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MMWCAS-RF-EVM: Ghost objects observed in cascaded radar

Kishor KS1
Prodigy 100 points
Part Number: MMWCAS-RF-EVM
Other Parts Discussed in Thread: TIDEP-01012, TDA2

Hi,

We conducted an experiment:

The car is moving towards the cascaded radar exactly at boresight. And we made sure the car is within max velocity.

Configured cascaded radar as MRR (Chirp configuration: Design Guide: TIDEP-01012).

Some points of the car are showing at (-6m, 40m) instead of showing at (0m, 40m) and I am attaching the point cloud.

Range and Doppler plots look fine. But the DOA calculation is going wrong.

Could you please help us in resolving this issue?

Regards,

Kishor KS

  • 0
    TI__Guru*** 148634 points

    Hi,

    Did you perform the calibration for the board? This may explain the incorrect AoA

    Thank you
    Cesar

  • 0 in reply to Cesar
    Prodigy 100 points

    Hi Cesar,

    I performed calibration by keeping trihedral at 5m with SRR Configuration and generated calibration  matrix.

    And I tested moving vehicle  towards radar at bore sight in SRR configuration  works perfectly  fine.

    But for when I changed to MRR configuration,  ghost objects are seen.(AoA is going wrong).

    1. Do I need to perform calibration for MRR configuration  also?

    2. Is calibration matrix depends  upon chiropractic configuration ?

    Regards,

    Kishor KS

  • 0 in reply to Kishor KS1
    TI__Guru*** 148634 points

    I would have to discuss this with the cascade team.

    Due to local winter storm weather there will be delays

    thank you
    Cesar

  • 0 in reply to Cesar
    TI__Guru*** 148634 points

    Hi,

    Sorry for the delay.

    I have some additional questions from the team.

    When the car is approaching the cascade radar, is the ghost image also approaching at same speed?

    Thank you

    Cesar

  • 0 in reply to Cesar
    Prodigy 100 points

    Hi Cesar,

    Yes. Ghost image is also approaching with the same speed.

    Regards,

    Kishor KS

  • 0 in reply to Cesar
    TI__Guru*** 148634 points

    Thank you

    I have checked with design team but did not get a response yet.

    Will contact them again

    thank you

    Cesar

  • 0 in reply to Cesar
    TI__Guru*** 148634 points

    Hi,

    I have reviewed our previous conversations and I did not see any information about following.

    Are you using the run-time demo or are you capturing raw data and post processing in matlab?

    thank you

    Cesar

  • 0 in reply to Cesar
    TI__Guru*** 148634 points

    I was able to talk to the design team.

    We would also like to check if the ghost appears in different environments.

    Usually ghosts can be created by multi-path reflections. If this is the case here, the ghost would disappear if you perform the testing in a different environment.

    Thank you

    Cesar

  • 0 in reply to Cesar
    Prodigy 100 points
    Hi Cesar, I will conduct the same experiment in a different environment. When I changed the configuration from SRR to MRR provided in Design Guide: TIDEP-01012. Could you please provide the MRR chirp configuration? Regards, Kishor KS
  • 0 in reply to Kishor KS1
    TI__Guru*** 148634 points

    Could you please provide the configuration you used for experiments? We will review it

    Thank you

    Cesar

  • 0 in reply to Cesar
    Prodigy 100 points

    Hi ,

    Here I am sharing config file.

    --[[
    Sequence being followed
    A. CONFIGURATION
    1. Connecting to TDA
    1. Configuring Master from SOP till Channel Config
    2. Configuring Slave (i) sequentially from SOP till SPI Connect. i = 1, 2, 3
    3. Configuring Slaves together from F/W download till Channel Config
    4. Configuring all devices together from LDO Bypass till Frame Config
    NOTE:
    Update the following in the script accordingly before running
    1. metaImage F/W path on line 32
    2. TDA Host Board IP Address on line 39
    --]]
        
    ----------------------------------------User Constants--------------------------------------------
           
    dev_list          =    {1, 2, 4, 8}       -- Device map
    RadarDevice       =    {1, 1, 1, 1}       -- {dev1, dev2, dev3, dev4}, 1: Enable, 0: Disable
    cascade_mode_list =    {1, 2, 2, 2}       -- 0: Single chip, 1: Master, 2: Slave
    -- F/W Download Path
    -- Uncomment the next line if you wish to pop-up a dialog box to select the firmware image file
    -- Otherwise, hardcode the path to the firmware metaimage below
    -- By default, the firmware filename is: xwr22xx_metaImage.bin
    -- metaImagePath  =   RSTD.BrowseForFile(RSTD.GetSettingsPath(), "bin", "Browse to .bin file")
    -- For 2243 ES1.1 devices
    metaImagePath            =   "C:\\ti\\mmwave_dfp_02_02_02_01\\firmware\\xwr22xx_metaImage.bin"
    -- For 2243 ES1.0 devices
    -- metaImagePath            =   "C:\\ti\\mmwave_dfp_02_02_00_02\\firmware\\xwr22xx_metaImage.bin"
    -- IP Address for the TDA2 Host Board
    -- Change this accordingly for your setup
    TDA_IPAddress     =   "192.168.33.180"
    -- Device map of all the devices to be enabled by TDA
    -- 1 - master ; 2- slave1 ; 4 - slave2 ; 8 - slave3
    deviceMapOverall  =   RadarDevice[1] + (RadarDevice[2]*2) + (RadarDevice[3]*4) + (RadarDevice[4]*8)
    deviceMapSlaves   =   (RadarDevice[2]*2) + (RadarDevice[3]*4) + (RadarDevice[4]*8)
    -- Enable/Disable Test Source
    -- This is useful during bringup
    test_source_enable  =   0      -- 0: Disable, 1: Enable
        
    ------------------------------------------- Sensor Configuration ------------------------------------------------
    --[[
    The sensor configuration consists of 3 sections:
    1) Profile Configuration (common to all 4 AWR devices)
    2) Chirp Configuration (unique for each AWR device - mainly because TXs to use are 
                            different for each chirp)
    3) Frame Configuration (common to all 4 AWR devices, except for the trigger mode for the master)
    Change the values below as needed. --]]
    -- Profile configuration
    local profile_indx              =   0
    local start_freq                =   77     -- GHz
    local slope                     =   15     -- MHz/us
    local idle_time                 =   4      -- us
    local adc_start_time            =   5      -- us
    local adc_samples               =   256    -- Number of samples per chirp
    local sample_freq               =   15000   -- ksps
    local ramp_end_time             =   23     -- us
    local rx_gain                   =   48     -- dB
    local tx0OutPowerBackoffCode    =   0
    local tx1OutPowerBackoffCode    =   0
    local tx2OutPowerBackoffCode    =   0
    local tx0PhaseShifter           =   0
    local tx1PhaseShifter           =   0
    local tx2PhaseShifter           =   0
    local txStartTimeUSec           =   0
    local hpfCornerFreq1            =   0      -- 0: 175KHz, 1: 235KHz, 2: 350KHz, 3: 700KHz
    local hpfCornerFreq2            =   0      -- 0: 350KHz, 1: 700KHz, 2: 1.4MHz, 3: 2.8MHz
    -- Frame configuration    
    local start_chirp_tx            =   0
    local end_chirp_tx              =   11
    local nchirp_loops              =   128     -- Number of chirps per frame
    local nframes_master            =   400     -- Number of Frames for Master
    local nframes_slave             =   400     -- Number of Frames for Slaves
    local Inter_Frame_Interval      =   100    -- ms
    local trigger_delay             =   0      -- us
    local trig_list                 =   {1,2,2,2} -- 1: Software trigger, 2: Hardware trigger    
    --[[
    Function to configure the chirps specific to a device
    12 chirps are configured below, individually for each AWR device
    |-------|-------|-------|-------|-------|-------|-------|-------|-------|-------|-------|-------|-------|
    |       | Dev 1 | Dev 1 | Dev 1 | Dev 2 | Dev 2 | Dev 2 | Dev 3 | Dev 3 | Dev 3 | Dev 4 | Dev 4 | Dev 4 |
    | Chirp |  TX0  |  TX1  |  TX2  |  TX 0 |  TX1  |  TX2  |  TX0  |  TX1  |  TX2  |  TX0  |  TX1  |  TX2  |
    |-------|-------|-------|-------|-------|-------|-------|-------|-------|-------|-------|-------|-------|
    |     0 |     0 |     0 |     0 |     0 |     0 |     0 |     0 |     0 |     0 |     0 |     0 |     1 |
    |     1 |     0 |     0 |     0 |     0 |     0 |     0 |     0 |     0 |     0 |     0 |     1 |     0 |
    |     2 |     0 |     0 |     0 |     0 |     0 |     0 |     0 |     0 |     0 |     1 |     0 |     0 |
    |     3 |     0 |     0 |     0 |     0 |     0 |     0 |     0 |     0 |     1 |     0 |     0 |     0 |
    |     4 |     0 |     0 |     0 |     0 |     0 |     0 |     0 |     1 |     0 |     0 |     0 |     0 |
    |     5 |     0 |     0 |     0 |     0 |     0 |     0 |     1 |     0 |     0 |     0 |     0 |     0 |
    |     6 |     0 |     0 |     0 |     0 |     0 |     1 |     0 |     0 |     0 |     0 |     0 |     0 |
    |     7 |     0 |     0 |     0 |     0 |     1 |     0 |     0 |     0 |     0 |     0 |     0 |     0 |
    |     8 |     0 |     0 |     0 |     1 |     0 |     0 |     0 |     0 |     0 |     0 |     0 |     0 |
    |     9 |     0 |     0 |     1 |     0 |     0 |     0 |     0 |     0 |     0 |     0 |     0 |     0 |
    |    10 |     0 |     1 |     0 |     0 |     0 |     0 |     0 |     0 |     0 |     0 |     0 |     0 |
    |    11 |     1 |     0 |     0 |     0 |     0 |     0 |     0 |     0 |     0 |     0 |     0 |     0 |
    |-------|-------|-------|-------|-------|-------|-------|-------|-------|-------|-------|-------|-------|
    --]] 
    -- Note: The syntax for this API is:
    -- ar1.ChirpConfig_mult(RadarDeviceId, chirpStartIdx, chirpEndIdx, profileId, startFreqVar, 
    --                      freqSlopeVar, idleTimeVar, adcStartTimeVar, tx0Enable, tx1Enable, tx2Enable)
    function Configure_Chirps(i) 
        
        if (i == 1) then
                
                -- Chirp 0
                if (0 == ar1.ChirpConfig_mult(dev_list[i], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0)) then
                    WriteToLog("Device "..i.." : Chirp 0 Configuration successful\n", "green")
                else
                    WriteToLog("Device "..i.." : Chirp 0 Configuration failed\n", "red")
                    return -4
                end
                
