As for the second question, I'd urge you to read the documents from the TIDEP0090 design page and also try and understand the code organization so that you can understand the parameters and make the necessary modifications.
Dear Anil,
Following your suggestion, I have fixed the txpower and rxgain to be as you provided.
Yet the configuration still doesn't seem to start.
Our configuration changed a bit since our last post, so I'm including the json file generated by Sensing Estimator:
"platform": "xWR1642",
"num_rx": 2,
"num_tx": 1,
"tx_gain": 9,
"rx_gain": 9,
"frequency_range": "76 - 77",
"maximum_bandwidth": 300,
"tx_power": 12,
"ambient_temperature_degC": 20,
"maximum_detectable_range": 57,
"range_resolution": 100,
"maximum_velocity_kmph": 200,
"velocity_resolution_kmph": 1,
"measurement_rate": 25,
"typical_detected_object": "Car",
"detection_loss": 1,
"system_loss": 1,
"implementation_margin": 2,
"detection_SNR": 12,
"maximum_radar_cube_size": 768,
"maximum_RF_bandwidth": 5,
"maximum_sampling_frequency": 6.25,
"sensor_maximum_bandwidth": 1000,
"maximum_allowed_bandwidth": 300,
"starting_frequency": 76,
"maximum_velocity": 55.55555555555556,
"velocity_resolution": 0.2777777777777778,
"valid_sweep_bandwidth": 150,
"idle_time": 2,
"adc_valid_start_time": 4.2,
"excess_ramping_time": 1,
"periodicity": 40,
"ambient_temperature": 293.15,
"noise_figure": 16,
"num_virtual_rx": 2,
"non_coherent_combining_loss": 1,
"rcs_value": 5,
"combined_factor_in_dB": -3,
"combined_factor_linear": 0.5011872336272722,
"inter_chirp_time": 7.2,
"aux_comp_coeff_a": 76075000000,
"aux_comp_coeff_b": -801630,
"chirp_time": 10.537364442983897,
"ramp_slope_init": 14.23505856816736,
"ramp_slope_parameter": 295,
"ramp_slope": 14.24252986907959,
"aux_comp_T1": 1,
"maximum_beat_frequency": 5.412161350250244,
"sampling_frequency": 6.01351261138916,
"number_of_samples_per_chirp": 64,
"total_sweep_bandwidth": 225.6401026876349,
"idle_time_minimum": 2,
"ramp_end_time": 15.842698225790464,
"carrier_frequency": 76.0598206453081,
"aux_comp_T2": 3.2,
"adc_valid_start_time_2": 4.2,
"lambda": 3.9442638367371186,
"max_chirp_repetition_period": 18,
"chirp_repetition_period": 18,
"num_range_fft_bins": 64,
"min_num_of_chirp_loops": 395,
"max_range_for_typical_detectable_object": 81.85665055530121,
"min_rcs_detectable_at_max_range": 1.1755836760595009,
"num_doppler_fft_bins": 512,
"active_frame_time": 7.11,
"range_inter_bin_resolution": 100,
"velocity_inter_bin_resolution": 0.2143012152777778,
"radar_cube_size": 197.5
And here is our config file based on this design file:
dfeDataOutputMode 1
channelCfg 3 1 0
adcCfg 2 1
adcbufCfg 0 1 1 1
profileCfg 0 76 2 4.2 15.84 0 0 14.24 1 64 6014 0 0 48
chirpCfg 0 0 0 0 0 0 0 1
frameCfg 0 0 395 0 40 1 0
lowPower 0 0
guiMonitor 1 0 0 0
cfarCfg 4 4 15 16 8 4 0 63 0
doaCfg 3 1047 3 600 10 50
dbscanCfg 1 4 12 13 20 3 128
trackingCfg 1 10 10 2 3 25
sensorStart
(P.S: I have tried both 40 and 48 as the rxgain at the end of the profilecfg , nothing seems to change)
When I try to launch this configuration, I get an error:
Error: MMWDemoMSS mmWave Configuration failed [Error code -13010]
The error code points to a frame configuration error, yet in frameCfg, there's really not much to change except the number of chirps per frame, in our case 395, which is what Sensing Estimator gave us, as seen in the json file.
Your help is very appreciated.
One more thing.
We have read and researched almost all documents we could find on TI about this, from the AWR1642 documents to the TIDEP 90 documents, but this is the first time I see the table in the screen capture in your reply. Would you kindly refer me to the document from which this was extracted?
