IWR6843AOPEVM: IWR6843AOPEVM

Hello Ukeme,

Although this python script reads a data file and does not read the data serial port from the AOP EVM, you could easily modify it to do so. This script does parse the data and you can get the range profile as defined by the parseRangeProfile function. 

import struct
import sys
import math

#
# TODO 1: (NOW FIXED) Find the first occurrence of magic and start from there
# TODO 2: Warn if we cannot parse a specific section and try to recover
# TODO 3: Remove error at end of file if we have only fragment of TLV
#

def tlvHeaderDecode(data):
    tlvType, tlvLength = struct.unpack('2I', data)
    return tlvType, tlvLength

def parseDetectedObjects(data, tlvLength):
    numDetectedObj, xyzQFormat = struct.unpack('2H', data[:4])
    print("\tDetect Obj:\t%d "%(numDetectedObj))
    for i in range(numDetectedObj):
        print("\tObjId:\t%d "%(i))
        rangeIdx, dopplerIdx, peakVal, x, y, z = struct.unpack('3H3h', data[4+12*i:4+12*i+12])
        print("\t\tDopplerIdx:\t%d "%(dopplerIdx))
        print("\t\tRangeIdx:\t%d "%(rangeIdx))
        print("\t\tPeakVal:\t%d "%(peakVal))
        print("\t\tX:\t\t%07.3f "%(x*1.0/(1 << xyzQFormat)))
        print("\t\tY:\t\t%07.3f "%(y*1.0/(1 << xyzQFormat)))
        print("\t\tZ:\t\t%07.3f "%(z*1.0/(1 << xyzQFormat)))
        print("\t\tRange:\t\t%07.3fm"%(math.sqrt(pow((x*1.0/(1 << xyzQFormat)),2) + pow((y*1.0/(1 << xyzQFormat)),2) )))

def parseRangeProfile(data, tlvLength):
    for i in range(256):
        rangeProfile = struct.unpack('H', data[2*i:2*i+2])
        print("\tRangeProf[%d]:\t%07.3f "%(i, rangeProfile[0] * 1.0 * 6 / 8  / (1 << 8)))
    print("\tTLVType:\t%d "%(2))

def parseStats(data, tlvLength):
    interProcess, transmitOut, frameMargin, chirpMargin, activeCPULoad, interCPULoad = struct.unpack('6I', data[:24])
    print("\tOutputMsgStats:\t%d "%(6))
    print("\t\tChirpMargin:\t%d "%(chirpMargin))
    print("\t\tFrameMargin:\t%d "%(frameMargin))
    print("\t\tInterCPULoad:\t%d "%(interCPULoad))
    print("\t\tActiveCPULoad:\t%d "%(activeCPULoad))
    print("\t\tTransmitOut:\t%d "%(transmitOut))
    print("\t\tInterprocess:\t%d "%(interProcess))

def tlvHeader(data):
    while data:
        headerLength = 36
        try:
            magic, version, length, platform, frameNum, cpuCycles, numObj, numTLVs = struct.unpack('Q7I', data[:headerLength])
        except:
            print "Improper TLV structure found: ", (data,)
            break
        print("Packet ID:\t%d "%(frameNum))
        print("Version:\t%x "%(version))
        print("TLV:\t\t%d "%(numTLVs))
        print("Detect Obj:\t%d "%(numObj))
        print("Platform:\t%X "%(platform))
	if version > 0x01000005:
	    subFrameNum = struct.unpack('I', data[36:40])[0]
	    headerLength = 40
	    print("Subframe:\t%d "%(subFrameNum))
        pendingBytes = length - headerLength
        data = data[headerLength:]
        for i in range(numTLVs):
            tlvType, tlvLength = tlvHeaderDecode(data[:8])
            data = data[8:]
            if (tlvType == 1):
                parseDetectedObjects(data, tlvLength)
            elif (tlvType == 2):
                parseRangeProfile(data, tlvLength)
            elif (tlvType == 6):
                parseStats(data, tlvLength)
            else:
                print("Unidentified tlv type %d"%(tlvType))
            data = data[tlvLength:]
            pendingBytes -= (8+tlvLength)
        data = data[pendingBytes:]
        yield length, frameNum

if __name__ == "__main__":
    if len(sys.argv) != 2:
        print("Usage: parseTLV.py inputFile.bin")
        sys.exit()

    fileName = sys.argv[1]
    rawDataFile = open(fileName, "rb")
    rawData = rawDataFile.read()
    rawDataFile.close()
    magic = b'\x02\x01\x04\x03\x06\x05\x08\x07'
    offset = rawData.find(magic)
    rawData = rawData[offset:]
    for length, frameNum in tlvHeader(rawData):
        print