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IWR1642BOOST: Data format, start of data streaming and chirp config of the Object Data over CAN Lab for xWR1642

Hang
Intellectual 765 points
Part Number: IWR1642BOOST
Other Parts Discussed in Thread: AWR1843

Hello,

Currently, I am learning the Object Data over CAN (CAN-FD) for xWR1642. I can run the demo like below. 

However, I don't quite understand how it works, as it doesn't provide the data parsing example like the other labs using uart. I took a look of the source code and I understood that 0xC1 was for the header, 0xD1 was for the TLV for detected objects. The information of 0xC1 makes sense to me, but I don't know why it magically add 8 bytes of "CC" at the end? The header is 40 bytes for other labs using uart, but for this one it is 48 bytes? 

I have three questions about this lab if anyone could help. 

(1) How to start the data streaming? From my observation, the xWR1642 didn't start on its own, until we send some commands to it. In the labs using uart, it was achieved by sending "sensorStart" from the command uart port. However, in this lab, we only use a single CAN/CAN-FD port, what command should I send at which ID to start the data streaming? 

(2) The data format for the detected object. I was assuming it was the same as the labs using uart. However, it was a little bit difficult for me to decode it without some "data parsing example" for this CAN lab. By any chance, I can get some data parsing examples over the CAN bus?

(3) I think the chirp was hardcode for this lab. However,  I could find the chirp/frame configuration file. Where can I find it?

Thank you very much for the help!

Best,

Hang

  • 0
    Intellectual 765 points

    I think I have figured out (1). I have done serval other tests, the data was sent out automatically, no start commands were needed. However, I still need some help on (2) and (3). Thank you very much!

  • 0
    Intellectual 765 points

    I think I also figured out the output format of 0xD1 (detected objects), it is

    uint16_t rangeIdx; 
    int16_t dopplerIdx;
    uint16_t peakVal; 
    int16_t x; 
    int16_t y; 
    int16_t z; 

    Any help on question (2) of the example parsing code or question (3) of "where is the chirp / frame configuration of the Object Data Over CAN lab", will be really appreciated!

    Best,

    Hang

  • 0 in reply to Hang
    TI__Genius 17265 points

    Hi Hang,

    Before we start providing feedback here, would you mind sharing with us what your end application here is? This will help us ensure we direct you to the proper team.

    Best Regards,
    Alec

  • 0 in reply to Alec May
    Intellectual 765 points

    Hi Alec,

    Thanks for reply! I am college graduate student from UIUC. Currently, I use TI mmwave radars for my research on autonomous driving car projects.

    The default uart interface was great. However, it suffers the issues of data transmission speed and the length of the cable. 

    My end of application is to figuring out the CAN-FD interface for the AWR1843, and I started with xWR1642 for putting several TI mmwave radars in a CAN-FD network for vehicles' front detection. Typically, two corner radars and one front radar. 

    Any help or suggestions on the CAN-FD interface of TI xWR162 and xWR1843 will be really appreciate!

    Thanks again!

    Best,

    Hang

  • +1 in reply to Hang
    TI__Guru*** 148594 points

    Hi,

    The configuration is hard coded in the src file.

    Please see in "lab0005_object_data_over_can\odoc-target\mss\cli.c"

    radarCmdString[MAX_RADAR_CMD]

    Thank you

    Cesar

  • 0 in reply to Cesar
    Intellectual 765 points

    Hi Cesar,

    Thanks again! That helps!

    Best,

    Hang