Thanks
Hi Jad,
To answer the question of documentation of the following command, you can look at C:\ti\mmwave_sdk_01_01_00_02\docs\mmwave_sdk_user_guide.pdf where descriptions of the 'mmwave SDK api's are given. Most of the CLI commands (like profileCfg) would be available here. Note that these CLI commands are only high level APIs, and they internally (on the Master sub system) call the mmwavelink APIs which are low level APIs. These lower level APIs are described in the mmwave ICD (Download the mmwave DFP package and check in D:\ti\mmwave_dfp_01_00_00_01\docs for these documents. Limits, error code definitions etc are also given here.
Some commands like doaCfg, dbscanCfg, trackingCfg are specific to the 'traffic monitoring' demo. To understand their use, you would need to grep through the code.
you can modify the frame config command as follows
dfeDataOutputMode 1
channelCfg 3 1 0
adcCfg 2 1
adcbufCfg 0 1 1 1
profileCfg 0 76 2 4.2 15.84 0 0 14.24 1 64 6014 0 0 48
chirpCfg 0 4 0 0 0 0 0 1
frameCfg 0 4 79 0 40 1 0
lowPower 0 0
guiMonitor 1 0 0 0
cfarCfg 4 4 15 16 8 4 0 63 0
doaCfg 3 1047 3 600 10 50
dbscanCfg 1 4 12 13 20 3 128
trackingCfg 1 10 10 2 3 25
sensorStart
The change that I've done is to take into account the limits on the number of loops in the 'frame Config command' (3rd parameter). The maximum number of loops of a given set of chirps possible is 255 (you can see this limit in the mmwave ICD corresponding to the frameConfig). In order to generate a larger number of chirps, you have to create more kinds of chirps and then loop through the chirps. In the example given above, I've programmed 5 kinds of chirps (with the same parameters), and in the frame config, I loop through them 79 times, to generate the necessary 395 chirps.
Regards
Thank you for the clarification.
I have tried altering the configuration as you stated, and I don't get the frame error anymore.
However, we are getting the following errors:
[Cortex_R4_0] Debug: MMWDemoMSS Received CLI sensorStart Event
DDR Heap : size 0 (0x0), used 0 (0x0)
LL2 Heap : size 73728 (0x12000), used 0 (0x0)
LL1 Scratch : size 8448 (0x2100), used 0 (0x0)
Debug: MMWDemoMSS mmWave config succeeded
[C674X_0] processCreate: (radarProcessInstance_t *)0x8057f8
processCreate: (RADARDEMO_rangeProc_handle *)0x805894
processCreate: (RADARDEMO_dopplerProc_handle *)0x805a10
processCreate: (RADARDEMO_detectionCFAR_handle *)0x805f50
processCreate: (RADARDEMO_aoAEstBF_handle *)0x806960
processCreate: (RADARDEMO_clusteringDBscanInstance *)0x809828
processCreate: (RADARDEMO_clusterTracker_handle *)0x80d708
processCreate: (radarProcessBenchmarkObj *)0x810fe8
processCreate: heatmap (float *)0x20009e00
DDR Heap : size 655360 (0xa0000), used 77620 (0x12f34)
LL2 Heap : size 56832 (0xde00), used 47844 (0xbae4)
LL2 Scratch : size 5376 (0x1500), used 3620 (0xe24)
LL1 Scratch : size 16384 (0x4000), used 16384 (0x4000)
HSRAM Heap : size 8192 (0x2000), used 0 (0x0)
{module#8}: "dss/dss_main.c", line 178: error {id:0x10000, args:[0x81919c, 0x81919c]}
xdc.runtime.Error.raise: terminating execution
[Cortex_R4_0] xdc.runtime.Main: "mss/mss_main.c", line 755: assertion failure
xdc.runtime.Error.raise: terminating execution
tracing the code, the MSS reports this as a CPU fault error (mss_main.c line 755)
/************************************************************************
* BSS event:: CPU fault
************************************************************************/
if(event & MMWDEMO_BSS_CPUFAULT_EVT)
DebugP_assert(0);
break;
and the DSS error is related to the chirp process token (dss_main.c line 178)
/* Increment interrupt counter for debugging purpose */
gMmwDssMCB.stats.chirpIntCounter++;
gMmwDssMCB.dataPathObj.chirpStartTimeStamp = Cycleprofiler_getTimeStamp();
if (gMmwDssMCB.dataPathObj.chirpCount == 0)
gMmwDssMCB.dataPathObj.frameStartTimeStamp = gMmwDssMCB.dataPathObj.chirpStartTimeStamp;
/* Check if previous chirp processing has completed*/
//MmwDemo_processChirp(&(gMmwDssMCB.dataPathObj));
DebugP_assert(gMmwDssMCB.dataPathObj.chirpProcToken == 0);
gMmwDssMCB.dataPathObj.chirpProcToken++;
We have tried following the code in debug mode and setting breakpoints before the asserts, however, the execution terminates regardless, never stopping at the breakpoints.
