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xWRL6432 MMWAVE-L-SDK
05.04.00.01
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xWRL6432 MMWAVE-L-SDK
05.04.00.01
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The Motion and Presence Detection OOB demo shows some of the capabilities of the xWRL6432 SOC using the drivers in the MMWAVE-L-SDK (Software Development Kit). The chapter provides description of system execution flow, memory usage, task organization and benchmark results. The chapter focuses on the implementation details of the low-level signal processing chain. It allows user to specify the chirping profile and displays the detected objects and other information in real-time. The demo comes with some default configurations (PresenceDetect.cfg, MotionDetect.cfg etc...). The configuration in PresenceDetect.cfg leverages the Minor Motion mode of the Signal processing chain to demonstrate the sensors ability to detect presence through fine motion. The MotionDetect.cfg configures the device to detect moving objects. It outputs a point cloud that can be fed to a tracker.
| Parameter | Value |
|---|---|
| CPU + OS | m4fss0-0 freertos |
| Toolchain | ti-arm-clang |
| Board | xWRL6432-evm |
| Example folder | examples/mmw_demo/motion_detection |
| Feature | Description |
|---|---|
| Quick Evaluation | Preflashed default application toggles the user LED based on presence detected within 1x1 sq mtr box infront of the radar. This feature is disabled by default. |
| Feature Lite Build | This feature generates an optimized application with reduced RAM and inturn reduced power. It is important to note that CLI is removed, if this feature is enabled, in addition to other features such as ADC logging, Monitors etc. This is disabled by default. |
| Dynamic Reconfig | This feature enables seamless transitions between high-performance tracker processing and low-power presence detection, for intelligent power saving. This feature is disabled by default. |
| Raw ADC streaming | Streaming of adc data over RDIF+DCA1000 or SPI. This feature is disabled by default. |
| Monitors | FECSS analog monitors. This feature is disabled by default. This feature is disabled by default. |
A GUI tool SysConfig is used to configure different modules and peripherals of the example. Using this tool, users can select and customize different modules and peripherals. The SysConfig tool will generate the code for initializing and configuring these modules. This configuration is saved to a file called example.syscfg for every example. To know more about how to use SDK with SysConfig, Visit this page
Additionally, the GUI also allows enabling of supported combinations of the features listed above.
The OOB motion/presence detection demo setup is shown in Figure below. The demo configuration is provided by the command line interface (CLI) configuration file. The PC visualizer is connected to the xWRL6432 EVM board via single UART port. The motion/presence detection algorithm runs on the xWRL6432 radar sensor. Initially, to start a demo, a set of CLI configuration commands is sent to the EVM. Based on the configuration the EVM sends through the same port various detection information to the visualizer, such as point cloud, range profile, detection heatmap, presence detection information, and stats data.
The updated release of the SDK incorporates new functionalities including target tracking and target classification. With these added functionalities, the OOB demo can perform different use cases that can be controlled through the CLI configuration file.
Below is the processing layers of the demo for the motion/presence detection use case.
Below is the processing layers of the demo including target tracking and classification.
Below is the top-level radar signal processing timing diagram per frame including presence detection, and target tracking and classification.
Motion Detection OOB Demo supports two MIMO modulation schemes TDM-MIMO and BPM-MIMO scheme. Typical timing diagram is illustrated in Figure below.
The motion detection demo currently supports two chirp configuration modes “Normal mode” and “Burst mode”. The following configuration conditions are defined for the two modes. In the normal mode, one burst per frame is configured, and the number of chirps is even number, while in the burst mode 2 chirps per burst are configured, and the number of bursts per frame is even number. Both modes support either TDM or BPM MIMO modulation scheme. The Tx antenna pattern for these two modes is illustrated below.
The demo supports different antenna configurations. This is achieved through the CLI configuration. The antenna pattern is specified by the CLI command antGeometryCfg. The command specifies the row and column position for each virtual antenna in the 2D virtual antenna array grid, as illustrated in Figure below. The syntax of the command is
antGeometryCfg ant1Row ant1Col ant2Row ant2Col …ant6Row ant6Col distX distZ
The last two parameters of the command specify antenna spacing (in millimeters) in X and Z dimensions.
Below figure shows the antenna configuration on the IWRL6432 EVM board.
The antenna spacing and the virtual antenna array are shown below. The right-most figure shows the virtual antenna with the red and blue antennas corresponding to TX1 and TX2 respectively.
The top-level signal processing chain implemented on xWRL6432 for the presence/motion detection use case is shown below. For more information on the signal processing chain please refer ${SDK_INSTALL_PATH}/docs/MotionPresenceDetectionDemo_TuningGuide.pdf.
Below is the top-level signal processing chain including the tracker and micro-Doppler based classification and discrimination between human and non-human targets.
The basic signal processing is split among the following data processing functional block units (DPUs)
Motion detection algorithm supports following motion detection modes.
The radar cube generation in Major and Minor mode is illustrated in Figures below.
This feature enables seamless transitions between high-performance tracker processing and low-power presence detection through the designed state machine. It additionally achieves power saving by intelligent configuration switching, based on the detected scene.
The flow diagram is shown below.
This feature can be added to the demo code by using syscfg, as it is disabled by default. And, the configuration parameters can be populated via CLI command - "profileSwitchCfg" which has the following parameters:
Users can initiate the demo with either the presence/tracker configuration. Once the set threshold is hit, the sensor smoothly switches to the alternate configuration (tracker/presence) predefined in the demo application. When the sensor returns to the initial config state based on the state machine, it takes the saved user configured parameters.
For example, if a user starts the demo with the presence configuration with profileSwitchCfg enabled, the sensor automatically transitions to the tracker configuration when continuous presence is detected for frmPretoTrack frames. If no tracker objects are detected for frmTracktoPre frames, the demo reverts to the user-provided presence configuration. This cycle repeats based on the sensing scene. In turn, power saving is also achieved by staying in the low power presence configuration, unless a constant movement is detected for the configured number of frames.
Note: This feature can be enabled only when lowPowerCfg CLI command is enabled. This is to ensure maximum power saving possible and optimal demo experience overall.
