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AWR1642BOOST: awr1642 Detection Layer

Part Number: AWR1642BOOST
Other Parts Discussed in Thread: AWR1642

I have been reading the SDK UG located in C:\ti\mmwave_sdk_02_01_00_04\docs and the Tracking radar targets with multiple reflection points pdf. Unfortunately, the later document does not describe in detail how the detection layer works. In fact, there is just a block diagram  shown below:

Because I have run into a challenge, I have a target at 21m and has a peak on the range profile, shown in the box below, but its not detected. Is there a document that explains in detail the AWR1642 detection layer such that I understand exactly what you mean by detection and detection points..