                -- Chirp 1
                if (0 == ar1.ChirpConfig_mult(dev_list[i], 1, 1, 0, 0, 0, 0, 0, 0, 0, 0)) then
                    WriteToLog("Device "..i.." : Chirp 1 Configuration successful\n", "green")
                else
                    WriteToLog("Device "..i.." : Chirp 1 Configuration failed\n", "red")
                    return -4
                end
                
                -- Chirp 2
                if (0 == ar1.ChirpConfig_mult(dev_list[i], 2, 2, 0, 0, 0, 0, 0, 0, 0, 0)) then
                    WriteToLog("Device "..i.." : Chirp 2 Configuration successful\n", "green")
                else
                    WriteToLog("Device "..i.." : Chirp 2 Configuration failed\n", "red")
                    return -4
                end
                
                -- Chirp 3
                if (0 == ar1.ChirpConfig_mult(dev_list[i], 3, 3, 0, 0, 0, 0, 0, 0, 0, 0)) then
                    WriteToLog("Device "..i.." : Chirp 3 Configuration successful\n", "green")
                else
                    WriteToLog("Device "..i.." : Chirp 3 Configuration failed\n", "red")
                    return -4
                end
                
                -- Chirp 4
                if (0 == ar1.ChirpConfig_mult(dev_list[i], 4, 4, 0, 0, 0, 0, 0, 0, 0, 0)) then
                    WriteToLog("Device "..i.." : Chirp 4 Configuration successful\n", "green")
                else
                    WriteToLog("Device "..i.." : Chirp 4 Configuration failed\n", "red")
                    return -4
                end
                
                -- Chirp 5
                if (0 == ar1.ChirpConfig_mult(dev_list[i], 5, 5, 0, 0, 0, 0, 0, 0, 0, 0)) then
                    WriteToLog("Device "..i.." : Chirp 5 Configuration successful\n", "green")
                else
                    WriteToLog("Device "..i.." : Chirp 5 Configuration failed\n", "red")
                    return -4
                end
                
                -- Chirp 6
                if (0 == ar1.ChirpConfig_mult(dev_list[i], 6, 6, 0, 0, 0, 0, 0, 0, 0, 0)) then
                    WriteToLog("Device "..i.." : Chirp 6 Configuration successful\n", "green")
                else
                    WriteToLog("Device "..i.." : Chirp 6 Configuration failed\n", "red")
                    return -4
                end
                
                -- Chirp 7
                if (0 == ar1.ChirpConfig_mult(dev_list[i], 7, 7, 0, 0, 0, 0, 0, 0, 0, 0)) then
                    WriteToLog("Device "..i.." : Chirp 7 Configuration successful\n", "green")
                else
                    WriteToLog("Device "..i.." : Chirp 7 Configuration failed\n", "red")
                    return -4
                end
                
                -- Chirp 8
                if (0 == ar1.ChirpConfig_mult(dev_list[i], 8, 8, 0, 0, 0, 0, 0, 0, 0, 0)) then
                    WriteToLog("Device "..i.." : Chirp 8 Configuration successful\n", "green")
                else
                    WriteToLog("Device "..i.." : Chirp 8 Configuration failed\n", "red")
                    return -4
                end
                
                -- Chirp 9
                if (0 == ar1.ChirpConfig_mult(dev_list[i], 9, 9, 0, 0, 0, 0, 0, 0, 0, 1)) then
                    WriteToLog("Device "..i.." : Chirp 9 Configuration successful\n", "green")
                else
                    WriteToLog("Device "..i.." : Chirp 9 Configuration failed\n", "red")
                    return -4
                end
                
                -- Chirp 10
                if (0 == ar1.ChirpConfig_mult(dev_list[i], 10, 10, 0, 0, 0, 0, 0, 0, 1, 0)) then
                    WriteToLog("Device "..i.." : Chirp 10 Configuration successful\n", "green")
                else
                    WriteToLog("Device "..i.." : Chirp 10 Configuration failed\n", "red")
                    return -4
                end
                
                -- Chirp 11
                if (0 == ar1.ChirpConfig_mult(dev_list[i], 11, 11, 0, 0, 0, 0, 0, 1, 0, 0)) then
                    WriteToLog("Device "..i.." : Chirp 11 Configuration successful\n", "green")
                else
                    WriteToLog("Device "..i.." : Chirp 11 Configuration failed\n", "red")
                    return -4
                end
            
        elseif (i == 2) then
        
                -- Chirp 0
                if (0 == ar1.ChirpConfig_mult(dev_list[i], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0)) then
                    WriteToLog("Device "..i.." : Chirp 0 Configuration successful\n", "green")
                else
                    WriteToLog("Device "..i.." : Chirp 0 Configuration failed\n", "red")
                    return -4
                end
                
                -- Chirp 1
                if (0 == ar1.ChirpConfig_mult(dev_list[i], 1, 1, 0, 0, 0, 0, 0, 0, 0, 0)) then
                    WriteToLog("Device "..i.." : Chirp 1 Configuration successful\n", "green")
                else
                    WriteToLog("Device "..i.." : Chirp 1 Configuration failed\n", "red")
                    return -4
                end
                
                -- Chirp 2
                if (0 == ar1.ChirpConfig_mult(dev_list[i], 2, 2, 0, 0, 0, 0, 0, 0, 0, 0)) then
                    WriteToLog("Device "..i.." : Chirp 2 Configuration successful\n", "green")
                else
                    WriteToLog("Device "..i.." : Chirp 2 Configuration failed\n", "red")
                    return -4
                end
                
                -- Chirp 3
                if (0 == ar1.ChirpConfig_mult(dev_list[i], 3, 3, 0, 0, 0, 0, 0, 0, 0, 0)) then
                    WriteToLog("Device "..i.." : Chirp 3 Configuration successful\n", "green")
                else
                    WriteToLog("Device "..i.." : Chirp 3 Configuration failed\n", "red")
                    return -4
                end
                
                -- Chirp 4
                if (0 == ar1.ChirpConfig_mult(dev_list[i], 4, 4, 0, 0, 0, 0, 0, 0, 0, 0)) then
                    WriteToLog("Device "..i.." : Chirp 4 Configuration successful\n", "green")
                else
                    WriteToLog("Device "..i.." : Chirp 4 Configuration failed\n", "red")
                    return -4
                end
                
                -- Chirp 5
                if (0 == ar1.ChirpConfig_mult(dev_list[i], 5, 5, 0, 0, 0, 0, 0, 0, 0, 0)) then
                    WriteToLog("Device "..i.." : Chirp 5 Configuration successful\n", "green")
                else
                    WriteToLog("Device "..i.." : Chirp 5 Configuration failed\n", "red")
                    return -4
                end
                
                -- Chirp 6
                if (0 == ar1.ChirpConfig_mult(dev_list[i], 6, 6, 0, 0, 0, 0, 0, 0, 0, 1)) then
                    WriteToLog("Device "..i.." : Chirp 6 Configuration successful\n", "green")
                else
                    WriteToLog("Device "..i.." : Chirp 6 Configuration failed\n", "red")
                    return -4
                end
                
                -- Chirp 7
                if (0 == ar1.ChirpConfig_mult(dev_list[i], 7, 7, 0, 0, 0, 0, 0, 0, 1, 0)) then
                    WriteToLog("Device "..i.." : Chirp 7 Configuration successful\n", "green")
                else
                    WriteToLog("Device "..i.." : Chirp 7 Configuration failed\n", "red")
                    return -4
                end
                
                -- Chirp 8
                if (0 == ar1.ChirpConfig_mult(dev_list[i], 8, 8, 0, 0, 0, 0, 0, 1, 0, 0)) then
                    WriteToLog("Device "..i.." : Chirp 8 Configuration successful\n", "green")
                else
                    WriteToLog("Device "..i.." : Chirp 8 Configuration failed\n", "red")
                    return -4
                end
                
                -- Chirp 9
                if (0 == ar1.ChirpConfig_mult(dev_list[i], 9, 9, 0, 0, 0, 0, 0, 0, 0, 0)) then
                    WriteToLog("Device "..i.." : Chirp 9 Configuration successful\n", "green")
                else
                    WriteToLog("Device "..i.." : Chirp 9 Configuration failed\n", "red")
                    return -4
                end
                
                -- Chirp 10
                if (0 == ar1.ChirpConfig_mult(dev_list[i], 10, 10, 0, 0, 0, 0, 0, 0, 0, 0)) then
                    WriteToLog("Device "..i.." : Chirp 10 Configuration successful\n", "green")
                else
                    WriteToLog("Device "..i.." : Chirp 10 Configuration failed\n", "red")
                    return -4
                end
                