Because of imperfections in antenna layouts on the board there is a need to calibrate the sensor to compensate for bias in the range estimation and the receive channel gain and phase imperfections. The motion detection demo provides the ability to do the measurement and compensation.
The measurement procedure is configured using a CLI command measureRangeBiasAndRxChanPhase. The following is the command syntax:
measureRangeBiasAndRxChanPhase enabled targetDistance searchWindow
The procedure is implemented by the function mmwDemo_rangeBiasRxChPhaseMeasure(). It is called in the processing chain after the range processing DPU. The input to the procedure is a radar cube. The measurement procedure first calculates the range profile as the sum of the magnitude squares across all antennas on the range FFTs. Then it searches for the peak in the zone 𝑋−𝐷/2 ≤ 𝑟𝑎𝑛𝑔𝑒 ≤ 𝑋+𝐷/2 where 𝐷 = searchWindow and 𝑋 = targetDistance.
The procedure then estimates the peak position using the three point parabolic interpolation and the range bias as the difference between the peak position and the configured target distance X.
The Rx channel compensation coefficients are calculated according to following equations.
From the radar cube stored as a complex16 3D array 𝑋[𝑐ℎ𝑖𝑟𝑝][𝑎𝑛𝑡𝑒𝑛𝑛𝑎][𝑟𝑎𝑛𝑔𝑒], the received symbols are extracted at the range index 𝑖𝑝𝑒𝑎𝑘 of the peak position corresponding to the target as
The coefficients are calculated as
where
The coefficients are sent per frame to the host within the TLV packet.
Measurement Procedure Steps:
This section explains the execution flow of the demo during both the initialization and configuration stages, as well as during each frame in the steady state.
The system execution flow at the initialization and configuration time is shown in Figure below. At the startup the system initialization is performed, the CLI task is created, waiting for the input CLI commands. After receiving the CLI sensorStart command, the last command in the configuration sequence, it configures the RF and then creates the demo DPC task, mmwDemo_dpcTask. As the DPC task has higher priority than the CLI task, it preempts the CLI task, and performs the configuration of the signal processing chain components, and calls the range processing API as a first processing DPU in the chain. The range processing function starts pending on the semaphore waiting for the first frame chirping and the chirp processing time to complete. The task control is then switched back to CLI task that creates the UART transmit task, mmwDemo_TransmitProcessedOutputTask, and issues the sensor start command to the RF. The CLI task then enters the pending state and remains in it from that moment on. The power management task, that is also created at the start time is engaged only in the power saving mode.
The steady state system execution flow is periodic, executed per frame. Figure below shows the system execution flow over one frame period. The frame ISR function is triggered upon the frame start event, and currently it is only used for diagnostic purpose. During the chirping time, the HWA is performing the chirp processing, while the range DPU process function is waiting for the HWA processing to complete. After the range processing, the DOA DPU followed by CFAR DPU are executed creating the point cloud list. The point cloud list is compressed to fix format ready to be sent out to the Host. The HWA is then configured for the next frame, semaphore post to the UART task indicating that the frame data are ready, and the range processing API is called for the next frame. The DPC task goes to pending state giving control to the UART task to send data to the HOST.
The steady state system flow in low power mode is shown in Figure below. In the low power mode the powerManagementTask() controls the power savings. When the UART task completes the data transfer to the Host of the frame n, it calculates the available time for the low power deep sleep phase as 𝑇𝑠𝑙𝑒𝑒𝑝(𝑛) = 𝑇𝐹𝑟𝑎𝑚𝑒 − 𝑇𝐷𝑒𝑚𝑜(𝑛) − 𝑇𝑙𝑝𝑑𝑠𝐿𝑎𝑡𝑒𝑛𝑐𝑦
Motion detection demo is implemented on xWRL6432 using multiple tasks running in the system. Table below list all tasks used in the system.
This is free RTOS main task initially called by the main function. It is active only during the start time, and after the creation of the CLI task it rests in pending state.
The CLI task provides the execution context for the command line interface. It includes simple command parser.
The DPC task provides the execution context for the detection processing chain.
This task controls the transfer of radar detection data to the host. The task transmits one packet of data per radar frame using a TLV format structure. Depending on the CLI configuration command guiMonitor the task sends point cloud, range profile, detection matrix, presence detection information, etc.
This task is used for running the unit tests for motion detection demo. The task reads reference ADC data samples from the file and feeds the signal processing chain instead of real ADC data coming from the RF.
This task is engaged when the motion detection demo is running in the power saving deep sleep mode.
The timing diagram during the startup and the first two frames is illustrated below
The timing diagram in the low power mode is shown below.
The OOB motion detection demo memory usage can always be found in the MAP file. The current usage is shown in Table below.
Some of the data arrays are dynamically handled using a set of simple memory allocation utility functions, provided below.
Two memory heaps are created, one in the local core memory, gMmwCoreLocMem[28*1024], and the other, gMmwL3[416K], occupying 256KB shared memory of APPSS and 160KB shared memory of HWASS. Currently less than one 1kB of memory is allocated in the local core RAM.
In addition to the above local core memory heap, two more memory heaps objects are created in gMmwCoreLocMem2[25*1024] and gMmwCoreLocMem3[2*1024] using the free RTOS memory heap management scheme. The former is used for the tracker and the latter is used for the feature extraction and for the classifier.
The usage of the shared memory depends on the configuration. At the start time, after the CLI commands has been received and configuration completed, memory usage of these two heaps is printed out on the console.
The memory usage for the CLI configurations files provided in this SDK release is shown in Tables below. (The configuration files are located in examples/mmw_demo/motion_and_presence_detection/profiles.)
Currently the CPU time and the UART transmit time is reported to Host within the stats TLV. The explanation of these time intervals is shown in the timing diagram above.
