IWR1443BOOST: I have Big issue with IWR1443BOOST -READING RAW DATA FOR OBJECT DETECTION

Hello,

Can you provide details on which demo you are trying to run? You should begin with the SDK out of box demo. The details for running the demo as well as the necessary software are listed in the user’s guide of the lab.

Amanda

Thank you your respond. You can find my question below. Yes I am using out of box demo.

Is L3 memory while working SDK and web application I am seeing some data it is okay. However, I wrote some code to read directly L3 memory. This L3 is the raw data I mean output of the ADC or processed data ?

I read all of them but still is not clear. Could you connect to my computer and I can show you what I have problem this will take many days. I am trying to collect data about 1 year. However, it is not okay for me. Still I don't have reliable data. 

Now I am reading L3 but always it is changing. There is not good euclidean distance between the arrays.

Hello,

Support is provided via this platform please explain in specifics what you have tried and the issue you are having.

If the documentation is not clear please point to the section you need help understanding.

Amanda

void MmwDemo_transmitProcessedOutput(UART_Handle uartHandle,

MmwDemo_DataPathObj *obj)
{
MmwDemo_output_message_header header;
MmwDemo_GuiMonSel *pGuiMonSel;
uint32_t tlvIdx = 0;
uint32_t i;
uint32_t numPaddingBytes;
uint32_t packetLen;
uint8_t padding[MMWDEMO_OUTPUT_MSG_SEGMENT_LEN];

MmwDemo_output_message_tl tl[MMWDEMO_OUTPUT_MSG_MAX];

/* Get Gui Monitor configuration */
pGuiMonSel = &gMmwMCB.cliCfg.guiMonSel;

/* Clear message header */
memset((void *)&header, 0, sizeof(MmwDemo_output_message_header));
/* Header: */
header.platform = 0xA1443;
header.magicWord[0] = 0x0102;
header.magicWord[1] = 0x0304;
header.magicWord[2] = 0x0506;
header.magicWord[3] = 0x0708;
header.numDetectedObj = obj->numObjOut;
header.version = MMWAVE_SDK_VERSION_BUILD | //DEBUG_VERSION
(MMWAVE_SDK_VERSION_BUGFIX << 8) |
(MMWAVE_SDK_VERSION_MINOR << 16) |
(MMWAVE_SDK_VERSION_MAJOR << 24);

packetLen = sizeof(MmwDemo_output_message_header);
if (pGuiMonSel->detectedObjects && (obj->numObjOut > 0))
{
tl[tlvIdx].type = MMWDEMO_OUTPUT_MSG_DETECTED_POINTS;
tl[tlvIdx].length = sizeof(MmwDemo_detectedObj) * obj->numObjOut +
sizeof(MmwDemo_output_message_dataObjDescr);
packetLen += sizeof(MmwDemo_output_message_tl) + tl[tlvIdx].length;
tlvIdx++;
}
if (pGuiMonSel->logMagRange)
{
tl[tlvIdx].type = MMWDEMO_OUTPUT_MSG_RANGE_PROFILE;
tl[tlvIdx].length = sizeof(uint16_t) * obj->numRangeBins;
packetLen += sizeof(MmwDemo_output_message_tl) + tl[tlvIdx].length;
tlvIdx++;
}
if (pGuiMonSel->noiseProfile)
{
tl[tlvIdx].type = MMWDEMO_OUTPUT_MSG_NOISE_PROFILE;
tl[tlvIdx].length = sizeof(uint16_t) * obj->numRangeBins;
packetLen += sizeof(MmwDemo_output_message_tl) + tl[tlvIdx].length;
tlvIdx++;
}
if (pGuiMonSel->rangeAzimuthHeatMap)
{
tl[tlvIdx].type = MMWDEMO_OUTPUT_MSG_AZIMUT_STATIC_HEAT_MAP;
tl[tlvIdx].length = obj->numRangeBins * obj->numVirtualAntAzim * sizeof(uint32_t);
packetLen += sizeof(MmwDemo_output_message_tl) + tl[tlvIdx].length;
tlvIdx++;
}
if (pGuiMonSel->rangeDopplerHeatMap)
{
tl[tlvIdx].type = MMWDEMO_OUTPUT_MSG_RANGE_DOPPLER_HEAT_MAP;
tl[tlvIdx].length = obj->numRangeBins * obj->numDopplerBins * sizeof(uint16_t);
packetLen += sizeof(MmwDemo_output_message_tl) + tl[tlvIdx].length;
tlvIdx++;
}
if (pGuiMonSel->statsInfo)
{
tl[tlvIdx].type = MMWDEMO_OUTPUT_MSG_STATS;
tl[tlvIdx].length = sizeof(MmwDemo_output_message_stats);
packetLen += sizeof(MmwDemo_output_message_tl) + tl[tlvIdx].length;
tlvIdx++;
}

header.numTLVs = tlvIdx;
/* Round up packet length to multiple of MMWDEMO_OUTPUT_MSG_SEGMENT_LEN */
header.totalPacketLen = MMWDEMO_OUTPUT_MSG_SEGMENT_LEN *
((packetLen + (MMWDEMO_OUTPUT_MSG_SEGMENT_LEN-1))/MMWDEMO_OUTPUT_MSG_SEGMENT_LEN);
header.timeCpuCycles = Pmu_getCount(0);
header.frameNumber = obj->frameStartIntCounter;