                -- Chirp 11
                if (0 == ar1.ChirpConfig_mult(dev_list[i], 11, 11, 0, 0, 0, 0, 0, 0, 0, 0)) then
                    WriteToLog("Device "..i.." : Chirp 11 Configuration successful\n", "green")
                else
                    WriteToLog("Device "..i.." : Chirp 11 Configuration failed\n", "red")
                    return -4
                end
                
        elseif (i == 3) then
        
                -- Chirp 0
                if (0 == ar1.ChirpConfig_mult(dev_list[i], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0)) then
                    WriteToLog("Device "..i.." : Chirp 0 Configuration successful\n", "green")
                else
                    WriteToLog("Device "..i.." : Chirp 0 Configuration failed\n", "red")
                    return -4
                end
                
                -- Chirp 1
                if (0 == ar1.ChirpConfig_mult(dev_list[i], 1, 1, 0, 0, 0, 0, 0, 0, 0, 0)) then
                    WriteToLog("Device "..i.." : Chirp 1 Configuration successful\n", "green")
                else
                    WriteToLog("Device "..i.." : Chirp 1 Configuration failed\n", "red")
                    return -4
                end
                
                -- Chirp 2
                if (0 == ar1.ChirpConfig_mult(dev_list[i], 2, 2, 0, 0, 0, 0, 0, 0, 0, 0)) then
                    WriteToLog("Device "..i.." : Chirp 2 Configuration successful\n", "green")
                else
                    WriteToLog("Device "..i.." : Chirp 2 Configuration failed\n", "red")
                    return -4
                end
                
                -- Chirp 3
                if (0 == ar1.ChirpConfig_mult(dev_list[i], 3, 3, 0, 0, 0, 0, 0, 0, 0, 1)) then
                    WriteToLog("Device "..i.." : Chirp 3 Configuration successful\n", "green")
                else
                    WriteToLog("Device "..i.." : Chirp 3 Configuration failed\n", "red")
                    return -4
                end
                
                -- Chirp 4
                if (0 == ar1.ChirpConfig_mult(dev_list[i], 4, 4, 0, 0, 0, 0, 0, 0, 1, 0)) then
                    WriteToLog("Device "..i.." : Chirp 4 Configuration successful\n", "green")
                else
                    WriteToLog("Device "..i.." : Chirp 4 Configuration failed\n", "red")
                    return -4
                end
                
                -- Chirp 5
                if (0 == ar1.ChirpConfig_mult(dev_list[i], 5, 5, 0, 0, 0, 0, 0, 1, 0, 0)) then
                    WriteToLog("Device "..i.." : Chirp 5 Configuration successful\n", "green")
                else
                    WriteToLog("Device "..i.." : Chirp 5 Configuration failed\n", "red")
                    return -4
                end
                
                -- Chirp 6
                if (0 == ar1.ChirpConfig_mult(dev_list[i], 6, 6, 0, 0, 0, 0, 0, 0, 0, 0)) then
                    WriteToLog("Device "..i.." : Chirp 6 Configuration successful\n", "green")
                else
                    WriteToLog("Device "..i.." : Chirp 6 Configuration failed\n", "red")
                    return -4
                end
                
                -- Chirp 7
                if (0 == ar1.ChirpConfig_mult(dev_list[i], 7, 7, 0, 0, 0, 0, 0, 0, 0, 0)) then
                    WriteToLog("Device "..i.." : Chirp 7 Configuration successful\n", "green")
                else
                    WriteToLog("Device "..i.." : Chirp 7 Configuration failed\n", "red")
                    return -4
                end
                
                -- Chirp 8
                if (0 == ar1.ChirpConfig_mult(dev_list[i], 8, 8, 0, 0, 0, 0, 0, 0, 0, 0)) then
                    WriteToLog("Device "..i.." : Chirp 8 Configuration successful\n", "green")
                else
                    WriteToLog("Device "..i.." : Chirp 8 Configuration failed\n", "red")
                    return -4
                end
                
                -- Chirp 9
                if (0 == ar1.ChirpConfig_mult(dev_list[i], 9, 9, 0, 0, 0, 0, 0, 0, 0, 0)) then
                    WriteToLog("Device "..i.." : Chirp 9 Configuration successful\n", "green")
                else
                    WriteToLog("Device "..i.." : Chirp 9 Configuration failed\n", "red")
                    return -4
                end
                
                -- Chirp 10
                if (0 == ar1.ChirpConfig_mult(dev_list[i], 10, 10, 0, 0, 0, 0, 0, 0, 0, 0)) then
                    WriteToLog("Device "..i.." : Chirp 10 Configuration successful\n", "green")
                else
                    WriteToLog("Device "..i.." : Chirp 10 Configuration failed\n", "red")
                    return -4
                end
                
                -- Chirp 11
                if (0 == ar1.ChirpConfig_mult(dev_list[i], 11, 11, 0, 0, 0, 0, 0, 0, 0, 0)) then
                    WriteToLog("Device "..i.." : Chirp 11 Configuration successful\n", "green")
                else
                    WriteToLog("Device "..i.." : Chirp 11 Configuration failed\n", "red")
                    return -4
                end
                
        elseif (i == 4) then
        
                -- Chirp 0
                if (0 == ar1.ChirpConfig_mult(dev_list[i], 0, 0, 0, 0, 0, 0, 0, 0, 0, 1)) then
                    WriteToLog("Device "..i.." : Chirp 0 Configuration successful\n", "green")
                else
                    WriteToLog("Device "..i.." : Chirp 0 Configuration failed\n", "red")
                    return -4
                end
                
                -- Chirp 1
                if (0 == ar1.ChirpConfig_mult(dev_list[i], 1, 1, 0, 0, 0, 0, 0, 0, 1, 0)) then
                    WriteToLog("Device "..i.." : Chirp 1 Configuration successful\n", "green")
                else
                    WriteToLog("Device "..i.." : Chirp 1 Configuration failed\n", "red")
                    return -4
                end
                
                -- Chirp 2
                if (0 == ar1.ChirpConfig_mult(dev_list[i], 2, 2, 0, 0, 0, 0, 0, 1, 0, 0)) then
                    WriteToLog("Device "..i.." : Chirp 2 Configuration successful\n", "green")
                else
                    WriteToLog("Device "..i.." : Chirp 2 Configuration failed\n", "red")
                    return -4
                end
                
                -- Chirp 3
                if (0 == ar1.ChirpConfig_mult(dev_list[i], 3, 3, 0, 0, 0, 0, 0, 0, 0, 0)) then
                    WriteToLog("Device "..i.." : Chirp 3 Configuration successful\n", "green")
                else
                    WriteToLog("Device "..i.." : Chirp 3 Configuration failed\n", "red")
                    return -4
                end
                
                -- Chirp 4
                if (0 == ar1.ChirpConfig_mult(dev_list[i], 4, 4, 0, 0, 0, 0, 0, 0, 0, 0)) then
                    WriteToLog("Device "..i.." : Chirp 4 Configuration successful\n", "green")
                else
                    WriteToLog("Device "..i.." : Chirp 4 Configuration failed\n", "red")
                    return -4
                end
                
                -- Chirp 5
                if (0 == ar1.ChirpConfig_mult(dev_list[i], 5, 5, 0, 0, 0, 0, 0, 0, 0, 0)) then
                    WriteToLog("Device "..i.." : Chirp 5 Configuration successful\n", "green")
                else
                    WriteToLog("Device "..i.." : Chirp 5 Configuration failed\n", "red")
                    return -4
                end
                
                -- Chirp 6
                if (0 == ar1.ChirpConfig_mult(dev_list[i], 6, 6, 0, 0, 0, 0, 0, 0, 0, 0)) then
                    WriteToLog("Device "..i.." : Chirp 6 Configuration successful\n", "green")
                else
                    WriteToLog("Device "..i.." : Chirp 6 Configuration failed\n", "red")
                    return -4
                end
                
                -- Chirp 7
                if (0 == ar1.ChirpConfig_mult(dev_list[i], 7, 7, 0, 0, 0, 0, 0, 0, 0, 0)) then
                    WriteToLog("Device "..i.." : Chirp 7 Configuration successful\n", "green")
                else
                    WriteToLog("Device "..i.." : Chirp 7 Configuration failed\n", "red")
                    return -4
                end
                
                -- Chirp 8
                if (0 == ar1.ChirpConfig_mult(dev_list[i], 8, 8, 0, 0, 0, 0, 0, 0, 0, 0)) then
                    WriteToLog("Device "..i.." : Chirp 8 Configuration successful\n", "green")
                else
                    WriteToLog("Device "..i.." : Chirp 8 Configuration failed\n", "red")
                    return -4
                end
                
                -- Chirp 9
                if (0 == ar1.ChirpConfig_mult(dev_list[i], 9, 9, 0, 0, 0, 0, 0, 0, 0, 0)) then
                    WriteToLog("Device "..i.." : Chirp 9 Configuration successful\n", "green")
                else
                    WriteToLog("Device "..i.." : Chirp 9 Configuration failed\n", "red")
                    return -4
                end
                
                -- Chirp 10
                if (0 == ar1.ChirpConfig_mult(dev_list[i], 10, 10, 0, 0, 0, 0, 0, 0, 0, 0)) then
                    WriteToLog("Device "..i.." : Chirp 10 Configuration successful\n", "green")
                else
                    WriteToLog("Device "..i.." : Chirp 10 Configuration failed\n", "red")
                    return -4
                end
                
                -- Chirp 11
                if (0 == ar1.ChirpConfig_mult(dev_list[i], 11, 11, 0, 0, 0, 0, 0, 0, 0, 0)) then
                    WriteToLog("Device "..i.." : Chirp 11 Configuration successful\n", "green")
                else
                    WriteToLog("Device "..i.." : Chirp 11 Configuration failed\n", "red")
                    return -4
                end
            
        end
    end
     
    ------------------------------ API Configuration ------------------------------------------------
        
