IWR6843AOP: long_range_people_det_68xx: Use With Different Antenna (ISK=> AOP)

Hello

Angle information computation is based on the virtual array formed by antenna configuration. 

Please see the mmWave training video for angle estimation which shows the concept.

Thank you,

Vaibhav

Hello,

tnx for the fast reply.

In the long_range_people_det_68xx (ISK Antenna Geometry mus be build in somwhere) i see this API:

static int32_t DPC_ObjDetDSP_AoAconfig
(
    DPU_AoAProcDSP_Handle            dpuHandle,
    DPU_AoAProc_compRxChannelBiasCfg *inpCommonCompRxCfg,
    DPC_ObjectDetection_StaticCfg    *staticCfg,
    DPC_ObjectDetection_DynCfg       *dynCfg,
    EDMA_Handle                      edmaHandle,
    DPIF_RadarCube                   *radarCube,
    DPIF_CFARDetList                 *cfarRngDopSnrList,
    uint32_t                         cfarRngDopSnrListSize,
    MemPoolObj                       *CoreL1RamObj,
    MemPoolObj                       *CoreL2RamObj,
    MemPoolObj                       *L3RamObj,
    int32_t                          *window,
    uint32_t                         windowSize,
    cmplx32ReIm_t                    *twiddleBuf,
    uint32_t                         twiddleSize,
    cmplx32ReIm_t                    *angleTwiddle32x32,
    uint32_t                         angleTwiddle32x32Size,
    DPU_AoAProcDSP_Config            *cfgSave
)

in the AOP Demo (Antenna Geometry is dynamical loadable, theres even one set for ISK Geometry...) i see insted this one:

static int32_t DPC_ObjDet_AoAconfig(DPU_AoAProcHWA_Handle dpuHandle,
                   DPU_AoAProc_compRxChannelBiasCfg *inpCommonCompRxCfg,
                   ANTDEF_AntGeometry               *antDef,
                   DPC_ObjectDetection_StaticCfg    *staticCfg,
                   DPC_ObjectDetection_DynCfg       *dynCfg,
                   EDMA_Handle                      edmaHandle,
                   DPIF_RadarCube                   *radarCube,
                   DPIF_CFARDetList                 *cfarRngDopSnrList,
                   uint32_t                         cfarRngDopSnrListSize,
                   MemPoolObj                       *CoreLocalRamObj,
                   MemPoolObj                       *L3RamObj,

                   /* doppler window parameters */
                   uint8_t                          dopplerWindowSym,
                   uint32_t                         dopplerWinSize,
                   int32_t                          *dopplerWindow,
                   uint32_t                         dopplerWinRamOffset,

                   uint8_t                          cfarParamSetStartIdx,
                   bool                             *isAoAHWAparamSetOverlappedWithCFAR,
                   DPU_AoAProcHWA_Config            *cfgSave)

The Antenna Definition is located in Param *antDef
and is loaded into staticCfg:
    /* antenna geometry definition */
    DPC_ObjDet_GetAntGeometryDef(staticCfg, antDef);
    aoaCfg.staticCfg.antDef = &staticCfg->antDef;

however in the ISK related demo the Antenna Geometry parameter is missing and theres no field for the static Cfg to store the Geometry onto:

typedef struct DPU_AoAProcDSP_StaticConfig_t
{
    /*! @brief  Number of transmit antennas */
    uint8_t     numTxAntennas;

    /*! @brief  Number of receive antennas */
    uint8_t     numRxAntennas;

    /*! @brief  Number of virtual azimuth antennas */
    uint8_t     numVirtualAntAzim;

    /*! @brief  Number of virtual elevation antennas */
    uint8_t     numVirtualAntElev;

    /*! @brief  Number of range bins */
    uint16_t    numRangeBins;

    /*! @brief Number of chirps for Doppler computation purposes.
               For example, in TDM/BPM-MIMO scheme, this is the physical chirps
               in a frame per transmit antenna
               i.e numDopplerChirps = numChirpsPerFrame / numTxAntennas.\n
               Must be multiple of 4. */
    uint16_t    numDopplerChirps;

    /*! @brief  Number of doppler bins. Must be at least 16. Must be power of 2. */
    uint16_t    numDopplerBins;

    /*! @brief  Range conversion factor for range FFT index to meters */
    float       rangeStep;

    /*! @brief  Doppler conversion factor for Doppler FFT index to m/s */
    float       dopplerStep;
    
    /*! @brief Flag that indicates if BPM is enabled.
    BPM can only be enabled/disabled during configuration time.*/
    bool        isBpmEnabled;

} DPU_AoAProcDSP_StaticConfig;

So the Question remains:

In Project long_range_people_det_68xx,
At which location in Code is the Antenna Geometry defined and can it be modified by us?
Or whould would have to be changed (different Headers or so) in order to let it know AOP Antenna Geometry ?

kind regards

Hi,

tnx for the explanation, i will look into this approach when i have time,
since you are using liked files/precompiled libraries it should work very fast for us to understand.
(i see you included the antennageometry file (for AOP?) that seems promising)

For us we decied to swith to a AOP natiive Project,
for now we use PeopleCounting3D (edited),results are very good for now but still limited to 10m (there seems to be a hard cut at that range)
we intend to look much further, havent found the root cause yet.

kind regards

Tnx!

i fot the long_RangeDetection running for AOP now.
Angle detection is kindof reasonable,

- due to the fact that only two chirp config and 2D Angle Estimation is used
+ the DetectionAlgorith is much Doppler/Speed detection based

we dont have a out-of-box-solution for humandetection@50m (as Expected)
I take this as a further lession of the device, how to realise the needed Application-case
For example with only 2 TX antennas we have less RadarCube Memory,
which could be good for us...