MMWave Demo Visualizer User`s Guide

User's Guide
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mmWave Demo Visualizer
This application note presents the TI Gallery app – mmWave Demo Visualizer – for configuring
mmWave sensors and visualizing point cloud objects generated by the mmWave SDK demo. The
mmWave Demo Visualizer app is meant to be used in conjunction with the mmWave SDK demo
running on the TI EVM for mmWave devices. The app can also be reached at the TI Gallery website –
search for mmWave_Demo_Visualizer. The mmWave Demo Visualizer app is browser-based and can
be run on any PC operating system (Windows®, Linux®, or macOS®), and TI recommends running the
app using the Chrome® browser for the best plotting performance.
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Contents
Setup Instructions ............................................................................................................ 3
1.1
Browser Setup (First Time Only).................................................................................. 3
1.2
mmWave Device Setup ............................................................................................ 3
1.3
Serial Port Setup .................................................................................................... 3
CONFIGURE Tab ............................................................................................................ 4
2.1
Platform .............................................................................................................. 4
2.2
Desirable Configuration ............................................................................................ 4
2.3
Frequency Band (GHz) ............................................................................................ 5
2.4
Scene Selection - Best Range Resolution ...................................................................... 5
2.5
Scene Selection - Best Velocity Resolution ..................................................................... 6
2.6
Scene Selection - Best Range .................................................................................... 8
2.7
Object Detection .................................................................................................... 9
2.8
Plot Selection ...................................................................................................... 10
2.9
User Selected Configuration ..................................................................................... 11
PLOTS Tab ................................................................................................................. 13
3.1
X-Y Scatter Plot ................................................................................................... 13
3.2
Doppler Range Plot ............................................................................................... 14
3.3
Range Profile ...................................................................................................... 15
3.4
CPU Load .......................................................................................................... 16
3.5
Range-Doppler Heatmap ......................................................................................... 17
3.6
Range-Azimuth Heatmap ........................................................................................ 17
3.7
3-D Scatter Plot .................................................................................................... 18
3.8
Display Parameters ............................................................................................... 18
Advanced Options .......................................................................................................... 20
4.1
Load Config From PC............................................................................................. 20
4.2
Getting the Version................................................................................................ 20
4.3
RCS ................................................................................................................. 21
Troubleshooting ............................................................................................................ 22
5.1
Console Message: Errors Returned by Device ................................................................ 22
5.2
Serial Port Status Message: Not Switching to Hardware Connected or Both Ports Are Not
Showing Up ........................................................................................................ 22
5.3
Console Message: sensorStart Message Not Sent to Host ................................................. 22
5.4
Warning for Plots and Frame Rate.............................................................................. 23
5.5
Configuration Successful but Plots Not Updating ............................................................. 23
List of Figures
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TI Cloud Agent Installation (First Time Setup) ........................................................................... 3
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Device Manager Ports
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Serial Port Configuration in App ........................................................................................... 4
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COM Port Status When Correct Ports Are Configured ................................................................. 4
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COM Port Status When Ports Are Not Connected ...................................................................... 4
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Range Peak Grouping Disabled (Left) and Enabled (Right) ........................................................... 9
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Valid Configuration ......................................................................................................... 12
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X-Y Scatter Plot for Detected Objects ................................................................................... 13
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Doppler Range Plot for Detected Objects
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Range Profile in Linear Scale............................................................................................. 15
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Range Profle in Log Scale ................................................................................................ 15
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Range and Noise Profile in Log Scale
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CPU Load for Frame Rate = 30 fps (Example)
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Doppler Range Heatmap ..................................................................................................
Azimuth-Range Heatmap (Example) ....................................................................................
3-D Scatter plot .............................................................................................................
Display Parameters – Profiling ...........................................................................................
Display Parameters – Scene .............................................................................................
Display Parameters - Chirp/Frame.......................................................................................
Help → About (Connected Setup) .......................................................................................
Help → About (Not Connected Setup) ..................................................................................
Serial Port Status Message ...............................................................................................
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Trademarks
Code Composer Studio is a trademark of Texas Instruments.
Cortex is a registered trademark of ARM Limited.
macOS is a registered trademark of Apple, Inc.
Chrome is a registered trademark of Google, Inc.
Linux is a registered trademark of Linus Torvalds.
Windows is a registered trademark of Microsoft Corporation.
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Setup Instructions
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Setup Instructions
1.1
Browser Setup (First Time Only)
If this is your first time using this app, you may be requested to install a plug-in and the TI Cloud Agent
Application (see Figure 1).
Figure 1. TI Cloud Agent Installation (First Time Setup)
1.2
mmWave Device Setup
Follow the instructions in the mmWave SDK User's Guide to run the mmWave demo and connect to the
PC where the app will be running.
1.3
Serial Port Setup
1. If the mmWave device is connected to the PC running this app, then you can locate the following COM
ports using the Device Manager on a Windows PC (see Figure 2):
• XDS110 Class Application/User UART → This is the port where the CLI (command line interface)
runs for all the various demos. This port is called the CFG_port.