    -- 1. Connection to TDA. 2. Selecting Cascade/Single Chip.  3. Selecting 2-chip/4-chip
    WriteToLog("Setting up Studio for Cascade started..\n", "blue")
    if(0 == ar1.ConnectTDA(TDA_IPAddress, 5001, deviceMapOverall)) then
        WriteToLog("ConnectTDA Successful\n", "green")
    else
        WriteToLog("ConnectTDA Failed\n", "red")
        return -1
    end
    if(0 == ar1.selectCascadeMode(1)) then
        WriteToLog("selectCascadeMode Successful\n", "green")
    else
        WriteToLog("selectCascadeMode Failed\n", "red")
        return -1
    end
    WriteToLog("Setting up Studio for Cascade ended..\n", "blue")
             
    --Master Initialization
    -- SOP Mode Configuration
    if (0 == ar1.SOPControl_mult(1, 4)) then
        WriteToLog("Master : SOP Reset Successful\n", "green")
    else
        WriteToLog("Master : SOP Reset Failed\n", "red")
        return -1
    end
    -- SPI Connect
    if (0 == ar1.PowerOn_mult(1, 0, 1000, 0, 0)) then
        WriteToLog("Master : SPI Connection Successful\n", "green")
    else
        WriteToLog("Master : SPI Connection Failed\n", "red")
        return -1
    end
    -- Firmware Download. (SOP 4 - MetaImage)
    if (0 == ar1.DownloadBssFwOvSPI_mult(1, metaImagePath)) then
        WriteToLog("Master : FW Download Successful\n", "green")
    else
        WriteToLog("Master : FW Download Failed\n", "red")
        return -1
    end
    -- RF Power Up
    if (0 == ar1.RfEnable_mult(1)) then
        WriteToLog("Master : RF Power Up Successful\n", "green")
    else
        WriteToLog("Master : RF Power Up Failed\n", "red")
        return -1
    end            
             
    -- Channel & ADC Configuration
    if (0 == ar1.ChanNAdcConfig_mult(1,1,1,1,1,1,1,1,2,1,0,1)) then
        WriteToLog("Master : Channel & ADC Configuration Successful\n", "green")
    else
        WriteToLog("Master : Channel & ADC Configuration Failed\n", "red")
        return -2
    end
        
    -- Slaves Initialization
       
    for i=2,table.getn(RadarDevice) do 
        local status    =    0                
        if ((RadarDevice[1]==1) and (RadarDevice[i]==1)) then
          
            -- SOP Mode Configuration
            if (0 == ar1.SOPControl_mult(dev_list[i], 4)) then
                WriteToLog("Device "..i.." : SOP Reset Successful\n", "green")
            else
                WriteToLog("Device "..i.." : SOP Reset Failed\n", "red")
                return -1
            end
                    
            -- SPI Connect    
            if (0 == ar1.AddDevice(dev_list[i])) then
                WriteToLog("Device "..i.." : SPI Connection Successful\n", "green")
            else
                WriteToLog("Device "..i.." : SPI Connection Failed\n", "red")
                return -1
            end
               
        end
    end  
        
    -- Firmware Download. (SOP 4 - MetaImage)
    if (0 == ar1.DownloadBssFwOvSPI_mult(deviceMapSlaves, metaImagePath)) then
        WriteToLog("Slaves : FW Download Successful\n", "green")
    else
        WriteToLog("Slaves : FW Download Failed\n", "red")
        return -1
    end
             
    -- RF Power Up
    if (0 == ar1.RfEnable_mult(deviceMapSlaves)) then
        WriteToLog("Slaves : RF Power Up Successful\n", "green")
    else
        WriteToLog("Slaves : RF Power Up Failed\n", "red")
        return -1
    end    
    -- Channel & ADC Configuration
    if (0 == ar1.ChanNAdcConfig_mult(deviceMapSlaves,1,1,1,1,1,1,1,2,1,0,2)) then
        WriteToLog("Slaves : Channel & ADC Configuration Successful\n", "green")
    else
        WriteToLog("Slaves : Channel & ADC Configuration Failed\n", "red")
        return -2
    end
                
    -- All devices together        
              
    -- Including this depends on the type of board being used.
    -- LDO configuration
    if (0 == ar1.RfLdoBypassConfig_mult(deviceMapOverall, 3)) then
        WriteToLog("LDO Bypass Successful\n", "green")
    else
        WriteToLog("LDO Bypass failed\n", "red")
        return -2
    end
    -- Low Power Mode Configuration
    if (0 == ar1.LPModConfig_mult(deviceMapOverall,0, 0)) then
        WriteToLog("Low Power Mode Configuration Successful\n", "green")
    else
        WriteToLog("Low Power Mode Configuration failed\n", "red")
        return -2
    end
    -- Miscellaneous Control Configuration
    if (0 == ar1.SetMiscConfig_mult(deviceMapOverall, 1, 0, 0, 0)) then
        WriteToLog("Misc Control Configuration Successful\n", "green")
    else
        WriteToLog("Misc Control Configuration failed\n", "red")
        return -2
    end
    -- Edit this API to enable/disable the boot time calibration. Enabled by default.
    -- RF Init Calibration Configuration
    if (0 == ar1.RfInitCalibConfig_mult(deviceMapOverall, 1, 1, 1, 1, 1, 1, 1, 65537)) then
        WriteToLog("RF Init Calibration Successful\n", "green")
    else
        WriteToLog("RF Init Calibration failed\n", "red")
        return -2
    end
             
    -- RF Init
    if (0 == ar1.RfInit_mult(deviceMapOverall)) then
        WriteToLog("RF Init Successful\n", "green")
    else
        WriteToLog("RF Init failed\n", "red")
        return -2
    end
    ---------------------------Data Configuration----------------------------------
            
    -- Data path Configuration
    if (0 == ar1.DataPathConfig_mult(deviceMapOverall, 0, 1, 0)) then
        WriteToLog("Data Path Configuration Successful\n", "green")
    else
        WriteToLog("Data Path Configuration failed\n", "red")
        return -3
    end
    -- Clock Configuration
    if (0 == ar1.LvdsClkConfig_mult(deviceMapOverall, 1, 1)) then
        WriteToLog("Clock Configuration Successful\n", "green")
    else
        WriteToLog("Clock Configuration failed\n", "red")
        return -3
    end
    -- CSI2 Configuration
    if (0 == ar1.CSI2LaneConfig_mult(deviceMapOverall, 1, 0, 2, 0, 4, 0, 5, 0, 3, 0, 0)) then
        WriteToLog("CSI2 Configuration Successful\n", "green")
    else
        WriteToLog("CSI2 Configuration failed\n", "red")
        return -3
    end
    ----------------------------Test Source Configuration------------------------------
    -- This is useful for initial bringup.
    -- Each device is configured with a test object at a different location.
        
    if(test_source_enable == 1) then
        
        if(RadarDevice[1] == 1) then
            -- Object at 5 m with x = 4m and y = 3m
            if (0 == ar1.SetTestSource_mult(1, 4, 3, 0, 0, 0, 0, -327, 0, -327, 327, 327, 327, -2.5, 327, 327, 0, 
                     0, 0, 0, -327, 0, -327, 327, 327, 327, -95, 0, 0, 0.5, 0, 1, 0, 1.5, 0, 0, 0, 0, 0, 0, 0, 0)) then
                WriteToLog("Device 1 : Test Source Configuration Successful\n", "green")
            else
                WriteToLog("Device 1 : Test Source Configuration failed\n", "red")
                return -3
            end
        end
        
        if(RadarDevice[2] == 1) then        
            -- Object at 5 m with x = 3m and y = 4m
            if (0 == ar1.SetTestSource_mult(2, 3, 4, 0, 0, 0, 0, -327, 0, -327, 327, 327, 327, -2.5, 327, 327, 0, 
                     0, 0, 0, -327, 0, -327, 327, 327, 327, -95, 0, 0, 0.5, 0, 1, 0, 1.5, 0, 0, 0, 0, 0, 0, 0, 0)) then
                WriteToLog("Device 2 : Test Source Configuration Successful\n", "green")
            else
                WriteToLog("Device 2 : Test Source Configuration failed\n", "red")
                return -3
            end
        end
        
        if(RadarDevice[3] == 1) then         
            -- Object at 13 m with x = 12m and y = 5m
            if (0 == ar1.SetTestSource_mult(4, 12, 5, 0, 0, 0, 0, -327, 0, -327, 327, 327, 327, -2.5, 327, 327, 0, 
                     0, 0, 0, -327, 0, -327, 327, 327, 327, -95, 0, 0, 0.5, 0, 1, 0, 1.5, 0, 0, 0, 0, 0, 0, 0, 0)) then
                WriteToLog("Device 3 : Test Source Configuration Successful\n", "green")
            else
                WriteToLog("Device 3 : Test Source Configuration failed\n", "red")
                return -3
            end
        end
        
        if(RadarDevice[4] == 1) then        
            -- Object at 13 m with x = 5m and y = 12m
            if (0 == ar1.SetTestSource_mult(8, 5, 12, 0, 0, 0, 0, -327, 0, -327, 327, 327, 327, -2.5, 327, 327, 0, 
                     0, 0, 0, -327, 0, -327, 327, 327, 327, -95, 0, 0, 0.5, 0, 1, 0, 1.5, 0, 0, 0, 0, 0, 0, 0, 0)) then
                WriteToLog("Device 4 : Test Source Configuration Successful\n", "green")
            else
                WriteToLog("Device 4 : Test Source Configuration failed\n", "red")
                return -3
            end
        end
           
    end           
    ---------------------------Sensor Configuration-------------------------
    -- Profile Configuration
    if (0 == ar1.ProfileConfig_mult(deviceMapOverall, 0, start_freq, idle_time, adc_start_time, ramp_end_time, 
                                    0, 0, 0, 0, 0, 0, slope, 0, adc_samples, sample_freq, 0, 0, rx_gain)) then
        WriteToLog("Profile Configuration successful\n", "green")
    else
        WriteToLog("Profile Configuration failed\n", "red")
        return -4
    end
    -- Chirp Configuration 
    for i=1,table.getn(RadarDevice) do    
        if ((RadarDevice[1]==1) and (RadarDevice[i]==1)) then
            Configure_Chirps(i)                
        end
    end
    -- Enabling/ Disabling Test Source
    if(test_source_enable == 1) then
        ar1.EnableTestSource_mult(deviceMapOverall, 1)
        WriteToLog("Enabling Test Source Configuration successful\n", "green")
    end
    -- Frame Configuration
    -- Master
    if (0 == ar1.FrameConfig_mult(1,start_chirp_tx,end_chirp_tx,nframes_master, nchirp_loops, 
                                  Inter_Frame_Interval, 0, 1)) then
        WriteToLog("Master : Frame Configuration successful\n", "green")
    else
        WriteToLog("Master : Frame Configuration failed\n", "red")
    end
    -- Slaves 
    if (0 == ar1.FrameConfig_mult(deviceMapSlaves,start_chirp_tx,end_chirp_tx,nframes_slave, nchirp_loops, 
                                  Inter_Frame_Interval, 0, 2)) then
        WriteToLog("Slaves : Frame Configuration successful\n", "green")
    else
        WriteToLog("Slaves : Frame Configuration failed\n", "red")
    end

