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CCS/IWR6843ISK: Point Cloud Area Scanner Project

Quentin BAJOT
Intellectual 480 points
Part Number: IWR6843ISK

Tool/software: Code Composer Studio

Hello Support Team !

I'm currently working with the Area Scanner Project with my own visualizer and I have some issues. I hope you could help me to understand those:

  • When plotting data from mmWave sensors I always have some "ghost points" which are out of the FoV of the sensor (see image below). Blue lines are limits of sensor FoV a d "ghost points" are around 11m along X axis.

Where those points can come from ? Do I have to remove them "manually" with a "if" in my visualizer ?

  • When testing the project I can't see objects further than 10 meters. Does this limit come from the config (profilCfg or cfarFovCfg) or does a limit is hardwritten in area scanner project ?

Here is my config :

sensorStop
flushCfg
dfeDataOutputMode 1
channelCfg 15 7 0
adcCfg 2 1
adcbufCfg -1 0 1 1 1
lowPower 0 1
profileCfg 0 60.25 7 3 24 0 0 156 1 256 12500 0 0 30
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 0 600 0
cfarCfg -1 1 0 4 2 3 1 1400 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 60
cfarFovCfg -1 1 -10. 10
sensorStart

Thanks a lot for your help !

Have a nice day,

Quentin Bajot.

  • Former Member
    0 Former Member
    Hello Quentin,

    There are several parts that can limit the max range of detected points reported by the sensor.

    -profileCfg determines the chirp profile which by physics will determine the max unambiguous range of detectable objects. In the case of the example cfg you provided this is about 9.65m

    -cfarFovCfg is a command introduced in SDK 3.x which prunes the point cloud according to the range and doppler limits provided. In the case of the example cfg you provided this is set to 0.25-60m. Note that the max range of the chirp is lower than the upper limit so it practically doesn't apply. However if your chirp was configured to a max range of 100m then objects detected by CFAR beyond 60m would not be reported by the device.

    Additionally if you are comparing to the area scanner visualizer the visualizer only plots objects that are within the range limits set by the XYZ axes limits.

    Amanda
  • 0 in reply to Former Member
    Intellectual 480 points
    Hello Amanda !
    Thanks for your answer, my profileCfg is the issue so ! I modified cfarFovCfg intentionnaly and I use a visualizer I created.
    I'll generate new profileCfg with mmWave Demo so. Can I simply replace my profileCfg by an other one from a long range config (from an other Lab for example) ?
  • Former Member
    0 Former Member in reply to Quentin BAJOT

    Hello Quentin,

    Yes you would want to change the profileCfg and possibly the frameCfg. You can pull from other existing cfgs but I would also recommend using the mmWave demo visualizer to generate the cfgs according to your sensing objectives. https://dev.ti.com/gallery/view/mmwave/mmWave_Demo_Visualizer/ver/3.2.0/

    You can use "save config to pc" to generate new cfg files. 

    Please note that I've linked to the newest visualizer which generates cfgs for the latest SDK 3.2. The primary difference is that the cfar threshold parameter is specified in in dB now. 

    If you want to use the saved cfg as is please make sure to flash the demo binary from the latest SDK:http://software-dl.ti.com/ra-processors/esd/MMWAVE-SDK/latest/index_FDS.html  

    Otherwise, you can just copy over the profilecfg, chirpcfg, and framecfg lines over to the current cfg file you are using.

    Amanda

  • 0 in reply to Former Member
    Intellectual 480 points
    I have updated my mmWave Demo to the latest version !

    But the project I use is with SDK 3.1.1.2.
    So, currently, I have to use demo binary from 3.1 SDK to generate compatible configs.

    If I want to use new configs (with CFAR threshold in dB, generated with demo binary from SDK 3.2)
    I'll have to change the SDK of my project also. How can I do it ?

    Thanks for your time and your explanations.
    Have a good day!

    Quentin
  • Former Member
    0 Former Member in reply to Quentin BAJOT

    Hello Quentin,

    For now, you can flash and use the binary provided with the latest SDK. It can be found at 

    C:\ti\mmwave_sdk_03_02_00_03\packages\ti\demo\xwr64xx\mmw

    OR

    C:\ti\mmwave_sdk_03_02_00_03\packages\ti\demo\xwr68xx\mmw

    Note that both demos run on the 68xx device and have the same features but the 64xx demo is HWA/R4F only while the 68xx demo runs on the DSP.

    In the future the labs in TIREX will be updated to use the latest SDK.

    Amanda

  • 0 in reply to Former Member
    Intellectual 480 points

    Hello Amanda,

    Thanks for you answer. I wondered what was 64xx, I understand much better now !

    Is it possible to change the SDK used in a project coming from one of your Lab (upgrade for 3.2) ? Or do I have to delete it and modify the latest version of your Lab (using SDK 3.2) ?

    Thanks again !


    Quentin.

  • Former Member
    0 Former Member in reply to Quentin BAJOT

    Hello Quentin,

    If you check the latest Industrial Toolbox the mmWave SDK Demo folder for 68xx has the updated projectspecs for the newest SDK.

    Amanda

  • 0 in reply to Former Member
    Intellectual 480 points

    Hello Amanda,

    Thanks for the information, I'll check it !

    Have a nice day.

    Quentin