Your assistance would be greatly appreciated
adcbufCfg 0 1 1 1
profileCfg 0 76 2 4.2 15.84 0 0 14.24 1 64 6014 0 0 48
chirpCfg 0 0 0 0 0 0 0 1
frameCfg 0 0 128 0 40 1 0
lowPower 0 0
guiMonitor 1 0 0 0
cfarCfg 4 4 15 16 8 4 0 63 0
doaCfg 3 1047 3 600 10 50
dbscanCfg 1 4 12 13 20 3 128
trackingCfg 1 10 10 2 3 25
sensorStart
I've reduced the number of chirps to 128 (from 395). I just realized that sample application cannot process a non 'power-of-2 number of chirps' as the 2nd dimension FFT expects a power of 2 input.
If that doesn't work, I'd seriously suggest going one of two routes.
1. Try the People Counting Demo, which has a tracker (with a track ID)
.
2. Modify the SRR TI Design to add a track ID, it shouldn't be too difficult, and I can help you make that change.
Regards
Hello Anil,
I am Jad's colleague. We have been trying all the configurations that you suggested and many more. But it doesn't work. We have read all the documentations for this product and followed it step by step. But unfortunately, our configuration is not willing to run. What is frustrating about it is that the tools for this product says that the configuration should work.
Maybe if you try our configuration ( profileCfg, chirpCfg, and frameCfg) you can better trace the errors we had ( -13008, -13004, -13010......) which are all pointing to either frame configuration error or profile configuration one. And the errors are not traceable to a specific condition that should be met within the code, rather to a variety of conditions that are "
not
" selected from any configuration parameters sent through the cfg file.
Thank you for your help.
Rabah
Dear Anil ,
Thank you for your continuous support,
I have already seen this limitation (I forgot if I saw it in the code directly or in one of the user manual files) , and had already tried this configuration you sent, but still no luck.
Also, if you check the demo cfg files with tmdemo, their values are not powers of 2 . For example the mmw_tm_demo_longRange.cfg file has the following parameters:
frameCfg 0 0 117 0 40 1 0
and the mmw_tm_demo.cfg file has the following parameters:
frameCfg 0 1 46 0 40 1 0
Both of which have a value that is not a power of 2 for the number of chirp loops in a frame.
However, there's something else I had noticed, and it was rather strange and intriguing, and it was made even more strange when I found the Traffic Monitoring Radar page through the link you provided in the TI Resource Explorer:
This page (attached) can be found by downloading the mmwave_industrial_toolbox_2_0_0.zip file by clicking on "Download all" in the People Counting Demo page , under the "chirps" folder within the zip file.
Under Step 2. Chirp Configuration, if you click on "Load in Sensing Estimator" (both the short and the long range) , you will find that the parameters in Sensing Estimator are different than those find in their relative cfg files, found in the same page a bit below, Step 3: OOB Demo Configuration File.
I noticed that in both configuration files (short and long range) , there are certain parameters that seem to be "fixed":
in mmw_tm_demo.cfg: profileCfg 0 76
5 0 48
0 0 9.125 1 206
5000
0 0 48
in mmw_tm_demo_longRange.cfg: profileCfg 0 76
5 0 48
0 0 3.766 1 199
5000
0 0 48
While in Sensing Estimator, the values for Idle Time, ADC Start Time, Ramp End Time and Sampling Rate are as follows:
short range: 2 , 4.8 , 50.31 , 4381
long range: 2 , 6 , 48.94 , 3219
Keep in mind that both the Sensing Estimator output and their respective cfg file are found on the same page, so there seems to be a discrepancy between the output values of Sensing Estimator and the demo's accepted values for the configuration files. Is this better documented somewhere else so we can know how to provide a config file that the demo would accept.
This would probably be our last trial before we take the approach you suggested of adding a TrackID to the TIDEP 0092 demo.