    Regards,

    Kishor KS

  • 0 in reply to Cesar
    Prodigy 100 points
    --[[
    Sequence being followed
    A. CONFIGURATION
    1. Connecting to TDA
    1. Configuring Master from SOP till Channel Config
    2. Configuring Slave (i) sequentially from SOP till SPI Connect. i = 1, 2, 3
    3. Configuring Slaves together from F/W download till Channel Config
    4. Configuring all devices together from LDO Bypass till Frame Config
    NOTE:
    Update the following in the script accordingly before running
    1. metaImage F/W path on line 32
    2. TDA Host Board IP Address on line 39
    --]]
        
    ----------------------------------------User Constants--------------------------------------------
           
    dev_list          =    {1, 2, 4, 8}       -- Device map
    RadarDevice       =    {1, 1, 1, 1}       -- {dev1, dev2, dev3, dev4}, 1: Enable, 0: Disable
    cascade_mode_list =    {1, 2, 2, 2}       -- 0: Single chip, 1: Master, 2: Slave
    -- F/W Download Path
    -- Uncomment the next line if you wish to pop-up a dialog box to select the firmware image file
    -- Otherwise, hardcode the path to the firmware metaimage below
    -- By default, the firmware filename is: xwr22xx_metaImage.bin
    -- metaImagePath  =   RSTD.BrowseForFile(RSTD.GetSettingsPath(), "bin", "Browse to .bin file")
    -- For 2243 ES1.1 devices
    metaImagePath            =   "C:\\ti\\mmwave_dfp_02_02_02_01\\firmware\\xwr22xx_metaImage.bin"
    -- For 2243 ES1.0 devices
    -- metaImagePath            =   "C:\\ti\\mmwave_dfp_02_02_00_02\\firmware\\xwr22xx_metaImage.bin"
    -- IP Address for the TDA2 Host Board
    -- Change this accordingly for your setup
    TDA_IPAddress     =   "192.168.33.180"
    -- Device map of all the devices to be enabled by TDA
    -- 1 - master ; 2- slave1 ; 4 - slave2 ; 8 - slave3
    deviceMapOverall  =   RadarDevice[1] + (RadarDevice[2]*2) + (RadarDevice[3]*4) + (RadarDevice[4]*8)
    deviceMapSlaves   =   (RadarDevice[2]*2) + (RadarDevice[3]*4) + (RadarDevice[4]*8)
    -- Enable/Disable Test Source
    -- This is useful during bringup
    test_source_enable  =   0      -- 0: Disable, 1: Enable
        
    ------------------------------------------- Sensor Configuration ------------------------------------------------
    --[[
    The sensor configuration consists of 3 sections:
    1) Profile Configuration (common to all 4 AWR devices)
    2) Chirp Configuration (unique for each AWR device - mainly because TXs to use are 
                            different for each chirp)
    3) Frame Configuration (common to all 4 AWR devices, except for the trigger mode for the master)
    Change the values below as needed. --]]
    -- Profile configuration
    local profile_indx              =   0
    local start_freq                =   77     -- GHz
    local slope                     =   79     -- MHz/us
    local idle_time                 =   5      -- us
    local adc_start_time            =   6      -- us
    local adc_samples               =   256    -- Number of samples per chirp
    local sample_freq               =   8000   -- ksps
    local ramp_end_time             =   40     -- us
    local rx_gain                   =   48     -- dB
    local tx0OutPowerBackoffCode    =   0
    local tx1OutPowerBackoffCode    =   0
    local tx2OutPowerBackoffCode    =   0
    local tx0PhaseShifter           =   0
    local tx1PhaseShifter           =   0
    local tx2PhaseShifter           =   0
    local txStartTimeUSec           =   0
    local hpfCornerFreq1            =   0      -- 0: 175KHz, 1: 235KHz, 2: 350KHz, 3: 700KHz
    local hpfCornerFreq2            =   0      -- 0: 350KHz, 1: 700KHz, 2: 1.4MHz, 3: 2.8MHz
    -- Frame configuration    
    local start_chirp_tx            =   0
    local end_chirp_tx              =   11
    local nchirp_loops              =   64     -- Number of chirps per frame
    local nframes_master            =   20     -- Number of Frames for Master
    local nframes_slave             =   20     -- Number of Frames for Slaves
    local Inter_Frame_Interval      =   100    -- ms
    local trigger_delay             =   0      -- us
    local trig_list                 =   {1,2,2,2} -- 1: Software trigger, 2: Hardware trigger    
    --[[
    Function to configure the chirps specific to a device
    12 chirps are configured below, individually for each AWR device
    |-------|-------|-------|-------|-------|-------|-------|-------|-------|-------|-------|-------|-------|
    |       | Dev 1 | Dev 1 | Dev 1 | Dev 2 | Dev 2 | Dev 2 | Dev 3 | Dev 3 | Dev 3 | Dev 4 | Dev 4 | Dev 4 |
    | Chirp |  TX0  |  TX1  |  TX2  |  TX 0 |  TX1  |  TX2  |  TX0  |  TX1  |  TX2  |  TX0  |  TX1  |  TX2  |
    |-------|-------|-------|-------|-------|-------|-------|-------|-------|-------|-------|-------|-------|
    |     0 |     0 |     0 |     0 |     0 |     0 |     0 |     0 |     0 |     0 |     0 |     0 |     1 |
    |     1 |     0 |     0 |     0 |     0 |     0 |     0 |     0 |     0 |     0 |     0 |     1 |     0 |
    |     2 |     0 |     0 |     0 |     0 |     0 |     0 |     0 |     0 |     0 |     1 |     0 |     0 |
    |     3 |     0 |     0 |     0 |     0 |     0 |     0 |     0 |     0 |     1 |     0 |     0 |     0 |
    |     4 |     0 |     0 |     0 |     0 |     0 |     0 |     0 |     1 |     0 |     0 |     0 |     0 |
    |     5 |     0 |     0 |     0 |     0 |     0 |     0 |     1 |     0 |     0 |     0 |     0 |     0 |
    |     6 |     0 |     0 |     0 |     0 |     0 |     1 |     0 |     0 |     0 |     0 |     0 |     0 |
    |     7 |     0 |     0 |     0 |     0 |     1 |     0 |     0 |     0 |     0 |     0 |     0 |     0 |
    |     8 |     0 |     0 |     0 |     1 |     0 |     0 |     0 |     0 |     0 |     0 |     0 |     0 |
    |     9 |     0 |     0 |     1 |     0 |     0 |     0 |     0 |     0 |     0 |     0 |     0 |     0 |
    |    10 |     0 |     1 |     0 |     0 |     0 |     0 |     0 |     0 |     0 |     0 |     0 |     0 |
    |    11 |     1 |     0 |     0 |     0 |     0 |     0 |     0 |     0 |     0 |     0 |     0 |     0 |
    |-------|-------|-------|-------|-------|-------|-------|-------|-------|-------|-------|-------|-------|
    --]] 
    -- Note: The syntax for this API is:
    -- ar1.ChirpConfig_mult(RadarDeviceId, chirpStartIdx, chirpEndIdx, profileId, startFreqVar, 
    --                      freqSlopeVar, idleTimeVar, adcStartTimeVar, tx0Enable, tx1Enable, tx2Enable)
    function Configure_Chirps(i) 
        
        if (i == 1) then
                
                -- Chirp 0
                if (0 == ar1.ChirpConfig_mult(dev_list[i], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0)) then
                    WriteToLog("Device "..i.." : Chirp 0 Configuration successful\n", "green")
                else
                    WriteToLog("Device "..i.." : Chirp 0 Configuration failed\n", "red")
                    return -4
                end
                
                -- Chirp 1
                if (0 == ar1.ChirpConfig_mult(dev_list[i], 1, 1, 0, 0, 0, 0, 0, 0, 0, 0)) then
                    WriteToLog("Device "..i.." : Chirp 1 Configuration successful\n", "green")
                else
                    WriteToLog("Device "..i.." : Chirp 1 Configuration failed\n", "red")
                    return -4
                end
                
                -- Chirp 2
                if (0 == ar1.ChirpConfig_mult(dev_list[i], 2, 2, 0, 0, 0, 0, 0, 0, 0, 0)) then
                    WriteToLog("Device "..i.." : Chirp 2 Configuration successful\n", "green")
                else
                    WriteToLog("Device "..i.." : Chirp 2 Configuration failed\n", "red")
                    return -4
                end
                
