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Linux/IWR1443BOOST: Changing TI ROS code in order to extract Log Magnitude Range

Daniel L.
Prodigy 140 points
Part Number: IWR1443BOOST

Tool/software: Linux

Hi everyone,

I am currently using IWR1443BOOST ES3.0 SDK 2.1 alongside with ROS Kinetic.

The ROS package provided by TI is limited to go only through Header and Detected Objects sections of the package structure. However I am looking forward to be able to access the other elements of the package structure such as the Range Profile, Range Azimuth Heat Map and Range Doppler Heat Map.

Currently I am trying to modify the code provided by TI for the ROS package but I am facing some issues:

1) Every time that I enable the range doppler heat map or the range azimuth heat map, the code cannot find magic word, thus it does not move forward to sort the incoming data.

2) When I enable the Range profile to be sent (through config.cfg), I am able to see that the TLV of the Range profile is added and I can see that the switch case for the READ_LOG_MAG_RANGE is activated. However, my problem is to know how to go through the log magnitude range data.

So far, I have used a while loop based on the size of the TLV to get each byte sent and I am assuming that each byte corresponds to one element of the 1D vector. My question is : am I on the right track? If yes, what could be the next steps in order to get the value of each element of the 1D vector? Also, do I need to do any mathematical operation after coping the byte ?

Cheers,

Daniel

  • 0
    TI__Mastermind 33805 points
    Hi,

    The OOB example and online visualizer provided supports this, however the ROS demo currently provided only displays the point cloud.
    If you need the heat maps please use the online visualizer

    Regards,
    Charles O
  • 0 in reply to Charles Oladimeji
    Prodigy 140 points
    Hi Charles,

    Could you please be specific about the OOB example that you have mentioned?

    Regarding the online visualizer, I have used it previously, but the last update of the mmwave demo visualizer does not support IWR1443BOOST, thus I have tried to run the demo visualizer 2.1, but it simply does not send the configuration to my device, even though it says "hardware connected".

    Also, would you be able to answer these questions :
    "So far, I have used a while loop based on the size of the TLV to get each byte sent and I am assuming that each byte corresponds to one element of the 1D vector. My question is : am I on the right track? If yes, what could be the next steps in order to get the value of each element of the 1D vector? Also, do I need to do any mathematical operation after coping the byte ?"

    Cheers,
    Daniel
  • 0 in reply to Daniel L.
    TI__Mastermind 33805 points
    Hi Daniel

    You can use the visualizer 2.1 but you also have to use the SDK 2.1

    Regards,
    Charles O
  • 0 in reply to Charles Oladimeji
    Prodigy 140 points

    Hi Charles,

    Perfect. Actually I tried this week to use the mmwave visualizer and it worked well.

    Best Regards,

    Daniel