Regards
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<div class="col-xs-12 col-sm-9" id="content"><h1 id="-introduction-"><strong>Introduction</strong></h1><p>This use case provides the sensing configuration for a Medium to Long Range Traffic Monitoring Radar which is typically mounted on a post on the opposite side of the intersection to detect vehicles across multiple lanes and track their position and velocity as they approach the intersection and the stop bar. This use case is based on <a href="http://www.ti.com/tool/tidep-0090">TI's mmWave Traffic Monitoring Object Detection and Tracking Reference Design</a> and the reader is encouraged to visit the <a href="http://www.ti.com/tool/tidep-0090">design webpage</a> for more details.</p><p><img style="height:400;" src="./images/Traffic+Monitoring+Radar/traffic_monitoring.jpeg" class="img-responsive"></p><h1 id="-step-1-system-parameters-"><strong>Step 1: System Parameters<br></strong></h1><table class="table table-striped table-bordered"><tbody><tr><th class="highlight-grey" data-highlight-colour="grey"> Parameter</th><th class="highlight-grey" data-highlight-colour="grey">Case-1, Mid Range (MIMO)</th><th class="highlight-grey" data-highlight-colour="grey">Case-2, Long Range (Non-MIMO)</th></tr><tr><td colspan="1">Device Type</td><td colspan="1">IWR1642</td><td colspan="1">IWR1642</td></tr><tr><td>Maximum range (m)</td><td>70</td><td>120</td></tr><tr><td>Range resolution (m)</td><td>0.40</td><td>1.0</td></tr><tr><td colspan="1">Range accuracy (m)</td><td colspan="1">0.07</td><td colspan="1">0.18</td></tr><tr><td>Maximum velocity (km/h)</td><td><p>34</p></td><td><p>70</p></td></tr><tr><td>Velocity resolution (km/hr)</td><td>1.5</td><td>1.2</td></tr><tr><td>Total Sweep Bandwidth (MHz)</td><td>426</td><td>178</td></tr><tr><td>RCS (m<sup>2</sup> @ range)</td><td>Car (5m<sup>2</sup>) @ 77m</td><td>Car (5m<sup>2</sup>) @ 107m</td></tr><tr><td>Update rate (Hz)</td><td>25</td><td>25</td></tr><tr><td>Radar Cube Size (KB)</td><td>368</td><td>468</td></tr></tbody></table><h1 id="-step-2-chirp-configuration-"><strong>Step 2: Chirp Configuration</strong></h1><table class="table table-striped table-bordered"><tbody><tr><td colspan="1">1.</td><td colspan="1"><p><strong>Chirp Configuration</strong></p></td><td><div class="content-wrapper"><p><strong>Case-1, Mid Range (MIMO)</strong></p><p><strong><a href="https://dev.ti.com/gallery/view/1792614/mmWaveSensingEstimator/?platform=xWR1642&num_rx=4&num_tx=2&tx_gain=8&rx_gain=8&freq_range=76&bandwidth=1000&tx_power=12&temp=20&range=70&range_resolution=40&velocity=33.9&velocity_resolution=1.5&fps=25&rcs=5">Load in Sensing Estimator</a></strong></p></div></td><td><div class="content-wrapper"><p><strong>Case-2, Long Range (Non-MIMO)</strong></p><p><strong><a href="https://dev.ti.com/gallery/view/1792614/mmWaveSensingEstimator/?platform=xWR1642&num_rx=4&num_tx=1&tx_gain=10&rx_gain=10&freq_range=76&bandwidth=1000&tx_power=12&temp=20&range=120&range_resolution=100&velocity=70&velocity_resolution=1.2&fps=25&rcs=5">Load in Sensing Estimator</a></strong></p></div></td></tr><tr><td>2.</td><td>Special considerations, Limitations etc</td><td colspan="2"><div class="content-wrapper"><p>The Chirp Configuration used in <a href="http://www.ti.com/tool/tidep-0090">TI's mmWave Traffic Monitoring Object Detection and Tracking Reference Design</a> assumes a fixed sampling rate of 5 Msps whereas the Sensing Estimator calculates the minimum required sampling rate based on the maximum beat frequency. Because of this, the chirp configuration presented here does not exactly match the one used in the TI Design.