                -- Chirp 3
                if (0 == ar1.ChirpConfig_mult(dev_list[i], 3, 3, 0, 0, 0, 0, 0, 0, 0, 0)) then
                    WriteToLog("Device "..i.." : Chirp 3 Configuration successful\n", "green")
                else
                    WriteToLog("Device "..i.." : Chirp 3 Configuration failed\n", "red")
                    return -4
                end
                
                -- Chirp 4
                if (0 == ar1.ChirpConfig_mult(dev_list[i], 4, 4, 0, 0, 0, 0, 0, 0, 0, 0)) then
                    WriteToLog("Device "..i.." : Chirp 4 Configuration successful\n", "green")
                else
                    WriteToLog("Device "..i.." : Chirp 4 Configuration failed\n", "red")
                    return -4
                end
                
                -- Chirp 5
                if (0 == ar1.ChirpConfig_mult(dev_list[i], 5, 5, 0, 0, 0, 0, 0, 0, 0, 0)) then
                    WriteToLog("Device "..i.." : Chirp 5 Configuration successful\n", "green")
                else
                    WriteToLog("Device "..i.." : Chirp 5 Configuration failed\n", "red")
                    return -4
                end
                
                -- Chirp 6
                if (0 == ar1.ChirpConfig_mult(dev_list[i], 6, 6, 0, 0, 0, 0, 0, 0, 0, 0)) then
                    WriteToLog("Device "..i.." : Chirp 6 Configuration successful\n", "green")
                else
                    WriteToLog("Device "..i.." : Chirp 6 Configuration failed\n", "red")
                    return -4
                end
                
                -- Chirp 7
                if (0 == ar1.ChirpConfig_mult(dev_list[i], 7, 7, 0, 0, 0, 0, 0, 0, 0, 0)) then
                    WriteToLog("Device "..i.." : Chirp 7 Configuration successful\n", "green")
                else
                    WriteToLog("Device "..i.." : Chirp 7 Configuration failed\n", "red")
                    return -4
                end
                
                -- Chirp 8
                if (0 == ar1.ChirpConfig_mult(dev_list[i], 8, 8, 0, 0, 0, 0, 0, 0, 0, 0)) then
                    WriteToLog("Device "..i.." : Chirp 8 Configuration successful\n", "green")
                else
                    WriteToLog("Device "..i.." : Chirp 8 Configuration failed\n", "red")
                    return -4
                end
                
                -- Chirp 9
                if (0 == ar1.ChirpConfig_mult(dev_list[i], 9, 9, 0, 0, 0, 0, 0, 0, 0, 1)) then
                    WriteToLog("Device "..i.." : Chirp 9 Configuration successful\n", "green")
                else
                    WriteToLog("Device "..i.." : Chirp 9 Configuration failed\n", "red")
                    return -4
                end
                
                -- Chirp 10
                if (0 == ar1.ChirpConfig_mult(dev_list[i], 10, 10, 0, 0, 0, 0, 0, 0, 1, 0)) then
                    WriteToLog("Device "..i.." : Chirp 10 Configuration successful\n", "green")
                else
                    WriteToLog("Device "..i.." : Chirp 10 Configuration failed\n", "red")
                    return -4
                end
                
                -- Chirp 11
                if (0 == ar1.ChirpConfig_mult(dev_list[i], 11, 11, 0, 0, 0, 0, 0, 1, 0, 0)) then
                    WriteToLog("Device "..i.." : Chirp 11 Configuration successful\n", "green")
                else
                    WriteToLog("Device "..i.." : Chirp 11 Configuration failed\n", "red")
                    return -4
                end
            
        elseif (i == 2) then
        
                -- Chirp 0
                if (0 == ar1.ChirpConfig_mult(dev_list[i], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0)) then
                    WriteToLog("Device "..i.." : Chirp 0 Configuration successful\n", "green")
                else
                    WriteToLog("Device "..i.." : Chirp 0 Configuration failed\n", "red")
                    return -4
                end
                
                -- Chirp 1
                if (0 == ar1.ChirpConfig_mult(dev_list[i], 1, 1, 0, 0, 0, 0, 0, 0, 0, 0)) then
                    WriteToLog("Device "..i.." : Chirp 1 Configuration successful\n", "green")
                else
                    WriteToLog("Device "..i.." : Chirp 1 Configuration failed\n", "red")
                    return -4
                end
                
                -- Chirp 2
                if (0 == ar1.ChirpConfig_mult(dev_list[i], 2, 2, 0, 0, 0, 0, 0, 0, 0, 0)) then
                    WriteToLog("Device "..i.." : Chirp 2 Configuration successful\n", "green")
                else
                    WriteToLog("Device "..i.." : Chirp 2 Configuration failed\n", "red")
                    return -4
                end
                
                -- Chirp 3
                if (0 == ar1.ChirpConfig_mult(dev_list[i], 3, 3, 0, 0, 0, 0, 0, 0, 0, 0)) then
                    WriteToLog("Device "..i.." : Chirp 3 Configuration successful\n", "green")
                else
                    WriteToLog("Device "..i.." : Chirp 3 Configuration failed\n", "red")
                    return -4
                end
                
                -- Chirp 4
                if (0 == ar1.ChirpConfig_mult(dev_list[i], 4, 4, 0, 0, 0, 0, 0, 0, 0, 0)) then
                    WriteToLog("Device "..i.." : Chirp 4 Configuration successful\n", "green")
                else
                    WriteToLog("Device "..i.." : Chirp 4 Configuration failed\n", "red")
                    return -4
                end
                
                -- Chirp 5
                if (0 == ar1.ChirpConfig_mult(dev_list[i], 5, 5, 0, 0, 0, 0, 0, 0, 0, 0)) then
                    WriteToLog("Device "..i.." : Chirp 5 Configuration successful\n", "green")
                else
                    WriteToLog("Device "..i.." : Chirp 5 Configuration failed\n", "red")
                    return -4
                end
                
                -- Chirp 6
                if (0 == ar1.ChirpConfig_mult(dev_list[i], 6, 6, 0, 0, 0, 0, 0, 0, 0, 1)) then
                    WriteToLog("Device "..i.." : Chirp 6 Configuration successful\n", "green")
                else
                    WriteToLog("Device "..i.." : Chirp 6 Configuration failed\n", "red")
                    return -4
                end
                
                -- Chirp 7
                if (0 == ar1.ChirpConfig_mult(dev_list[i], 7, 7, 0, 0, 0, 0, 0, 0, 1, 0)) then
                    WriteToLog("Device "..i.." : Chirp 7 Configuration successful\n", "green")
                else
                    WriteToLog("Device "..i.." : Chirp 7 Configuration failed\n", "red")
                    return -4
                end
                
                -- Chirp 8
                if (0 == ar1.ChirpConfig_mult(dev_list[i], 8, 8, 0, 0, 0, 0, 0, 1, 0, 0)) then
                    WriteToLog("Device "..i.." : Chirp 8 Configuration successful\n", "green")
                else
                    WriteToLog("Device "..i.." : Chirp 8 Configuration failed\n", "red")
                    return -4
                end
                
                -- Chirp 9
                if (0 == ar1.ChirpConfig_mult(dev_list[i], 9, 9, 0, 0, 0, 0, 0, 0, 0, 0)) then
                    WriteToLog("Device "..i.." : Chirp 9 Configuration successful\n", "green")
                else
                    WriteToLog("Device "..i.." : Chirp 9 Configuration failed\n", "red")
                    return -4
                end
                
                -- Chirp 10
                if (0 == ar1.ChirpConfig_mult(dev_list[i], 10, 10, 0, 0, 0, 0, 0, 0, 0, 0)) then
                    WriteToLog("Device "..i.." : Chirp 10 Configuration successful\n", "green")
                else
                    WriteToLog("Device "..i.." : Chirp 10 Configuration failed\n", "red")
                    return -4
                end
                
                -- Chirp 11
                if (0 == ar1.ChirpConfig_mult(dev_list[i], 11, 11, 0, 0, 0, 0, 0, 0, 0, 0)) then
                    WriteToLog("Device "..i.." : Chirp 11 Configuration successful\n", "green")
                else
                    WriteToLog("Device "..i.." : Chirp 11 Configuration failed\n", "red")
                    return -4
                end
                
        elseif (i == 3) then
        
                -- Chirp 0
                if (0 == ar1.ChirpConfig_mult(dev_list[i], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0)) then
                    WriteToLog("Device "..i.." : Chirp 0 Configuration successful\n", "green")
                else
                    WriteToLog("Device "..i.." : Chirp 0 Configuration failed\n", "red")
                    return -4
                end
                
                -- Chirp 1
                if (0 == ar1.ChirpConfig_mult(dev_list[i], 1, 1, 0, 0, 0, 0, 0, 0, 0, 0)) then
                    WriteToLog("Device "..i.." : Chirp 1 Configuration successful\n", "green")
                else
                    WriteToLog("Device "..i.." : Chirp 1 Configuration failed\n", "red")
                    return -4
                end
                
                -- Chirp 2
                if (0 == ar1.ChirpConfig_mult(dev_list[i], 2, 2, 0, 0, 0, 0, 0, 0, 0, 0)) then
                    WriteToLog("Device "..i.." : Chirp 2 Configuration successful\n", "green")
                else
                    WriteToLog("Device "..i.." : Chirp 2 Configuration failed\n", "red")
                    return -4
                end
                
                -- Chirp 3
                if (0 == ar1.ChirpConfig_mult(dev_list[i], 3, 3, 0, 0, 0, 0, 0, 0, 0, 1)) then
                    WriteToLog("Device "..i.." : Chirp 3 Configuration successful\n", "green")
                else
                    WriteToLog("Device "..i.." : Chirp 3 Configuration failed\n", "red")
                    return -4
                end
                
                -- Chirp 4
                if (0 == ar1.ChirpConfig_mult(dev_list[i], 4, 4, 0, 0, 0, 0, 0, 0, 1, 0)) then
                    WriteToLog("Device "..i.." : Chirp 4 Configuration successful\n", "green")
                else
                    WriteToLog("Device "..i.." : Chirp 4 Configuration failed\n", "red")
                    return -4
                end
                
