)  which is much smaller than a person so i would like to ask if i'm using something wrong and if this sensor will be  capable to detect the drone at such a range(20m). 

The bin file i'm using is the xwr64xxAOP_mmw_demo.bin and the config file is below (Because of the setup im using i have to use the ros)

For the config file i used the mmWaveSensingEstimator.

sensorStop
flushCfg
dfeDataOutputMode 1
channelCfg 15 7 0
adcCfg 2 1
adcbufCfg -1 0 1 1 1
profileCfg 0 60 7 5.3 48.98 0 0 70.25 1 500 11716 0 0 30
chirpCfg 0 0 0 0 0 0 0 1
chirpCfg 1 1 0 0 0 0 0 2
chirpCfg 2 2 0 0 0 0 0 4
frameCfg 0 2 27 0 100 1 0
lowPower 0 0
guiMonitor -1 1 0 0 0 0 0
cfarCfg -1 0 2 8 4 3 0 15 1
cfarCfg -1 1 0 4 2 3 1 15 1
multiObjBeamForming -1 1 0.5
clutterRemoval -1 1
calibDcRangeSig -1 0 -5 8 256
extendedMaxVelocity -1 0
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 99 0
CQSigImgMonitor 0 111 4
analogMonitor 0 0
aoaFovCfg -1 -90 90 -90 90
cfarFovCfg -1 0 0 8.40
cfarFovCfg -1 1 -5.02 5.02
calibData 0 0 0
sensorStart

  • 0
    TI__Mastermind 23177 points

    Hello,

    The way the ROS driver works is that as long as the data packets coming in from the radar sensor are in the format it expects, the driver will work. xwr64xxAOP_mmw_demo.bin is the Out of Box demo for 6843AOP, so as long as you have and send a valid configuration this will work fine. With the ROS setup I would recommend using a cfg from the SDK or Radar Toolbox as a simple test of the ROS driver setup, once you can confirm it is working, then try your configuration. Do note that not all configurations generated by the basic tab in the mmWaveSensingEstimator is guaranteed to work immediately. 

    Best Regards,

    Pedrhom

  • 0 in reply to Pedrhom Nafisi
    Prodigy 20 points

    Hello thanks for the reply.
    I have tried the basic configuration of the ROS driver setup (IWR6843AOP.cfg) and it's working. When, then i  change the configuration to my own it seems to work but it doesnt match the range in meters i should i get. My main question is, can the IWR6843AOP detect in 20 meters range? If it can, is there any config file that i can use that works or which parameters should i change to get that range?
    Thank you

  • 0 in reply to CHARALAMPOS TZANETOS
    TI__Mastermind 23177 points

    Hello,

    Yes you can definitely get a config up to 20 meters. 6843AOP from a pure range perspective could see a human at 60 meters with the right configuration and tradeoffs. My suggestion, and what I and many others do internally, is to start from a default configuration given via Radar Toolbox or SDK, then use the mmWaveSensingEstimator to adjust parameters accordingly.

    Heres what I did:

    1. Took profile_3d.cfg from C:\ti\mmwave_sdk_03_06_02_00-LTS\packages\ti\demo\xwr68xx\mmw\profiles and copy pasted the contents into mmWaveSensingEstimator's Configuration I/O panel inside the Advanced Chirp Design and Tuning tab

    2. Played around with values to ensure max range

    3. Reduced CFAR thresholds in the cfg itself to increase sensitivity due to high range requirements

    Feel free to compare and contrast below with the default version to see what was changed and learn how/why it was changed via sensing estimator's tooltips

    sensorStop
flushCfg
dfeDataOutputMode 1
channelCfg 15 7 0
adcCfg 2 1
adcbufCfg -1 0 1 1 1
lowPower 0 0
profileCfg 0 60.5 7 3 70 0 0 50 1 128 12500 0 0 158
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 32 0 100 1 0
guiMonitor -1 1 1 1 0 0 1
cfarCfg -1 0 2 8 4 3 0 10.0 0
cfarCfg -1 1 0 4 2 3 1 10.0 0
multiObjBeamForming -1 1 0.5
calibDcRangeSig -1 0 -5 8 256
clutterRemoval -1 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. 0.2
aoaFovCfg -1 -90 90 -90 90
cfarFovCfg -1 0 0.25 9.0
cfarFovCfg -1 1 -20.16 20.16
extendedMaxVelocity -1 0
CQRxSatMonitor 0 3 4 63 0
CQSigImgMonitor 0 127 4
analogMonitor 0 0
lvdsStreamCfg -1 0 0 0
bpmCfg -1 0 0 0
calibData 0 0 0
sensorStart
    Best Regards,
    Pedrhom
  • 0 in reply to Pedrhom Nafisi
    Prodigy 20 points

    Thank you for your reply.

    One more question, does all those parameters in the configuration file works with the ROS1 or there are limits? If there are limits with the parameters can i found somewhere which parameters can be used? 

    Also how the bin file make differences on the radar and the configurations?

    Thank you.

  • 0 in reply to CHARALAMPOS TZANETOS
    TI__Mastermind 23177 points

    Hello,

    From an under the hood perspective, the ROS1 driver is simply a serial connector + parser. Outside of sending the configuration parameters, which can also be done via any terminal emulator program such as PuTTY and TeraTerm, the ROS1 driver does not really interact with the sensor and only parses its output to the format that ROS1 expects via nodes, publishers, msgs, etc.

    I would recommend getting more comfortable with Radar via our Radar Academy Modules found in the Radar Academy package on the TI Developer Zone.

    Best Regards,

    Pedrhom