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Original question:

AWR1642: How to convert rangeIdx and dopplerIdx to m and m/s

AWR1642: How to get dopplerResolutionMps and rangeIdxToMeters when I don't known the command sent to the device?

hailong yu
Prodigy 40 points
Part Number: AWR1642

Hello, I have known the following formula:

doppler = dopplerIdx * dopplerResolutionMps;

range = rangeIdx * rangeIdxToMeters.

And I have known how to calculate dopplerResolutionMps and rangeIdxToMeters in the mmWave.js.

But how can I get dopplerResolutionMps and rangeIdxToMeters when I don't known the command sent to the device?

In other words, can I get dopplerResolutionMps and rangeIdxToMeters without known of the command sent to the device? How?

Thank you.

  • 0
    TI__Expert 6205 points

    Hi Hailong,

    Did you mean get the target information from OOB demo's UART output?

    For example, a data package will contain the information listed below:
    Type: (MMWDEMO_OUTPUT_MSG_DETECTED_POINTS)
    Length: (size of MmwDemo_output_message_dataObjDescr_t) + (Number of detected objects) x (size of MmwDemo_detectedObj_t)

    In MmwDemo_output_message_dataObjDescr_t, we have xyzQFormat information. In MmwDemo_detectedObj_t, we have X, Y, Z information in Qformat.

    So X<in meters> = X<in Q format>/(2^xyzQFormat)

    Reference Link:
    e2e.ti.com/.../630120

    file:///C:/ti/mmwave_sdk_01_02_00_05/packages/ti/demo/xwr16xx/mmw/docs/doxygen/html/index.html



    Thanks.

  • 0
    TI__Expert 5235 points
    when you start the sensor in the visualizer with your desired GUI inputs, in the console window it will print the CLI commands it is issuing to the device. You can see the documentation of CLI commands in the SDK user guide to find out what the parameters mean and you will be able to see the CLI parameters involved in the calculation of the parameters you mention.
  • 0 in reply to Piyush_
    Prodigy 40 points

    Thank you. I know the process you said, but I mean, can I get "dopplerResolutionMps" and "rangeIdxToMeters" using the data out of the port "Auxiliary Data Port" instead of "Applicaiton/User UART"?

    It means that if I don't use the messages sent to the device and the messages sent out by the device, can I get "dopplerResolutionMps" and "rangeIdxToMeters"?

  • 0 in reply to hailong yu
    TI__Expert 5235 points
    yes, you can always calculate these (some may already be present in the code e.g rangeResolution) in the code and modify the code to send out this information in an existing TLV or a new TLV to the host and also change the receiving end (visualizer) accordingly. What we sent out on the data port is well documented in the doxygen documentation of the demo. If you calculate in the code, be careful of the units because we translate some (user friendly) CLI parameters to (non user friendly) parameters of mmwavelink (rl* APIs) and it is the mmwavelink format that is accessible to the code because we don't store the original CLI input after it is translated, see forum post related to format e2e.ti.com/.../680540