                -- Chirp 5
                if (0 == ar1.ChirpConfig_mult(dev_list[i], 5, 5, 0, 0, 0, 0, 0, 1, 0, 0)) then
                    WriteToLog("Device "..i.." : Chirp 5 Configuration successful\n", "green")
                else
                    WriteToLog("Device "..i.." : Chirp 5 Configuration failed\n", "red")
                    return -4
                end
                
                -- Chirp 6
                if (0 == ar1.ChirpConfig_mult(dev_list[i], 6, 6, 0, 0, 0, 0, 0, 0, 0, 0)) then
                    WriteToLog("Device "..i.." : Chirp 6 Configuration successful\n", "green")
                else
                    WriteToLog("Device "..i.." : Chirp 6 Configuration failed\n", "red")
                    return -4
                end
                
                -- Chirp 7
                if (0 == ar1.ChirpConfig_mult(dev_list[i], 7, 7, 0, 0, 0, 0, 0, 0, 0, 0)) then
                    WriteToLog("Device "..i.." : Chirp 7 Configuration successful\n", "green")
                else
                    WriteToLog("Device "..i.." : Chirp 7 Configuration failed\n", "red")
                    return -4
                end
                
                -- Chirp 8
                if (0 == ar1.ChirpConfig_mult(dev_list[i], 8, 8, 0, 0, 0, 0, 0, 0, 0, 0)) then
                    WriteToLog("Device "..i.." : Chirp 8 Configuration successful\n", "green")
                else
                    WriteToLog("Device "..i.." : Chirp 8 Configuration failed\n", "red")
                    return -4
                end
                
                -- Chirp 9
                if (0 == ar1.ChirpConfig_mult(dev_list[i], 9, 9, 0, 0, 0, 0, 0, 0, 0, 0)) then
                    WriteToLog("Device "..i.." : Chirp 9 Configuration successful\n", "green")
                else
                    WriteToLog("Device "..i.." : Chirp 9 Configuration failed\n", "red")
                    return -4
                end
                
                -- Chirp 10
                if (0 == ar1.ChirpConfig_mult(dev_list[i], 10, 10, 0, 0, 0, 0, 0, 0, 0, 0)) then
                    WriteToLog("Device "..i.." : Chirp 10 Configuration successful\n", "green")
                else
                    WriteToLog("Device "..i.." : Chirp 10 Configuration failed\n", "red")
                    return -4
                end
                
                -- Chirp 11
                if (0 == ar1.ChirpConfig_mult(dev_list[i], 11, 11, 0, 0, 0, 0, 0, 0, 0, 0)) then
                    WriteToLog("Device "..i.." : Chirp 11 Configuration successful\n", "green")
                else
                    WriteToLog("Device "..i.." : Chirp 11 Configuration failed\n", "red")
                    return -4
                end
                
        elseif (i == 4) then
        
                -- Chirp 0
                if (0 == ar1.ChirpConfig_mult(dev_list[i], 0, 0, 0, 0, 0, 0, 0, 0, 0, 1)) then
                    WriteToLog("Device "..i.." : Chirp 0 Configuration successful\n", "green")
                else
                    WriteToLog("Device "..i.." : Chirp 0 Configuration failed\n", "red")
                    return -4
                end
                
                -- Chirp 1
                if (0 == ar1.ChirpConfig_mult(dev_list[i], 1, 1, 0, 0, 0, 0, 0, 0, 1, 0)) then
                    WriteToLog("Device "..i.." : Chirp 1 Configuration successful\n", "green")
                else
                    WriteToLog("Device "..i.." : Chirp 1 Configuration failed\n", "red")
                    return -4
                end
                
                -- Chirp 2
                if (0 == ar1.ChirpConfig_mult(dev_list[i], 2, 2, 0, 0, 0, 0, 0, 1, 0, 0)) then
                    WriteToLog("Device "..i.." : Chirp 2 Configuration successful\n", "green")
                else
                    WriteToLog("Device "..i.." : Chirp 2 Configuration failed\n", "red")
                    return -4
                end
                
                -- Chirp 3
                if (0 == ar1.ChirpConfig_mult(dev_list[i], 3, 3, 0, 0, 0, 0, 0, 0, 0, 0)) then
                    WriteToLog("Device "..i.." : Chirp 3 Configuration successful\n", "green")
                else
                    WriteToLog("Device "..i.." : Chirp 3 Configuration failed\n", "red")
                    return -4
                end
                
                -- Chirp 4
                if (0 == ar1.ChirpConfig_mult(dev_list[i], 4, 4, 0, 0, 0, 0, 0, 0, 0, 0)) then
                    WriteToLog("Device "..i.." : Chirp 4 Configuration successful\n", "green")
                else
                    WriteToLog("Device "..i.." : Chirp 4 Configuration failed\n", "red")
                    return -4
                end
                
                -- Chirp 5
                if (0 == ar1.ChirpConfig_mult(dev_list[i], 5, 5, 0, 0, 0, 0, 0, 0, 0, 0)) then
                    WriteToLog("Device "..i.." : Chirp 5 Configuration successful\n", "green")
                else
                    WriteToLog("Device "..i.." : Chirp 5 Configuration failed\n", "red")
                    return -4
                end
                
                -- Chirp 6
                if (0 == ar1.ChirpConfig_mult(dev_list[i], 6, 6, 0, 0, 0, 0, 0, 0, 0, 0)) then
                    WriteToLog("Device "..i.." : Chirp 6 Configuration successful\n", "green")
                else
                    WriteToLog("Device "..i.." : Chirp 6 Configuration failed\n", "red")
                    return -4
                end
                
                -- Chirp 7
                if (0 == ar1.ChirpConfig_mult(dev_list[i], 7, 7, 0, 0, 0, 0, 0, 0, 0, 0)) then
                    WriteToLog("Device "..i.." : Chirp 7 Configuration successful\n", "green")
                else
                    WriteToLog("Device "..i.." : Chirp 7 Configuration failed\n", "red")
                    return -4
                end
                
                -- Chirp 8
                if (0 == ar1.ChirpConfig_mult(dev_list[i], 8, 8, 0, 0, 0, 0, 0, 0, 0, 0)) then
                    WriteToLog("Device "..i.." : Chirp 8 Configuration successful\n", "green")
                else
                    WriteToLog("Device "..i.." : Chirp 8 Configuration failed\n", "red")
                    return -4
                end
                
                -- Chirp 9
                if (0 == ar1.ChirpConfig_mult(dev_list[i], 9, 9, 0, 0, 0, 0, 0, 0, 0, 0)) then
                    WriteToLog("Device "..i.." : Chirp 9 Configuration successful\n", "green")
                else
                    WriteToLog("Device "..i.." : Chirp 9 Configuration failed\n", "red")
                    return -4
                end
                
                -- Chirp 10
                if (0 == ar1.ChirpConfig_mult(dev_list[i], 10, 10, 0, 0, 0, 0, 0, 0, 0, 0)) then
                    WriteToLog("Device "..i.." : Chirp 10 Configuration successful\n", "green")
                else
                    WriteToLog("Device "..i.." : Chirp 10 Configuration failed\n", "red")
                    return -4
                end
                
                -- Chirp 11
                if (0 == ar1.ChirpConfig_mult(dev_list[i], 11, 11, 0, 0, 0, 0, 0, 0, 0, 0)) then
                    WriteToLog("Device "..i.." : Chirp 11 Configuration successful\n", "green")
                else
                    WriteToLog("Device "..i.." : Chirp 11 Configuration failed\n", "red")
                    return -4
                end
            
        end
    end
     
    ------------------------------ API Configuration ------------------------------------------------
        
    -- 1. Connection to TDA. 2. Selecting Cascade/Single Chip.  3. Selecting 2-chip/4-chip
    WriteToLog("Setting up Studio for Cascade started..\n", "blue")
    if(0 == ar1.ConnectTDA(TDA_IPAddress, 5001, deviceMapOverall)) then
        WriteToLog("ConnectTDA Successful\n", "green")
    else
        WriteToLog("ConnectTDA Failed\n", "red")
        return -1
    end
    if(0 == ar1.selectCascadeMode(1)) then
        WriteToLog("selectCascadeMode Successful\n", "green")
    else
        WriteToLog("selectCascadeMode Failed\n", "red")
        return -1
    end
    WriteToLog("Setting up Studio for Cascade ended..\n", "blue")
             
    --Master Initialization
    -- SOP Mode Configuration
    if (0 == ar1.SOPControl_mult(1, 4)) then
        WriteToLog("Master : SOP Reset Successful\n", "green")
    else
        WriteToLog("Master : SOP Reset Failed\n", "red")
        return -1
    end
    -- SPI Connect
    if (0 == ar1.PowerOn_mult(1, 0, 1000, 0, 0)) then
        WriteToLog("Master : SPI Connection Successful\n", "green")
    else
        WriteToLog("Master : SPI Connection Failed\n", "red")
        return -1
    end
    -- Firmware Download. (SOP 4 - MetaImage)
    if (0 == ar1.DownloadBssFwOvSPI_mult(1, metaImagePath)) then
        WriteToLog("Master : FW Download Successful\n", "green")
    else
        WriteToLog("Master : FW Download Failed\n", "red")
        return -1
    end
    -- RF Power Up
    if (0 == ar1.RfEnable_mult(1)) then
        WriteToLog("Master : RF Power Up Successful\n", "green")
    else
        WriteToLog("Master : RF Power Up Failed\n", "red")
        return -1
    end            
             
    -- Channel & ADC Configuration
    if (0 == ar1.ChanNAdcConfig_mult(1,1,1,1,1,1,1,1,2,1,0,1)) then
        WriteToLog("Master : Channel & ADC Configuration Successful\n", "green")
    else
        WriteToLog("Master : Channel & ADC Configuration Failed\n", "red")
        return -2
    end
        