Each line in the .cfg file describes a command with parameters. The various commands and their arguments are described in the table below (arguments are in sequence)
| Commands | Parameters | Notes |
|---|---|---|
| sensorStop | FrameStopMode | Indicates the frame stop mode. This command stops the sensor from transmitting further frames. Important Note: This command is not supported when lowPowerCfg is 1 |
| channelCfg | RxChCtrlBitMask | RX antennas 1 and 2, mask = 0x011b = 3 RX antennas 1 and 3, mask = 0x101b = 5 RX antennas 2 and 3, mask = 0x110b = 6 RX antennas 1, 2 & 3, mask = 0x111b = 7 |
TxChCtrlBitMask | TX antennas 1 and 2, mask = 0x011b = 3 TX antenna 1, mask = 0x001b = 1 TX antenna 2, mask = 0x010b = 2 | |
MiscCtrl | Not supported on the current version of the SDK. | |
| chirpComnCfg | DigOutputSampRate | Digital output Sampling rate for chirp ADC samples. Digital sampling rate is given by 100MHz/ DigOutputSampRate. The valid sampling rate can be configured as per below. 8 - 12.5 MHz 9 - 11.11 MHz 10 - 10 MHz 12 - 8.333 MHz 16 - 6.25 MHz 20 - 5 MHz 25 - 4 MHz 32 - 3.125 MHz 40 - 2.5 MHz 50 - 2 MHz 64 - 1.5625 MHz 80 - 1.25 MHz 100 - 1 MHz |
DigOutputBitsSel | Digital output sample bits select, this field governs which bits of the FECSS DFE's internal 16 bit signed data path are sent as output. 0 - Digital sample output is 12 MSB bits of DFE after rounding 4 LSBs 1 - Digital sample output is 12 bits after rounding 3 LSBs & clipping 1 MSB 2 - Digital sample output is 12 bits after rounding 2 LSBs & clipping 2 MSB 3 - Digital sample output is 12 bits after rounding 1 LSBs & clipping 3 MSB 4 - Digital sample output is 12 LSB bits after clipping 4 MSB 5 - Digital sample output is 16 bits | |
DfeFirSel | The final stage FIR filter's characteristics can be selected as below. 0 - Long Filter (90% visibility): This provides visibility to a larger range of IF frequencies: 0 to 0.45 x Sampling Rate. Beyond that, the filter response starts drooping & enters filter transition band. 1 - Short Filter (80% visibility): This provides faster settled outputs but the IF frequency range visible is 0 to 0.40 x Sampling Rate. Beyond that, the filter response starts drooping & enters filter transition band. | |
NumOfAdcSamples | No. of ADC samples. Current SDK work for values with powers of 2 Valid Range: 2 to 2048 | |
ChirpTxMimoPatSel | Only option 0 is not supported in current OOB Demo. 0 - TX BPM MIMO pattern disabled 1 - TDMA_2TX pattern 4 - BPM_2TX pattern | |
ChirpRampEndTime | Chirp Profile Ramp end Time. This is a common ramp end time value for all chirps in a frame. | |
ChirpRxHpfSel | Chirp Profile HPF corner frequency. This is a common HPF corner frequency value for all chirps in a frame. 0 - 175kHz HPF corner frequency 1 - 350kHz HPF corner frequency 2 - 700kHz HPF corner frequency 3 - 1400kHz HPF corner frequency | |
| chirpTimingCfg | ChirpIdleTime | Chirp Profile Idle Time. This is a common idle time value for all chirps in a frame. Unit: 1us. |
ChirpAdcSkipSamples | Chirp Profile ADC start skip samples. This is a common adc start time value for all chirps in a frame Valid range: 0 to 63 | |
ChirpTxStartTime | Chirp Profile TX start Time. This is a common TX start time value for all chirps in a frame.This field indicates the TX start time in the chirp cycle with respect to the knee of the ramp. Unit: In usec | |
ChirpRfFreqSlope | Chirp Profile RF Frequency Slope. This is a common RF frequency slope value for all chirps in a frame.This field indicates the required FMCW slope of the chirp. Unit: MHz/us Valid range:- 399MHz/us to +399MHz/us. | |
ChirpRfFreqStart | Chirp Profile RF start Frequency. This is a common RF start frequency value for all chirps in a frame. This field indicates the required start frequency of the chirp. Unit: GHz Valid range:58GHz to 62.5GHz for ES1.0 devices | |
| frameCfg | NumOfChirpsInBurst | Number of Chirps in a Burst. This field indicates the number of chirps to be generated per burst. Valid range: 1 to 65535 chirps . (Limited support in current OOB) |
NumOfChirpsAccum | Number of accumulation per chirp. This field indicates the Number of chirps to be accumulated before sending the ADC data out in DFE, this can be used to increase the SNR without increasing the number of chirps to process in the DSP/HW accelerator. Valid range: : 0 to 64 chirps. (Limited support in current OOB) | |
BurstPeriodicity | Burst periodicity in μs. This field indicates the period of the burst. (Limited support in current OOB) | |
NumOfBurstsInFrame | Number of bursts per frame. Valid range:1 to 4096 (Limited support in current OOB) | |
FramePeriodicity | Frame Periodicity. This field indicates the period of the frame, 32bit counter.This field indicates the frame periodicity, the time gap between successive frame starts. Unit: ms Valid range:100 to 4294967295 (Limited support in current OOB) | |
NumOfFrames | Number of frames. Valid range: 0 to 65535, 0 means infinite | |
| adcLogging | enable | ADC data logging enable: 0 - Disable. 1: Enable via DCA. 2: Enable via SPI. NOTE: When ADC logging via DCA is enabled number of adc samples must be a multiple of 4. And the configs listed below are not applicable when SPI logging is used. |
sideBandEnable | Sideband data logging:(optional argument) 0: Disable. 1: Enable. NOTE: FrameLivMonEn in sensorstart must be set to a value 2(RX_SATURATION_LIVE_MON must be enabled) for sideband data logging. And by default sideband data is disabled. (Refer to the ICD for more details about this feature) | |
swizzlingMode | RDIF Data Swizzling Mode enable control:(optional argument) 0: Pin0-bit0-Cycle1 Mode. 1: Pin3-bit0-Cycle1 Mode. 2: Pin0-bit0-Cycle3 Mode. 3: Pin3-bit0-Cycle3 Mode. (Refer to the ICD for more details about this feature) | |
scramblerMode | RDIF Scrambler Mode enable control:(optional argument) 0: Disable. 1: Enable. (Refer to the ICD for more details about this feature) | |
laneRate | Enable RDIF lane rate update:(optional argument) 0: Combined Lane Rate of 400Mbps. 1: Combined Lane Rate of 320Mbps. 2: Combined Lane Rate of 200Mbps. 3: Combined Lane Rate of 160Mbps. 4: Combined Lane Rate of 100Mbps. (Refer to the ICD for more details about this feature) | |
