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IWR6843ISK: How to analyze the data contained in TARGET_LIST_2D TLV with frame header 0x07 (such as POS x, POS y, VEL X, Vel y, ACC X, ACC Y)?

Part Number: IWR6843ISK

Hi, there.

I used IWR6843ISK EVM, flash memory for XXX's firmware, and used DDD software to check the point cloud map and the running track of people.Now I use the serial port monitoring assistant to see the data output of the corresponding DATA COM port.

According to yyY user guide, compare and check the data contained in TARGET_LIST_2D TLV with frame header 0x07, which should contain POS x, POS y, vel X, Vel y, ACC X, ACC y. However, when it is converted to decimal, it is found that the data is as long as 10 digits, which is not consistent with the unit m stated in the guide. Why?

How do I analyze pos x, POS y, vel X, vel y, ACC x, ACC y?Is there any documentation?And how that data is parsed, and what is the correct data when parsed?

Hope to get your help, thanks a lot.

thanks.

  • Dear user5392072:

    1. According to yyY user guide, compare and check the data contained in TARGET_LIST_2D TLV with frame header 0x07, which should contain POS x, POS y, vel X, Vel y, ACC X, ACC y. However, when it is converted to decimal, it is found that the data is as long as 10 digits, which is not consistent with the unit m stated in the guide. Why?

    [CD]>> Can you give a specific example of this.

    2. How do I analyze pos x, POS y, vel X, vel y, ACC x, ACC y?Is there any documentation?And how that data is parsed, and what is the correct data when parsed?

    [CD]>> With information given in the user's guide you know how the Target Object TLV is structured which is needed to create a parser. To see one implementation of how the data is parsed look at the source code for the visualizer for this lab:

    <Industrial Toolbox Install Path>\labs\people_counting\visualizer

    I would also suggest looking at the mss_main.c where the actual data is sent out from the device via UART. This would be a great place to look to gain more insight.

    Best regards,

    Connor Desmond

  • Hi,.

    The flash firmware is pplcount_lab_xwr68xx.bin(C:\ti\mmwave_industrial_toolbox_4_1_0\labs\people_counting\68xx_people_counting\prebuilt_binaries), and the observation point cloud trajectory and personnel trajectory is pplcount_gui.exe(C:\ti\mmwave_industrial_toolbox_4_1_0\labs\people_counting\68xx_people_counting\gui) software.The user guide is pplcount_user_guide.pdf(C:\ti\mmwave_industrial_toolbox_4_1_0\labs\people_counting\68xx_people_counting\docs).

    As mentioned in the user guide, TLV for each target object (0x07) consists of an array of targets.Each target is defined in 68 bytes.The first four bytes of data are the Track ID, the next four bytes are the position in the x-dimensional direction (POS X) in meters, the data type is floating point, and so on, as shown in the figure below.

    When I used THE IWR6843ISK EVM detection, there were two people standing in the detection area, and I found that the number of people in the pplcount_gui.exe software was 2, and there were also two marks.Take one of the frames data combined with user guide analysis, where 0x07 TLV data is as follows.The byte transformation I took is shown in the following program.

    The TLV data of 0x07 is as follows

    The red box represents Track ID, and the Track ID=01 after parsing;

    The yellow box represents pos x, the parameter with the track ID of 01. Pos x=3213184911 m after parsing.

    The blue box represents pos y, the parameter with the track ID of 01, after parsing, POS y=1074241764 m;

    The green box represents the parameter vel X with the track ID of 01, vel x=3187892574 m/s;

    So follow the user guide analogy.

    The black box represents Track ID, and the Track ID=03 after parsing;

    The byte parsed data behind the black box is the parameter with the track ID of 01.

    1. The above is the result of my analysis based on the user guide. Would you please help me to see if the analysis is wrong?

    How should I analyze this data?Why do I analyze the position and velocity data so big, when the length and width of my detection area are only a few meters?

    Or if my data is parsed correctly, how should I view the location of his x-dimensional data?

    2. Why does the target object with Track ID of 02 not exist and directly becomes 03?

    thanks.

  • user5392072:

    Can you please detail how you got the number 3213184911 m from what you highlighted in the yellow box. I believe that I know what your issue is, but I need this piece of information to verify.

    Best regards,

    Connor Desmond

  • Hi, Connor Desmond.

    The way I parse the data is like this.

    This is what happens when you run it.

    This problem has been bothering me for a long time and I have spent a long time on it. I hope to get your help.

    Thanks.

  • user5392072:

    I believe you have an interpretation issue. Try the following calculator and put in BF854F8F:

    https://baseconvert.com/ieee-754-floating-point

    I got approximately -1.04 m which would be within the context of a typical radar application.

    Best regards,

    Connor Desmond