/*
UART_writePolling (uartHandle,
(uint8_t*)&header,
sizeof(MmwDemo_output_message_header));
*/
tlvIdx = 0;
/* Send detected Objects */
if ((pGuiMonSel->detectedObjects == 1) && (obj->numObjOut > 0))
{
MmwDemo_output_message_dataObjDescr descr;
/*
UART_writePolling (uartHandle,
(uint8_t*)&tl[tlvIdx],
sizeof(MmwDemo_output_message_tl));
*/
/* Send objects descriptor */
descr.numDetetedObj = (uint16_t) obj->numObjOut;
descr.xyzQFormat = (uint16_t) obj->xyzOutputQFormat;
// UART_writePolling (uartHandle, (uint8_t*)&descr, sizeof(MmwDemo_output_message_dataObjDescr));

/*Send array of objects */
// UART_writePolling (uartHandle, (uint8_t*)obj->objOut, sizeof(MmwDemo_detectedObj) * obj->numObjOut);
tlvIdx++;
}

/* Send Range profile */
if (pGuiMonSel->logMagRange)
{
/*
UART_writePolling (uartHandle,
(uint8_t*)&tl[tlvIdx],
sizeof(MmwDemo_output_message_tl));
*/
for(i = 0; i < obj->numRangeBins; i++)
{
/*
UART_writePolling (uartHandle,
(uint8_t*)&obj->rangeDopplerLogMagMatrix[i*obj->numDopplerBins],
sizeof(uint16_t));
*/
}
tlvIdx++;
}

/* Send noise profile */
if (pGuiMonSel->noiseProfile)
{
uint32_t maxDopIdx = obj->numDopplerBins/2 -1;
/*
UART_writePolling (uartHandle,
(uint8_t*)&tl[tlvIdx],
sizeof(MmwDemo_output_message_tl));
*/
for(i = 0; i < obj->numRangeBins; i++)
{/*
UART_writePolling (uartHandle,
(uint8_t*)&obj->rangeDopplerLogMagMatrix[i*obj->numDopplerBins + maxDopIdx],
sizeof(uint16_t));
*/
}
tlvIdx++;
}

/* Send data for static azimuth heatmap */
if (pGuiMonSel->rangeAzimuthHeatMap)
{
uint32_t skip = obj->numChirpsPerFrame * obj->numRxAntennas;
uint32_t copySize = obj->numVirtualAntAzim * sizeof(uint32_t);
/*
UART_writePolling (uartHandle,
(uint8_t*)&tl[tlvIdx],
sizeof(MmwDemo_output_message_tl));

for (i = 0; i < obj->numRangeBins; i++)
{
UART_writePolling (uartHandle,
(uint8_t *) &obj->radarCube[i * skip],
copySize);
}
*/
tlvIdx++;
}

/* Send data for range/Doppler heatmap */
if (pGuiMonSel->rangeDopplerHeatMap == 1)
{
/*
UART_writePolling (uartHandle,
(uint8_t*)&tl[tlvIdx],
sizeof(MmwDemo_output_message_tl));
UART_writePolling (uartHandle,
(uint8_t*)obj->rangeDopplerLogMagMatrix,
tl[tlvIdx].length);
tlvIdx++;
*/
}

/* Send stats information */
if (pGuiMonSel->statsInfo == 1)
{

MmwDemo_output_message_stats stats;
stats.interChirpProcessingMargin = 0; /* Not applicable */
stats.interFrameProcessingMargin = (uint32_t) (obj->timingInfo.interFrameProcessingEndMargin/R4F_CLOCK_MHZ); /* In micro seconds */
stats.interFrameProcessingTime = (uint32_t) (obj->timingInfo.interFrameProcCycles/R4F_CLOCK_MHZ); /* In micro seconds */
stats.transmitOutputTime = (uint32_t) (obj->timingInfo.transmitOutputCycles/R4F_CLOCK_MHZ); /* In micro seconds */
stats.activeFrameCPULoad = obj->timingInfo.activeFrameCPULoad;
stats.interFrameCPULoad = obj->timingInfo.interFrameCPULoad;
/*
UART_writePolling (uartHandle,
(uint8_t*)&tl[tlvIdx],
sizeof(MmwDemo_output_message_tl));
UART_writePolling (uartHandle,
(uint8_t*)&stats,
tl[tlvIdx].length);
*/
tlvIdx++;
}