| lowPowerCfg | Enable/Diable | Configuration to enable/disable the power management framework. 0 - Disabled 1 - Enabled |
| factoryCalibcfg | Save enable | When this option is enabled application will boot-up normally and configure the FECSS to perform all applicable factory calibrations during FECSS initialization. Once the calibrations are performed, application will retrieve the calibration data from FECSS and save it to FLASH. User need to specify valid <flash offset> value. <restore enable> option should be set to 0. Note The factory calibration should be done at room temp (25 °C +/- 15 °C) 0 - Save Disabled 1 - Save Enabled |
restore enable | When Restore enabled option is set, application will check the FLASH for a valid calibration data section. If present, it will restore the data from FLASH and provide it to FECSS while configuring it to skip any real-time factory calibrations and use provided calibration data. User need to specify valid <flash offset> value which was used during saving of calibration data. <save enable> option should be set to 0. <rxGain> and <backoff0> arguments will be ignored when restore option is enabled. 0 - Restored Disabled 1 - Restore Enabled | |
rxGain | Recommended value is 30db to 40db. Units: db. | |
backoff0 | TX channel power calibration. Valid Range: 0db to 26db. Units: db. | |
flash offset | Address offset in the flash to be used while saving or restoring calibration data. Make sure the address doesn't overlap the location in FLASH where application images are stored and has enough space for saving factory Calibration data. This field is don't care if both save and restore are disabled.Flash address range is 0x0 to 0x1FFFFF (16Mb) Actual Factory calibration data is of size 128 bytes. It is recommended to use last sector of flash memory starting with address 0x1FF000. Note Note The flash offset should be greater than 1MB (0x100000h) for EVM. This check is only to make sure Appimage and ATE calibration data is not corrupted. | |
| baudRate | baudRateVal | The sensor starts with 115200 baud rate by default. When this command is sent to the device, the baud rate for the UART communication is updated according to the given value. Currently only baudRateVal=1250000 is supported |
| sensorStart | 'FrameTrigMode' | Frame Trigger Mode. 0 - Frame SW immediate trigger Mode (SW_TRIG). 1 - Frame SW timer based trigger Mode (SW_TIMER_TRIG). 2 - Frame HW trigger low power Mode (HW_LOW_PWR_TRIG). 3 - Frame HW trigger low jitter Mode (HW_LOW_JIT_TRIG). 4 - CW CZ Trigger Mode (CW_CZ_TRIG). 5 - Chirp Timer Override Trigger Mode (CT_OVRD_TRIG). (Currently SDK supports only SW_TRIG mode(0)) |
| 'ChirpStartSigLbE' | Chirp Timer (CT) start signal loopback enable control. 0 - CHIRP_START_SIGNAL to DIG_SYNC_OUT Loopback Disable 1 - CHIRP_START_SIGNAL to DIG_SYNC_OUT Loopback Enable. (Currently SDK supports only Loopback Disable mode(0)) | |
| 'FrameLivMonEn' | Frame Live monitors enable control. 0 - Live monitor Disabled 1 - Synth Frequency Monitor Enabled 2 - Rx Saturation Live Monitor Enabled 3 - Both Synth Frequency Monitor and Rx Saturation Live Monitor Enabled | |
| 'FrameTrigTimerVal' | Frame Trigger Timer Value. 32bit counter value. (Currently SDK demo is tested only with value 0) | |
| sensorWarmRst | Reserved for future | This command initiates a warm reset of sensor with application getting reloaded from flash after reset. Important Note: This command is not supported when lowPowerCfg is 1 |
| Commands | Parameters | Notes |
|---|---|---|
| sigProcChainCfg | azimuthFftSize | Azimuth FFT size. Suggested to set as power of 2 |
elevationFftSize | Elevation FFT size. Suggested to set as power of 2 | |
motDetMode | Major / Minor / AUTO mode selection 1 - Major motion detection only 2 - Minor motion detection only 3 - Auto detection mode. | |
coherentDoppler | Coherent/Non-coherent Doppler selection 0 - Non-coherent integration along Doppler dimension. 1 - Select maximum (coherent) peak in Doppler dimension. 2 - Non-coherent integration along Doppler used to create detection matrix, and find maximum position to add to detected point. | |
numFrmPerMinorMotProc | Number of frames included for minor motion detection. | |
numMinorMotionChirpsPerFrame | Number of chirps (bursts) per frame used for minor motion detection. | |
forceMinorMotionVelocityToZero | Force Doppler value of detected points tp zero in minor motion detection 0 - Disabled 1 - Enabled | |
minorMotionVelocityInclusionThr | Minor motion detected points with absolute velocity greater than this threshold are not included in the point cloud list. Threshold is specified in m/sec | |
| cfarCfg | averageMode | CFAR Averaging mode selection Recommened to set 2 0 - CFAR-CA 1 - CFAR-CAGO 2 - CFAR-CASO |
winLen | One-sided noise averaging window length (in samples) of range-CFAR Recommened to set as power of 2 | |
guardLen | One-sided guard length (in samples) of range-CFAR. | |
noiseDiv | Cumulative noise sum divisor expressed as a shift. Sum of noise samples is divided by 2^noiseDiv. Suggested to set as log2(winLen). | |
cyclicMode | Cyclic mode or wrapped around mode. 0 - Disabled 1 - Enabled | |
thresholdScale | Threshold factor of range-CFAR in dB scale (20log10). | |
peakGroupingEn | Enable or disable Peakgrouping 0 - Disabled 1 - Enabled | |
sideLobeThreshold | Sidelobe threshold (in linear scale) in azimuth domain to declare a local peak as a valid detection. | |
localMaxRangeDomain | Enable/disable selection of the local maximum in the range domain 0 - Disabled 1 - Enabled | |
localMaxAzimuthDomain | Enable/disable selection of the local maximum in the Angle domain 0 - Disabled 1 - Enabled | |
interpolateRange | Enable /disable the interpolation of the range 0 - Disabled 1 - Enabled | |
interpolateAzimuthDomain | Enable /disable the interpolation of the Azimuth 0 - Disabled 1 - Enabled | |
| aoaFovCfg | minAzimuthDeg | Minimum azimuth angle (in degrees) that specifies the start of field of view |
maxAzimuthDeg | Maximum azimuth angle (in degrees) that specifies the end of field of view | |
minElevationDeg | Minimum elevation angle (in degrees) that specifies the start of field of view | |
