Tool/software:
Hello,
I am using 4 IWR6843 Radars on a single CAN Bus at 20Hz frequency each. I am observing that after 90 minutes, the radar performance across all 4 deteriorates. By deteriorates, I mean that the effective frequency of the radar decreases.
I am using the following configuration:
"sensorStop\n",//stop sensor before configuring "flushCfg\n",//flush the configuration "dfeDataOutputMode 1\n",//frame based chirp configuration "channelCfg 15 7 0\n",//15 = 4 antennas 1111b, 7 = azimuth(tx1 & tx3) and elevation(tx2) both the antennas are enabled 111b, n/a "adcCfg 2 1\n",//2 = 16-bits adc, 1 = output format complex mode "adcbufCfg -1 0 1 1 1\n",//-1 = by default, 0 = adcbuf output format only complex mode, 1 = adcbuf iq swap selection, 1 = non-interleaved, 1 = only 1 supported "profileCfg 0 61 35 6 43.0 0 0 8.241 1 125 3433 0 0 48\n",//0 = profile identifier, 60 = frequency 60GHz, 35 = idle time in usec, 6 = adc start time in usec, 43.0 = ramp end time in usec, 0 = txOutPower(always 0), 0 = txPhaseShifter(always 0), 8.241 = freq. slope in MHz, 1 = txStartTime in usec, 125 = numOfADCSamples, 3433 = digOutSampleRate, 0 = HPF1 175KHz, 0 = HPF2 350KHz, 48 = rxGain "chirpCfg 0 0 0 0 0 0 0 1\n",// 0 = chirp start index, 0 = chirp end index, 0 = profile identifier, 0 = start freq variation in Hz, 0 = freq slope variation in KHz/us, 0 = idel time variation in us, 0 = adc start time variation in us, 1 = tx enable antenna 001b tx1 enabled & tx2 tx3 disabled "chirpCfg 1 1 0 0 0 0 0 2\n",// 1 = chirp start index, 1 = chirp end index, 0 = profile identifier, 0 = start freq variation in Hz, 0 = freq slope variation in KHz/us, 0 = idel time variation in us, 0 = adc start time variation in us, 2 = tx enable antenna 100b tx3 enabled & tx1 tx2 disabled "chirpCfg 2 2 0 0 0 0 0 4\n",// 2 = chirp start index, 2 = chirp end index, 0 = profile identifier, 0 = start freq variation in Hz, 0 = freq slope variation in KHz/us, 0 = idel time variation in us, 0 = adc start time variation in us, 4 = tx enable antenna 100b tx3 enabled & tx1 tx2 disabled "frameCfg 0 1 128 0 50 1 0\n",//0 = chirp start index, 1 = chirp end index, 128 = doppler chirps, 0 = num of frames, 100 = frame periodicity in ms, 1 = software trigger, 0 = frame trigger delay in ms "lowPower 0 0\n",//0 = dont care, 0 = regular adc mode "guiMonitor -1 1 0 0 0 0 0\n",//-1 = by default, 1 = enable export of point cloud(x,y,z,doppler,snr,noiseval), 0 = disabled to log magnitude range, 0 = disabled to log noise profile, "cfarCfg -1 0 2 8 4 3 0 15 1\n",//-1 = by default, 0 = detection in range direction, 2 = CFAR_CASO, 8 = noise avg window length, 4 = guard length, 3 = division shift, 0 = cyclic/wrap around mode disabled, 10 = threshold scale in dB, 1 = peak groupnig enabled to resolve radar freeze issue "cfarCfg -1 1 0 4 2 3 1 15 1\n",//-1 = by default, 1 = detection in doppler direction, 0 = CFAR_CA, 4 = noise avg window length, 2 = guard length, 3 = division shift, 1 = cyclic/wrap around mode enabled, 10 = threshold scale in dB, 1 = peak groupnig enabled to resolve radar freeze issue "multiObjBeamForming -1 1 0.5\n", "clutterRemoval -1 0\n",//disabled clutter removal to detect static objects "calibDcRangeSig -1 0 -5 8 256\n", "extendedMaxVelocity -1 0\n", "bpmCfg -1 0 0 1\n", "lvdsStreamCfg -1 0 0 0\n", "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", "measureRangeBiasAndRxChanPhase 0 1.5 0.2\n", "CQRxSatMonitor 0 3 4 63 0\n", "CQSigImgMonitor 0 127 4\n", "analogMonitor 0 0\n", "aoaFovCfg -1 -60 60 -20 20\n",//1 -HFOV +HFOV -VFOV +VFOV "cfarFovCfg -1 0 0 49.99\n",//-1 0 0 max detection_range "cfarFovCfg -1 1 -30 30.00\n",//-1 1 -speed_in_m/s +speed_in_m/s "%SceneryParam -50 50 0.5 60 -6 6\n", "staticBoundaryBox -60 60 0 50 -50 50\n", "boundaryBox -50 50 0 50 -50 50\n", "gatingParam 4 6 6 6 10\n", "stateParam 4 10 60 600 20 600\n", "allocationParam 30 30 0.5 3 2 2\n", "maxAcceleration 0.1 0.1 0.1\n", "trackingCfg 1 2 250 20 78 121 99\n", "sensorPosition 2 0 0\n", "presenceBoundaryBox -3 3 2 6 0.5 2.5\n", "sensorStart\r\n",
Is there any other firmware level configuration that I should take into account. Is there a chance that the dss subsystem may be effected by temperature after 90 minutes. Is there a better way to debug this. Can someone please provide some insights.
Thanks,
Prishat Bachhar
