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IWR1843BOOST: Configuration for 3D pointcloud

Christoph Hintz1
Prodigy 250 points
Part Number: IWR1843BOOST

Hi

I used the SensingMMwaveEstimator to get a profileCfg and frameCfg for the mmwave sensor. I added this to an existing configuration, which gives me a 3D pointcloud with the ROS example. I just changed the profileCfg and frameCfg, however it seems like the outpus changed to 2D.

The configuration is 

sensorStop
flushCfg
dfeDataOutputMode 1
channelCfg 15 7 0
adcCfg 2 1
adcbufCfg -1 0 1 1 1
profileCfg 0 77 2 3.9 19.85 0 0 49.97 1 166 11104 0 0 30
chirpCfg 0 0 0 0 0 0 0 1
chirpCfg 1 1 0 0 0 0 0 4
chirpCfg 2 2 0 0 0 0 0 2
frameCfg 0 0 53 0 100 1 0
lowPower 0 0
guiMonitor -1 1 1 0 0 0 1
cfarCfg -1 0 2 8 4 3 0 13 0
cfarCfg -1 1 0 4 2 3 1 11 0
multiObjBeamForming -1 1 0.5
clutterRemoval -1 0
calibDcRangeSig -1 0 -5 8 256
extendedMaxVelocity -1 0
lvdsStreamCfg -1 0 0 0
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
measureRangeBiasAndRxChanPhase 0 1.5 0.2
CQRxSatMonitor 0 3 4 63 0
CQSigImgMonitor 0 127 4
analogMonitor 0 0
aoaFovCfg -1 -90 90 -90 90
cfarFovCfg -1 0 0 60
cfarFovCfg -1 1 -1 1.00
sensorStart

Does anybody have an idea why this is happening?

Thank you

  • 0
    TI__Mastermind 30405 points

    Hi Christoph,

    It's because the frameCfg command generated by Sensing Estimator does not account for multiple chirps. The Chirp Star Index and Chirp End Index are both zero in this command so only Chirp 0 will be transmitted which maps to TX 1 only. You need to manually change the highlighted values below to match your original config (so essentially from 0 0 to 0 2). But this may cause the demo to fail because now your total transmitted chirp count will increase from 53 (transmitting only chirp 0 53 times) to 53 x 3 (transmitting chirps 0, 1 and 2 each 53 times)= 159 so you will need to adjust it to fit the demo memory and processing time constraints if it doesn't fit after this change.

    frameCfg 0 0 53 0 100 1 0 

    Thanks

    -Nitin

  • 0 in reply to Nitin Sakhuja
    Prodigy 250 points

    Hi Nitin,

    Thank you very much, this helped a lot. I certainly see points in all 3 dimension now. However, the data looks really bad now.

    I have a IWR1843Boost, and it seems to get points back after changing the end chirp to 2, but they are very noisy and almost seem random. I looked at the data before with only having one chirp and it looks very good, it sees the obstacles clear. I guess my question is if I reduce the number of loops to reduce my chirp count will my data get better or is there any advice that you can give.

    Thank you very much for your help.

    Best,

    Christoph

  • 0 in reply to Christoph Hintz1
    TI__Mastermind 30405 points

    Hi Christoph,

    Reducing the number of loops will reduce the SNR (and also velocity resolution) and hence the max detection range. If you are interested only in close range or as along as the maximum detection range covers your range of interest, reducing the number of chirp loops may help by reducing clutter / false detections.

    I would suggest you to load your modified configuration in the mmWaveDemoVisualizer and use the dynamic tuning parameters tab to adjust settings settings such as CFAR, peak grouping etc to tune the configuration in real time. Once you feel the detection quality is good, you can use the same configuration in the ROS demo. This is the process also mentioned in the ROS driver user guide for modifying the demo configuration.

    Regards

    -NItin