maxElevationDeg | Maximum elevation angle (in degrees) that specifies the end of field of view | |
| rangeSelCfg | minMeters | Minimum range of exported detected points |
maxMeters | Maximum range of exported detected points | |
| clutterRemoval | enabled | Configure the static clutter removal 0 - Disabled 1 - Enabled |
| compRangeBiasAndRxChanPhase | rangeBias | Value of the Range Bias (m). |
virtAntIdx 1 | Phase compensation factor (real, imaginary) of virtual antenna 1. | |
virtAntIdx 2 | Phase compensation factor (real, imaginary) of virtual antenna 2. | |
virtAntIdx 3 | Phase compensation factor (real, imaginary) of virtual antenna 3. | |
virtAntIdx 4 | Phase compensation factor (real, imaginary) of virtual antenna 4. | |
virtAntIdx 5 | Phase compensation factor (real, imaginary) of virtual antenna 5. | |
virtAntIdx 6 | Phase compensation factor (real, imaginary) of virtual antenna 6. | |
| measureRangeBiasAndRxChanPhase | enabled | Enable measurement of the range bias and rx channel gain and phase imperfections 0 - Disabled 1 - Enabled |
targetDistance | Distance in meters where strong reflector is located to be used as test object for measurement. This field is only used when measurement mode is enabled. | |
searchWin | Distance in meters of the search window around targetDistance where the peak will be searched | |
| guiMonitor | pointCloud | Enable/Disable the transmission of the point cloud data 0 - Disable 1 - Enable, point cloud in floating point format, plus side information, 2 - Enable, point cloud in compressed format (fixed point) |
rangeProfile | Enable/Disable the transmission of the Range Profile data 0 - Disable 1 - Enable, range profile from Major mode detection 2 - Enable, range profile from Minor mode detection 3 - Enable, both range profiles | |
NoiseProfile | Not used in the current SDK | |
rangeAzimuthHeatMap | Enable/Disable transmission of the Range Azimuth heatmap 0 - Disable 1 - Enable, heatmap from Major mode detection 2 - Enable, heatmap from Minor mode detection 3 - Enable, both heatmaps | |
rangeDopplerHeatMap | Not used in the current SDK | |
statsInfo | Enable/Disable the transmission of the Statistics info that include processing time, temperature, power. (Partially supported in the current SDK) 0 - Disabled 1 - Enabled | |
presenceInfo | Enable/Disable the transmission of the presence detection information 0 - Disabled 1 - Enabled | |
adcSamples | Enable/Disable the transmission of the raw ADC samples of the last two chirps of the frame 0 - Disabled 1 - Enabled | |
trackerInfo | Enable/Disable the transmission of the group tracker information 0 - Disabled 1 - Enabled | |
microDopplerInfo | Enable/Disable the transmission of the micro-Doppler information 0 - Disabled 1 - Enabled | |
classifierInfo | Enable/Disable the transmission of the classifier information 0 - Disabled 1 - Enabled | |
quickEvalInfo | Enable/Disable the quick eval plots. The quick eval plots the presence info and is not useful without it being enabled 0 - Disabled 1 - Enabled | |
| antGeometryCfg | vAnt1_row | row index of virtual antenna 1. (TxAnt1->RxAnt1) |
vAnt1_col | column index of virtual antenna 1. (TxAnt1->RxAnt1) | |
vAnt2_row | row index of virtual antenna 2. (TxAnt1->RxAnt2) | |
vAnt2_col | column index of virtual antenna 2. (TxAnt1->RxAnt2) | |
vAnt3_row | row index of virtual antenna 3. (TxAnt1->RxAnt3) | |
vAnt3_col | column index of virtual antenna 3. (TxAnt1->RxAnt3) | |
vAnt4_row | row index of virtual antenna 4. (TxAnt2->RxAnt1) | |
vAnt4_col | column index of virtual antenna 4. (TxAnt2->RxAnt1) | |
vAnt5_row | row index of virtual antenna 5. (TxAnt2->RxAnt2) | |
vAnt5_col | column index of virtual antenna 5. (TxAnt2->RxAnt2) | |
vAnt6_row | row index of virtual antenna 6. (TxAnt2->RxAnt3) | |
vAnt6_col | column index of virtual antenna 6. (TxAnt2->RxAnt3) | |
antDistX | Antenna spacing in X dimension in mm. This is optional argument. If omitted, it is assumed that λ/dx=2 | |
antDistZ | Antenna spacing in Z dimension in mm. This is optional argument. If omitted, it is assumed that λ/dz=2 |
| Commands | Parameters | Notes |
|---|---|---|
| mpdBoundaryBox | Zone | Zone: This command is used to describe the boundary of each zone. (Upto twelve zones are permitted in current SDK) |
x-min | x-min | |
x-max | x-max | |
y-min | y-min | |
y-max | y-max | |
z-min | z-min | |
z-max | z-max | |
| sensorPosition | xOffset | Offset of the radar sensor position in x-axis referenced to the boundary box origin. (m) |
yOffset | Offset of the radar sensor position in y-axis referenced to the boundary box origin. (m) | |
zOffset | Height of the radar sensor above the ground plane. (m) | |
azimTilt | The azimuth tilt (in degrees)of the sensor about the axis Zw. A positive value indicates clockwise rotation when viewing towards the ground. | |
elevTilt | The elevation tilt (in degrees)of the sensor about the axis Xw. A positive value indicates tilt towards the ground. | |
| majorStateCfg | pointThre1 | Number of detected points (in a single frame) needed in a zone to enter the motion/presence state. If the number of points exceed this threshold, no need to check the SNR. |
pointThre2 | Number of detected points (in a single frame) needed in a zone to enter the motion/presence state. If the number of points exceeds this threshold, the snrThre2 criteria is checked. | |
snrThre2 | Minimum total SNR (linear) of detected points (in a single frame) in a zone to enter the motion/presence state if the pointThre2 criteria is also satisfied. | |
pointHistThre1 | Number of detected points (in a frame history buffer) needed in a zone to enter the motion/presence state. If the number of points exceed this threshold, no need to check the SNR. | |
pointHistThre2 | Number of detected points (in a frame history buffer) needed in a zone to enter the motion/presence state. If the number of points exceeds this threshold, the snrHistThre2 criteria is checked. | |
snrHistThre2 | Minimum total SNR (linear) of detected points (in a frame history buffer) in a zone to enter the motion/presence state if the pointHistThre2 criteria is also satisfied. | |
histBufferSize | Size of the frame history buffer size (in frames) used in pointHistThre1, pointHistThre2, and snrHistThre2 parameters. | |