/* Send padding bytes */
numPaddingBytes = MMWDEMO_OUTPUT_MSG_SEGMENT_LEN - (packetLen & (MMWDEMO_OUTPUT_MSG_SEGMENT_LEN-1));
if (numPaddingBytes<MMWDEMO_OUTPUT_MSG_SEGMENT_LEN)
{ /*
UART_writePolling (uartHandle,
(uint8_t*)padding,
numPaddingBytes);
*/
}

a4=5;
if(PassNow % 15 == 0 )
{ a2=0;
for(a5=0;a5<5000;a5++)
{

for(a1=0;a1<40;a1++)
{

a2 += gMmwL3[a5*40+a1] ;
}

RawData[a5] = a2/40 ;
a2=0;
}

UART_writePolling (uartHandle, (uint8_t*)RawData, 5000 );

sprintf(TestData,"##TurhanKumrallar##\r\n");
// UART_writePolling (uartHandle, (char*)TestData, 23);
//delay_ms(100);
}
PassNow++;

// Globa_Transmitter_Is_Started++;

a4=0;
// turhan

}

// HERE MATLAB SENDS COMMAND TO START RADAR

fprintf(IWR_CLI_SER,'sensorStop');
pause(0.1);
fprintf(IWR_CLI_SER,'flushCfg');
pause(0.1);
fprintf(IWR_CLI_SER,'dfeDataOutputMode 1');
pause(0.1);
fprintf(IWR_CLI_SER,'channelCfg 15 7 0');
pause(0.1);
fprintf(IWR_CLI_SER,'adcCfg 2 1');
pause(0.1);
fprintf(IWR_CLI_SER,'adcbufCfg 0 1 0 1');
pause(0.1);
fprintf(IWR_CLI_SER,'profileCfg 0 77 429 7 57.14 0 0 70 1 240 4884 0 0 30');
pause(0.1);
fprintf(IWR_CLI_SER,'chirpCfg 0 0 0 0 0 0 0 1');
pause(0.1);
fprintf(IWR_CLI_SER,'chirpCfg 1 1 1 1 0 0 0 4');
pause(0.1);
fprintf(IWR_CLI_SER,'frameCfg 0 1 16 0 100 1 0');
pause(0.1);
%fprintf(IWR_CLI_SER,'lowPower 0 1');
pause(0.1);
fprintf(IWR_CLI_SER,'guiMonitor 1 2 0 0 0 0');
pause(0.1);
fprintf(IWR_CLI_SER,'cfarCfg 0 2 8 4 3 0 967');
pause(0.1);
fprintf(IWR_CLI_SER,'peakGrouping 1 0 0 1 56');
pause(0.1);
fprintf(IWR_CLI_SER,'multiObjBeamForming 1 0.5');
pause(0.1);

fprintf(IWR_CLI_SER,'clutterRemoval 0');
pause(0.1);
%fprintf(IWR_CLI_SER,'calibDcRangeSig 0 -5 8 256');
pause(0.1);
%fprintf(IWR_CLI_SER,'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');
pause(0.1);
%fprintf(IWR_CLI_SER,'measureRangeBiasAndRxChanPhase 0 1.5 0.2');
pause(0.1);
%fprintf(IWR_CLI_SER,'CQRxSatMonitor 0 3 5 123 0');
pause(0.1);
%fprintf(IWR_CLI_SER,'CQSigImgMonitor 0 119 4');
pause(0.1);
%fprintf(IWR_CLI_SER,'analogMonitor 1 1');
pause(0.1);
fprintf(IWR_CLI_SER,'sensorStart');
pause(0.1);

 I am reading gMmwL3 data and sending to matlab to process it. However, look the attachement I don't have any same data frame they are always changing among them. I am taking distance between two matrix and the result are %70 different. 

Did you check the code?  I am reading directly L3 memory.  Axis is array index.

a4=5;
if(PassNow % 15 == 0 )
{ a2=0;
for(a5=0;a5<5000;a5++)
{

for(a1=0;a1<40;a1++)
{

a2 += gMmwL3[a5*40+a1] ;
}

RawData[a5] = a2/40 ;
a2=0;
}

UART_writePolling (uartHandle, (uint8_t*)RawData, 5000 );

Can you check these codes?

Hello,

It isn't clear what you are trying to do if you want to capture the radar cube why don't you just write the radarCube similar to how it is done for the rangeAzimuth Heatmap output?

Amadna