    -- Slaves Initialization
       
    for i=2,table.getn(RadarDevice) do 
        local status    =    0                
        if ((RadarDevice[1]==1) and (RadarDevice[i]==1)) then
          
            -- SOP Mode Configuration
            if (0 == ar1.SOPControl_mult(dev_list[i], 4)) then
                WriteToLog("Device "..i.." : SOP Reset Successful\n", "green")
            else
                WriteToLog("Device "..i.." : SOP Reset Failed\n", "red")
                return -1
            end
                    
            -- SPI Connect    
            if (0 == ar1.AddDevice(dev_list[i])) then
                WriteToLog("Device "..i.." : SPI Connection Successful\n", "green")
            else
                WriteToLog("Device "..i.." : SPI Connection Failed\n", "red")
                return -1
            end
               
        end
    end  
        
    -- Firmware Download. (SOP 4 - MetaImage)
    if (0 == ar1.DownloadBssFwOvSPI_mult(deviceMapSlaves, metaImagePath)) then
        WriteToLog("Slaves : FW Download Successful\n", "green")
    else
        WriteToLog("Slaves : FW Download Failed\n", "red")
        return -1
    end
             
    -- RF Power Up
    if (0 == ar1.RfEnable_mult(deviceMapSlaves)) then
        WriteToLog("Slaves : RF Power Up Successful\n", "green")
    else
        WriteToLog("Slaves : RF Power Up Failed\n", "red")
        return -1
    end    
    -- Channel & ADC Configuration
    if (0 == ar1.ChanNAdcConfig_mult(deviceMapSlaves,1,1,1,1,1,1,1,2,1,0,2)) then
        WriteToLog("Slaves : Channel & ADC Configuration Successful\n", "green")
    else
        WriteToLog("Slaves : Channel & ADC Configuration Failed\n", "red")
        return -2
    end
                
    -- All devices together        
              
    -- Including this depends on the type of board being used.
    -- LDO configuration
    if (0 == ar1.RfLdoBypassConfig_mult(deviceMapOverall, 3)) then
        WriteToLog("LDO Bypass Successful\n", "green")
    else
        WriteToLog("LDO Bypass failed\n", "red")
        return -2
    end
    -- Low Power Mode Configuration
    if (0 == ar1.LPModConfig_mult(deviceMapOverall,0, 0)) then
        WriteToLog("Low Power Mode Configuration Successful\n", "green")
    else
        WriteToLog("Low Power Mode Configuration failed\n", "red")
        return -2
    end
    -- Miscellaneous Control Configuration
    if (0 == ar1.SetMiscConfig_mult(deviceMapOverall, 1, 0, 0, 0)) then
        WriteToLog("Misc Control Configuration Successful\n", "green")
    else
        WriteToLog("Misc Control Configuration failed\n", "red")
        return -2
    end
    -- Edit this API to enable/disable the boot time calibration. Enabled by default.
    -- RF Init Calibration Configuration
    if (0 == ar1.RfInitCalibConfig_mult(deviceMapOverall, 1, 1, 1, 1, 1, 1, 1, 65537)) then
        WriteToLog("RF Init Calibration Successful\n", "green")
    else
        WriteToLog("RF Init Calibration failed\n", "red")
        return -2
    end
             
    -- RF Init
    if (0 == ar1.RfInit_mult(deviceMapOverall)) then
        WriteToLog("RF Init Successful\n", "green")
    else
        WriteToLog("RF Init failed\n", "red")
        return -2
    end
    ---------------------------Data Configuration----------------------------------
            
    -- Data path Configuration
    if (0 == ar1.DataPathConfig_mult(deviceMapOverall, 0, 1, 0)) then
        WriteToLog("Data Path Configuration Successful\n", "green")
    else
        WriteToLog("Data Path Configuration failed\n", "red")
        return -3
    end
    -- Clock Configuration
    if (0 == ar1.LvdsClkConfig_mult(deviceMapOverall, 1, 1)) then
        WriteToLog("Clock Configuration Successful\n", "green")
    else
        WriteToLog("Clock Configuration failed\n", "red")
        return -3
    end
    -- CSI2 Configuration
    if (0 == ar1.CSI2LaneConfig_mult(deviceMapOverall, 1, 0, 2, 0, 4, 0, 5, 0, 3, 0, 0)) then
        WriteToLog("CSI2 Configuration Successful\n", "green")
    else
        WriteToLog("CSI2 Configuration failed\n", "red")
        return -3
    end
    ----------------------------Test Source Configuration------------------------------
    -- This is useful for initial bringup.
    -- Each device is configured with a test object at a different location.
        
    if(test_source_enable == 1) then
        
        if(RadarDevice[1] == 1) then
            -- Object at 5 m with x = 4m and y = 3m
            if (0 == ar1.SetTestSource_mult(1, 4, 3, 0, 0, 0, 0, -327, 0, -327, 327, 327, 327, -2.5, 327, 327, 0, 
                     0, 0, 0, -327, 0, -327, 327, 327, 327, -95, 0, 0, 0.5, 0, 1, 0, 1.5, 0, 0, 0, 0, 0, 0, 0, 0)) then
                WriteToLog("Device 1 : Test Source Configuration Successful\n", "green")
            else
                WriteToLog("Device 1 : Test Source Configuration failed\n", "red")
                return -3
            end
        end
        
        if(RadarDevice[2] == 1) then        
            -- Object at 5 m with x = 3m and y = 4m
            if (0 == ar1.SetTestSource_mult(2, 3, 4, 0, 0, 0, 0, -327, 0, -327, 327, 327, 327, -2.5, 327, 327, 0, 
                     0, 0, 0, -327, 0, -327, 327, 327, 327, -95, 0, 0, 0.5, 0, 1, 0, 1.5, 0, 0, 0, 0, 0, 0, 0, 0)) then
                WriteToLog("Device 2 : Test Source Configuration Successful\n", "green")
            else
                WriteToLog("Device 2 : Test Source Configuration failed\n", "red")
                return -3
            end
        end
        
        if(RadarDevice[3] == 1) then         
            -- Object at 13 m with x = 12m and y = 5m
            if (0 == ar1.SetTestSource_mult(4, 12, 5, 0, 0, 0, 0, -327, 0, -327, 327, 327, 327, -2.5, 327, 327, 0, 
                     0, 0, 0, -327, 0, -327, 327, 327, 327, -95, 0, 0, 0.5, 0, 1, 0, 1.5, 0, 0, 0, 0, 0, 0, 0, 0)) then
                WriteToLog("Device 3 : Test Source Configuration Successful\n", "green")
            else
                WriteToLog("Device 3 : Test Source Configuration failed\n", "red")
                return -3
            end
        end
        
        if(RadarDevice[4] == 1) then        
            -- Object at 13 m with x = 5m and y = 12m
            if (0 == ar1.SetTestSource_mult(8, 5, 12, 0, 0, 0, 0, -327, 0, -327, 327, 327, 327, -2.5, 327, 327, 0, 
                     0, 0, 0, -327, 0, -327, 327, 327, 327, -95, 0, 0, 0.5, 0, 1, 0, 1.5, 0, 0, 0, 0, 0, 0, 0, 0)) then
                WriteToLog("Device 4 : Test Source Configuration Successful\n", "green")
            else
                WriteToLog("Device 4 : Test Source Configuration failed\n", "red")
                return -3
            end
        end
           
    end           
    ---------------------------Sensor Configuration-------------------------
    -- Profile Configuration
    if (0 == ar1.ProfileConfig_mult(deviceMapOverall, 0, start_freq, idle_time, adc_start_time, ramp_end_time, 
                                    0, 0, 0, 0, 0, 0, slope, 0, adc_samples, sample_freq, 0, 0, rx_gain)) then
        WriteToLog("Profile Configuration successful\n", "green")
    else
        WriteToLog("Profile Configuration failed\n", "red")
        return -4
    end
    -- Chirp Configuration 
    for i=1,table.getn(RadarDevice) do    
        if ((RadarDevice[1]==1) and (RadarDevice[i]==1)) then
            Configure_Chirps(i)                
        end
    end
    -- Enabling/ Disabling Test Source
    if(test_source_enable == 1) then
        ar1.EnableTestSource_mult(deviceMapOverall, 1)
        WriteToLog("Enabling Test Source Configuration successful\n", "green")
    end
    -- Frame Configuration
    -- Master
    if (0 == ar1.FrameConfig_mult(1,start_chirp_tx,end_chirp_tx,nframes_master, nchirp_loops, 
                                  Inter_Frame_Interval, 0, 1)) then
        WriteToLog("Master : Frame Configuration successful\n", "green")
    else
        WriteToLog("Master : Frame Configuration failed\n", "red")
    end
    -- Slaves 
    if (0 == ar1.FrameConfig_mult(deviceMapSlaves,start_chirp_tx,end_chirp_tx,nframes_slave, nchirp_loops, 
                                  Inter_Frame_Interval, 0, 2)) then
        WriteToLog("Slaves : Frame Configuration successful\n", "green")
    else
        WriteToLog("Slaves : Frame Configuration failed\n", "red")
    end
  • 0 in reply to Kishor KS1
    TI__Guru*** 148634 points

    Thank you

    Please give me some time to review this.

    In the meantime please perform the test in a different environment

    Cesar

  • 0 in reply to Cesar
    Prodigy 100 points

    Hi Cesar,

    I performed the same test in the same environment by changing the number of chirp loops from 128 to 64. 

    Now I have not seen any ghost objects. Is there any reason?

    Regards,

    Kishor KS

  • 0 in reply to Kishor KS1
    TI__Guru*** 148634 points

    If you have not seen ghost reflections in different environment this means that the ghost reflections are caused by the environment.

    Probably multi path reflections.

    Thank you

    Cesar