major2minorThre | A motion status is preserved if it recorded at least one motion detection in the last major2minorThre frames. | |
| minorStateCfg | pointThre1 | Number of detected points (in a single frame) needed in a zone to enter the motion/presence state. If the number of points exceed this threshold, no need to check the SNR. |
pointThre2 | Number of detected points (in a single frame) needed in a zone to enter the motion/presence state. If the number of points exceeds this threshold, the snrThre2 criteria is checked. | |
snrThre2 | Minimum total SNR (linear) of detected points (in a single frame) in a zone to enter the motion/presence state if the pointThre2 criteria is also satisfied. | |
pointHistThre1 | Number of detected points (in a frame history buffer) needed in a zone to enter the motion/presence state. If the number of points exceed this threshold, no need to check the SNR. | |
pointHistThre2 | Number of detected points (in a frame history buffer) needed in a zone to enter the motion/presence state. If the number of points exceeds this threshold, the snrHistThre2 criteria is checked. | |
snrHistThre2 | Minimum total SNR (linear) of detected points (in a frame history buffer) in a zone to enter the motion/presence state if the pointHistThre2 criteria is also satisfied. | |
histBufferSize | Size of the frame history buffer size (in frames) used in pointHistThre1, pointHistThre2, and snrHistThre2 parameters. | |
minor2emptyThre | A motion status is preserved if it recorded at least one motion detection in the last minor2emptyThre frames. | |
| clusterCfg | enabled | Configure clustering logic. 0: Disable. 1: Enable. |
maxDistance | The radius (in meters) of the neighborhood around a point (i.e., epsilon in DBSCAN algorithm). Note that the distance measure only takes the geometric difference between the point and centroid into account. | |
x-max | Minimum number of neighbor points required within the epsilon radius around point. |
| Commands | Parameters | Notes |
|---|---|---|
| boundaryBox | x-min | Minimum distance in x-dimension with respect to the origin in the World co-ordinates |
x-max | Maximum distance in x-dimension with respect to the origin in the World co-ordinates | |
y-min | Minimum distance in y-dimension with respect to the origin in the World co-ordinates | |
y-max | Maximum distance in y-dimension with respect to the origin in the World co-ordinates | |
z-min | Minimum distance in z-dimension with respect to the origin in the World co-ordinates | |
z-max | Maximum distance in z-dimension with respect to the origin in the World co-ordinates Note that Z = 0 corresponds to the ground plane. | |
| staticBoundaryBox | x-min | Minimum distance in x-dimension with respect to the origin in the World co-ordinates |
x-max | Maximum distance in x-dimension with respect to the origin in the World co-ordinates | |
y-min | Minimum distance in y-dimension with respect to the origin in the World co-ordinates | |
y-max | Maximum distance in y-dimension with respect to the origin in the World co-ordinates | |
z-min | Minimum distance in z-dimension with respect to the origin in the World co-ordinates | |
z-max | Maximum distance in z-dimension with respect to the origin in the World co-ordinates Note that Z = 0 corresponds to the ground plane. | |
| sensorPosition | xOffset | Offset of the radar sensor position in x-axis referenced to the boundary box origin. (m) |
yOffset | Offset of the radar sensor position in y-axis referenced to the boundary box origin. (m) | |
zOffset | Height of the radar sensor above the ground plane. (m) | |
azimTilt | The azimuth tilt (in degrees)of the sensor about the axis Zw. A positive value indicates clockwise rotation when viewing towards the ground. | |
elevTilt | The elevation tilt (in degrees)of the sensor about the axis Xw. A positive value indicates tilt towards the ground. | |
| presenceBoundaryBox | x-min | Minimum distance in x-dimension with respect to the origin in the World co-ordinates |
x-max | Maximum distance in x-dimension with respect to the origin in the World co-ordinates | |
y-min | Minimum distance in y-dimension with respect to the origin in the World co-ordinates | |
y-max | Maximum distance in y-dimension with respect to the origin in the World co-ordinates | |
z-min | Minimum distance in z-dimension with respect to the origin in the World co-ordinates | |
z-max | Maximum distance in z-dimension with respect to the origin in the World co-ordinates Note that Z = 0 corresponds to the ground plane. | |
| gatingParam | Gain | Gain of the gating function. It is set based on expected tracking errors and uncertainties of detection layer |
Limit-Width | Gating Limit in Width (m). It is set based on the physical dimensions and agility of the targets | |
Limit-Depth | Gating Limit in Depth (m). It is set based on the physical dimensions and agility of the targets | |
Limit-Height | Gating Limit in Height (m). It is set based on the physical dimensions and agility of the targets | |
Limit-Velocity | Gating Limit in (radial) Velocity (m/s). It is set based on the motion of the targets | |
| allocationParam | snrThre | Minimum total SNR for the allocation set |
snrThreObscured | Minimum total SNR for the allocation set when obscured by another target | |
velocityThre | Minimum radial velocity of the allocation set centroid (m/s) | |
pointsThre | Minimum number of points in the allocation set | |
maxDistanceThre | Maximum squared distance between candidate centroid and centroid to be part of the allocation set (m^2) | |
maxVelThre | Maximum velocity difference between candidate and centroid to be part of the allocation set (m/s) | |
| stateParam | det2actThre | In DETECT state; threshold for the number of continuous HIT events to transition from DETECT to ACTIVE state (number of frames) |
det2freeThre | In DETECT state; threshold for the number of continuous MISS events to transition from DETECT to FREE state (number of frames) | |
active2freeThre | In ACTIVE state and NORMAL condition; threshold for the number of consecutive MISS events needed to transition from ACTIVE to FREE state (number of frames) | |
