Part Number: AWR1443BOOST
Other Parts Discussed in Thread: AWR1443
Hello,
I have some problem about the data capture and sensor configuration.
1. From https://training.ti.com/mmwave-sensor-raw-data-capture-using-tsw1400-board it seems that a maximum of 2 TX channels may be enabled at once. But I did not find the limitation in MMWAVE STUDIO User Guide (http://software-dl.ti.com/ra-processors/esd/MMWAVE-STUDIO/latest/exports/mmwave_studio_user_guide.pdf). Which one is correct? Can I get the azimuth angle and the elevation angle at the same time by TSW1400?
2. Based on the Angle Estimation of TI training (https://training.ti.com/intro-mmwave-sensing-fmcw-radars-module-5-angle-estimation), the maximum azimuth angle resolution of AWR1443 should be 2/8 radian (14.32 degrees).
And the solution of https://e2e.ti.com/support/sensor/mmwave_sensors/f/1023/t/681263 show the maximum elevation angle resolution of AWR1443 should be 2/2 radian (57.29 degrees).
But why can I get so many measurement points (28)? In my understanding of the azimuth resolution, I would get only four points if the field of view of the antenna is 60 degrees. The resolution of elevation angle is similar.
3. For the catkin_ws/src/ti_mmwave_rospkg/cfg/1443_3d.cfg file, I can not derive the above parameters (range resolution and max, velocity resolution and max) from the following configuration command. Here is my calculation process.
chirp duraing = idle time + ramp time = 7 + 57.14 = 64.14 us
range resolution = speed of light / (2 * bandwith) = speed of light / (2 * slope * chirp duraing) = 3*10^8 / (2 * (70*10^6) * 64.14) = 0.0334 m
range max = max IF bandwidth * speed of light / (2 * slope) = 5*10^6 * 3*10^8 / (2 * (70*10^12)) = 10.71 m
velocity max = wavelength / (4 * chirp duraing) = 3*10^8 / (77*10^9) / (4 * (64.14*10^-6)) = 15.18 m/s
velocity resolution = wavelength / (2 * frame time) = 3*10^8 / (77*10^9) / (2 * (33.333*10^-3)) = 0.0584 m/s
This completely does not match the above reference value (0.044 m, 9.01 m, 5.06 m/s, 0.64 m/s). Where am I wrong?
By the way, is there something wrong in the adcbufCfg command? The sdk users guide said only option 0 is supported to the SampleSwap parameter (the second one). But both parameter in 1443_3d.cfg and 1443_2d.cfg is 1.
Best regards,
RuiLong