</p></div></td></tr></tbody></table><h1 id="-step-3-oob-demo-configuration-file-"><strong>Step 3: OOB Demo Configuration File</strong></h1><table class="table table-striped table-bordered"><tbody><tr><td colspan="1"><br></td><td class="highlight-grey" colspan="1" data-highlight-colour="grey"><strong>Use Case</strong></td><td class="highlight-grey" colspan="1" data-highlight-colour="grey"><strong>OOB Demo Configuration File</strong></td></tr><tr><td colspan="1">1</td><td colspan="1">Traffic Monitoring Case-1, Mid Range (MIMO)</td><td colspan="1"><div class="content-wrapper"><p><a href="./images/Traffic+Monitoring+Radar/mmw_tm_demo.cfg" class="btn btn-primary">mmw_tm_demo.cfg</a></p></div></td></tr><tr><td colspan="1">2</td><td colspan="1">Traffic Monitoring Case-2, Long Range (Non-MIMO)</td><td colspan="1"><div class="content-wrapper"><p><a href="./images/Traffic+Monitoring+Radar/mmw_tm_demo_longRange.cfg" class="btn btn-primary">mmw_tm_demo_longRange.cfg</a></p></div></td></tr></tbody></table><h1 id="-assumptions-and-miscellaneous-information-"><strong>Assumptions and Miscellaneous Information</strong></h1><table class="table table-striped table-bordered"><tbody><tr><th colspan="3">System Level Assumptions</th></tr><tr><td colspan="1"><br></td><td class="highlight-blue" colspan="1" data-highlight-colour="blue"><strong>Case-1, Mid Range (MIMO)</strong></td><td class="highlight-blue" colspan="1" data-highlight-colour="blue"><strong>Case-2, Long Range (Non-MIMO)<br></strong></td></tr><tr><td colspan="1">Starting frequency <strong>(GHz)</strong></td><td colspan="1">76</td><td colspan="1">76</td></tr><tr><td colspan="1">TX Antenna Gain <strong>(dB)</strong></td><td colspan="1">8</td><td colspan="1">10</td></tr><tr><td colspan="1">RX Antenna Gain <strong>(dB)</strong></td><td colspan="1">8</td><td colspan="1">10</td></tr><tr><td colspan="1">Device Type</td><td colspan="1">IWR1642</td><td colspan="1">IWR1642</td></tr><tr><td colspan="1">Number of TX Antennas used</td><td colspan="1">2</td><td colspan="1">1</td></tr><tr><td colspan="1">Number of RX Antennas used</td><td colspan="1">4</td><td colspan="1">4</td></tr></tbody></table><h1 id="-testing-and-results-"><strong>Testing and Results</strong></h1><p>For details on Test Setup and Results, please refer to the <strong>Testing and Results </strong>section of the <a href="http://www.ti.com/lit/pdf/tidud31">Design Guide</a> for the <a href="http://www.ti.com/tool/tidep-0090">Traffic Monitoring Object Detection and Tracking Reference Design</a>.</p><p><br></p></div>
<div class="col-xs-4 col-sm-2 sidebar-offcanvas bs-docs-sidebar hidden-print" id="sidebar-overview"><ul class="nav nav-stacked fixed" id="sidebar"><li><a href="#-introduction-">Introduction</a></li><li><a href="#-step-1-system-parameters-">Step 1: System Parameters</a></li><li><a href="#-step-2-chirp-configuration-">Step 2: Chirp Configuration</a></li><li><a href="#-step-3-oob-demo-configuration-file-">Step 3: OOB Demo Configuration File</a></li><li><a href="#-assumptions-and-miscellaneous-information-">Assumptions and Miscellaneous Information</a></li><li><a href="#-testing-and-results-">Testing and Results</a></li></ul></div>
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Dear Anil,
We have given up on using the TIDEP-0090 and have reverted to using TIDEP-0092.
We were able to configure it with our desired configuration, and we would like to add a TrackID to the trackers.
Is it possible to get some assistance in that regard?
Regards
Hi Jad,
Most of the configurations that we generate for the demos are hand generated. It isn't difficult, once you understand the different parameters of an FMCW chirp/frame, and how they relate to requirements (like max-velocity, max-range or range resolution). We typically don't use the sensing estimator. It is simply a tool to help customers generate a useful configuration quicker.
I will pull in other folks to answer your questions on the traffic monitoring configuration not passing. Could you let us know what the error was with the previous configuration? Could you also try the following.
dfeDataOutputMode 1
channelCfg 15 3 0
adcCfg 2 1
adcbufCfg 0 1 1 1
profileCfg 0 76 2 4.2 15.84 0 0 14.24 1 64 6014 0 0 48
chirpCfg 0 0 0 0 0 0 0 1
frameCfg 0 0 128 0 40 1 0
lowPower 0 0
guiMonitor 1 0 0 0
cfarCfg 4 4 15 16 8 4 0 63 0
doaCfg 3 1047 3 600 10 50
dbscanCfg 1 4 12 13 20 3 128
trackingCfg 1 10 10 2 3 25
sensorStart
Regards