static2freeThre | In ACTIVE state and STATIC condition; threshold for the number of continuous MISS events for a STATIC target in a static zone to transition from ACTIVE to FREE state (number of frames) | |
exit2freeThre | In ACTIVE state and EXIT condition; threshold for the number of continuous MISS events for a target outside the static zone to transition from ACTIVE to FREE state. Determines the Maximum lifespan for the target outside the static box (number of frames) | |
sleep2freeThre | Determines the Maximum lifespan for the target inside the static box (number of frames) | |
| maxAcceleration | MaxAccel-X-direction | Maximum amount that the target acceleration is expected to change in the X-direction between time-periods (m/s^2) |
MaxAccel-Y-direction | Maximum amount that the target acceleration is expected to change in the Y-direction between time-periods (m/s^2) | |
MaxAccel-Z-direction | Maximum amount that the target acceleration is expected to change in the Z-direction in between time-periods (m/s^2) | |
| trackingCfg | enable | Group tracker processing enable/disable flag: 0 - Disabled 1 - Enabled |
IntialConfigParams | An index to the default internal tracker parameter structure array that initializes the tracker configurations for different use-cases. These internal tracker parameters will be used by default if the user does not set these through the corresponding CLI command | |
maxNumPoints | Maximum number of Detection points per frame | |
maxNumTracks | Maximum number of Targets to track at any given time | |
maxRadialVelocity | Maximum Radial velocity. If the maximum radial velocity reported from the sensor is 5 m/s then maxRadialVelocity needs to be set to 50 (10 x velocity in m/s) | |
radialVelocityResolution | Radial velocity resolution in millimeter/sec that the configured chirp profile can provide (mm/sec) | |
deltaT | Frame periodicity. This should match the sensor chirp configuration (msec) | |
boresightFilteringEnable | Boresight filtering enable/disable flag: 0 - Disabled 1 - Enabled |
| Commands | Parameters | Notes |
|---|---|---|
| microDopplerCfg | enabled | Micro-Doppler (µ-Doppler) and feature extraction processing enable/disable flag: 0 - Disabled 1 - Enabled (For detailed information refer to Parameter Tuning and Customization Guide) |
genApproach | The angle spectrum generation approach (in the azimuth domain) when creating the µ-Doppler spectrum per track: 0 - FFT 1 - Beamforming | |
targetSize | The target size (in xy-domain) to be used to when extracting the µ-Doppler around the corresponding centroid. | |
magnitudeSquared | If this flag is enabled, the generated µ-Doppler spectrum will be magnitude squared: 0: Keep the magnitude spectrum as is. 1: Take the magnitude square (i.e., power spectrum). | |
circShiftCentroid | If this flag is enabled, the generated µ-Doppler spectrum will be circularly shifted around the estimated target velocity provided by the tracker: 0: Keep the µ-Doppler spectrum as is.<br> 1: Circularly shift the µ-Doppler spectrum around the estimated target velocity from the tracker. | |
normalizedSpectrum | If this flag is enabled, the generated µ-Doppler spectrum will be normalized between [0 1]: 0: Keep the µ-Doppler spectrum as is. 1: Normalize the µ-Doppler spectrum between [0 1]. | |
interceptThrLowFreq | The power ratio (%) used to compute the lower envelope (Dlow) feature from the µ-Doppler spectrum. This parameter is common for all the tracked objects. | |
interceptThrUpFreq | The power ratio (%) used to compute the upper envelope (Dup) feature from the µ-Doppler spectrum. This parameter is common for all the tracked objects. | |
specShiftMode | If this flag is enabled, the generated µ-Doppler spectrum will be circularly shifted around the mean Doppler: 0: Keep the µ-Doppler spectrum as is. 1: Circularly shift the µ-Doppler spectrum around the mean Doppler. | |
| classifierCfg | enabled | Classifier processing enable/disable flag: 0: Disable. 1: Enable. |
minNumPntsPerTrack | Minimum number of points required for a track to run the classifier for it. | |
missTotFrmThre | The maximum number of frames allowed which do not have enough number of points for a specific track. |
This configuration enables dynamic switching between high performance tracker configuration, processing and low power presence detection based on a state machine.
| Commands | Parameters | Notes |
|---|---|---|
| profileSwitchCfg | switchCfgEnable | Profile switch enable: 0: Disable. 1: Enable. Enabling low power mode in lowPowerCfg CLI is a prerequisite to enable this feature. |
frmPretoTrack | Threshold on number of frames for switching from presence to tracker state. | |
frmTracktoPre | Threshold on number of frames for switching from tracker to presence state. |
Refer ${SDK_INSTALL_PATH}/docs/MotionPresenceDetectionDemo_TuningGuide.pdf and ${SDK_INSTALL_PATH}/docs/MotionPresenceDetectionDemo_GroupTracker_TuningGuide.pdf document for Parameter tuning and customization of Demo application.
The packet structure consists of fixed sized frame header, followed by variable number of TLVs (see Figure below). Each TLV has fixed header followed by variable size payload. The Byte order is Little Endian.
The frame header is of fixed size (52bytes). It is defined by the structure as
The TLV structure consists of a fixed header, TL (8bytes) followed by TLV specific payload. The TLV header structure is shown below.
Motion detection demo outputs point cloud data in one of the two formats, floating point format and more compressed fixed point format. The format option is selected from the CLI configuration.
The point cloud data are sent using two TLV elements, first one with the detected point cartesian coordinates and the radial velocity, and the second one, this side information, the detected point snr and noise.
The single point is defined as:
The single point side info is defined as:
The unit structure is defined as:
The single point is defined as:
This TLV contains the range profile, specified as an array of 32-bit unsigned linear values of range bins. The length is equal to number of range bin elements, (half of the range FFT size, since the ADC samples are real).
This TLV contains the range-azimuth detection matrix (heatmap) which consists of two dimensional array of 32-bit unsigned magnitude values. The matrix is arranged as X[rangeInd*azimuthFftSize + azimuthInd], rangeInd = 0, numRangeBins - 1, azimuthInd = 0, azimuthFftSize – 1
This TLV contains the presence information for number of zones defined in the radar scene. The information for each zone is represented with 2 bits, packed in bytes starting from LSB position towards MSB.
This TLV contains statistics described in the structure below.
There are two TLV types associated with the tracking data:
These two TLVs are sent together to the host when all of the following conditions are satisfied:
The target coordinates are “sensor” coordinates that could be converted to “world” coordinates on the Host side.
This TLV contains µ-Doppler spectra of the tracked objects. Note that this TLV is sent to host when all of the following conditions are satisfied:
Value = Array of µ-Doppler spectra of the tracked targets, corresponding to target IDs sent in the tracker data TLV. The samples are stored in float format as dopplerData[targetIndex][DopplerIndex].
This TLV contains features extracted from the µ-Doppler FFT. It is sent out along with the µ-Doppler TLV.
Value = array of features sets, corresponding to target IDs sent in the tracker data TLV. The features are stored in a floating point format as features[targetIndex][featureIndex]
This TLV is sent out when all of the following conditions are satisfied:
Value = array of classifier outcome in Q7 format, packed as classOutcome[targetIndex][classIndex]
This TLV contains the presence info and is not useful without it being enabled.
This TLV contains the output of Rx channel compensation measurement procedure.
Below is the high level flow diagram of Motion and Presence detection OOB demo in Low Power Mode:
Syscfg of Power driver provides some options to be configured by user as per their demo implementations:
Threshold Value The idle time available only after which entry to various power modes is considered. This is upto the user to configure based on their system requirements.
Latency Value: There is a latency for the device to transition into the different low power modes, and to wake up from that specific low power mode to resume activity. The actual transition latency will depend upon overall device state, as well as execution of notification functions that are registered with the Power driver. User is expected to measure this in their implementations and configure this value. If there is Xms idle time, device will get into low power state for (X - Latency value) time duration.
Threshold and latency values can be changed (tuned) to meet specific application requirements. Threshold and Latency values for different power modes can be configured in Power Syscfg:
Enabling wake-up sources from LPDS state: Wake-up from Deep sleep exit is provisioned in the device through a number of external wakeup sources like UART/SPI/GPIO/SYNC_IN/Sleep counter, etc. By Default, wake-up using Sleep Counter is enabled in Demo.
MMWAVE-L-SDK OOB (out-of-box) demo supports raw ADC data streaming through the RDIF interface. When the radar EVM board connected with the DCA1000EVM board, users can use the DCA1000EVM CLI application to capture the raw data without starting the mmWaveStudio GUI interface. The DCA1000EVM CLI application is primarily a command line tool for configuration of FPGA and recording based on the user inputs. The DCA1000EVM CLI application connects to DCA1000EVM system through 1GB Ethernet for configuration and recording of data. RADAR EVM is connected to DCA1000EVM for data capture and connected to PC for configuration of data generation. However, there are some important limitations associated with this feature:
The DCA1000EVM CLI application is provided for Windows and can be recompiled for other platforms. Users can find the source code and user guide in MMWAVE-STUDIO release package.
The DCA1000EVM CLI application has the following functionalities.
Initiate the power on sequence by turning on the radar EVM first, followed by the DCA1000EVM board. For shutdown, power off the DCA1000EVM board first, and then the radar EVM board.
For successful recording of data from RADAR EVM sequence is given as follows
Refer TI_DCA1000EVM_CLI_Software_UserGuide.pdf document for more details.
The path ${SDK_INSTALL_PATH}/tools/ADC_parser includes parsing and post processing scripts for interpreting Raw ADC data acquired from the DCA1000EVM board.
The Motion and Presence Detect Demo supports streaming of raw ADC data over SPI interface every frame during the frame idle time. To enable this feature in demo, user has to ensure that demo is built with "SPI_ADC_DATA_STREAMING" compile time macro defined. To use this feature in demo have "adcLogging 2" in the configuration file. However, there are some important limitations associated with this feature:
This feature uses FTDI USB to SPI converter chips like FT232H, FT4232H etc. to transfer data from SPI interface of xWRL6432 to Host. If EVMs have these FTDI chips on them, user can use those, if not external converters have to be connected. Here the FTDI chip acts as SPI master and xWRL6432 acts as Slave device. SPI_busy signal is used as means of synchronization between FTDI chip and xWRL6432 device.
Steps to Perform Raw ADC Data Streaming on xWRL6432 FCCSP device:
| XWRLx4XX FCCSP Device | C232HM-DDHSL-0 Cable |
|---|---|
| MOSI | YELLOW WIRE |
| MISO | GREEN WIRE |
| CHIP SELECT | BROWN WIRE |
| SPI CLOCK | ORANGE WIRE |
| SPI BUSY | GREY WIRE |
| GROUND | BLACK WIRE |
Steps to Perform Raw ADC Data Streaming on xWRL6432 AOP device:
The path ${SDK_INSTALL_PATH}/tools/ADC_parser includes parsing and post processing scripts for interpreting Raw ADC data acquired through SPI.
For testing the signal processing chain, the source for the ADC samples can be configured to be the input file, instead of RF input stream, as shown in Figure below. This mode is enabled using a CLI command adcDataSource which specifies the input binary ADC data file. Note that this mode can run when the code is loaded through CCS. In this mode the RF part of the SOC is not configured.
In this mode demo is controlled form the ADC read data task mmwDemo_adcFileReadTask(), that reads data from the file, and triggers the input EDMA of the range DPU. This task also saves the point cloud and the range azimuth heat map to files.
The timing diagram is illustrated below.
Please refer to Monitors for steps to run monitors
Following are power numbers with SDK default configurations measured using INA228 sensor.
| Configuration | Average Power (mW) |
|---|---|
| High Performance Motion Detection | 32.2 |
| Low Power Presence Detection | 9.7 |
| Object Tracking | 81.6 |
1.8.20