• XDS110 Class Auxiliary Data port → This is the port on which binary data generated by the
processing chain in the mmWave demo will be received by the PC. This binary data contains the
detected object list and its properties (range, Doppler, angle, and so on). This port is called the
visualization port or Data_port.
Figure 2. Device Manager Ports
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CONFIGURE Tab
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2. In the browser app, navigate to Menu → Options → Serial Port and set up the COM ports in the popup window as follows (see Figure 3):
• CFG_port: Use the COM port number for XDS110 Class Application/User UART and set Baud:
115200
• Data_port: Use the COM port XDS110 Class Auxiliary Data Port and set Baud: 921600
Figure 3. Serial Port Configuration in App
3. Click the CONFIGURE button and the control should go back to the main browser window.
4. At this point, the app automatically tries to connect to the target (mmWave Sensor), see Figure 4.
Figure 4. COM Port Status When Correct Ports Are Configured
5. If the app does not connect or the connection fails, try to connect to the target by clicking in the
bottom-left corner of the app (see Figure 5).
Figure 5. COM Port Status When Ports Are Not Connected
2
CONFIGURE Tab
This tab lets users select the parameters for configuring the mmWave device. In this document, the
subsection numbers dictate a certain sequence of programming so that precedent parameters are set first
followed by dependent parameters. Users can follow any sequence in configuring the settings, but note
that certain knobs, sliders, and drop-downs influence the values of other dependent parameters, and you
may have to readjust dependent parameters to obtain the desired selection.
2.1
Platform
This is a drop-down menu that prompts users to select the correct mmWave device to which the app is
connected to through the serial port. If you are trying to just save config to PC, then select the mmWave
device for which the desired configuration must generate.
2.2
Desirable Configuration
This is a drop-down menu that prompts users to select the parameter that they are most concerned about,
to tune the system resources towards that configuration. See Section 2.4 for more details. When the user
selects a value in this menu, all the sliders, text boxes, checkboxes, and drop-downs (except for Platform)
get reset to their default values (equivalent to pressing a Reset Selection button).
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CONFIGURE Tab
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2.3
Frequency Band (GHz)
This is a drop-down menu that prompts users to select the frequency band of operation. The mmWave
sensors support two choices: wide band (4 GHz spanning 77 to 81 GHz) and narrow band (1 GHz
spanning 76 to 77 GHz).
CLI command details: defines the start frequency in GHz in the profileCfg command.
2.4
Scene Selection - Best Range Resolution
This section guides users through the sequence of selections they should follow when Best Range
Resolution is selected under the Desirable Configuration menu.
2.4.1
Frame Rate (fps)
This is a slider that prompts users to select the rate at which the measurement data must be shipped out
of the mmWave device.
Effects on other user knobs:
• Controls the minimum value on the Maximum Radial Velocity slider.
• Faster rates limit the number of plots and measurement data that can be captured from the mmWave
device. See Section 2.8 for more details.
CLI command details: defines frame duration (frame periodicity in ms) in the frameCfg command.
2.4.2
Azimuth Resolution (Deg)
This is a drop-down menu that prompts users to select the azimuth resolution and elevation (xWR14xx
devices only) configuration for TI mmWave EVMs. The options for setting the azimuth resolution follow:
• 15º (4 RX, 2 TX)
• 30º (4 RX, 1 TX)
• 90º (2 RX, 1 TX)
• None (1 TX, 1 RX)
• 15º + Elevation (4 RX, 3 TX, for xWR14xx devices only)
Effects on other user knobs:
• Affects the possible minimum and maximum values for all sliders in the scene selection.
• When elevation is selected for xWR14xx devices, the Scatter Plot selection results in a 3D plot in the
plots tab.
CLI command details: defines RX and TX antenna mask in the channelCfg command and creates the
chirpCfgs.
2.4.3
Range Resolution (m)
This is a slider that prompts users to select the desired range resolution in meters. Select the value based
on the minimum amount of separation you expect between the detected objects or points in the point
cloud. Because this is the Best Range Resolution configuration, the slider presents options only for the
best possible range resolution for the user-selected frequency band.
Effects on other user knobs:
• Relatively lower or finer Range Resolution selected by this slider provides options for longer Max
Unambiguous Range but lower values for Maximum Radial Velocity.
• Relatively higher or coarser Range Resolution selected by this slider provides options for shorter Max
Unambiguous Range but higher values for Maximum Radial Velocity.
This slider allows for minor tweaking in the centimeter units, to help users attain desired fine tuning of
configuration for the Max Unambiguous Range and Maximum Radial Velocity.
CLI command details: defines frequency slope constant and Ramp end time in µs in the profileCfg.
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CONFIGURE Tab
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Maximum Unambiguous Range (m)
This is a slider that prompts users to select the desired Maximum Unambiguous Range in meters. Select
the value based on the farthest distance you expect to see objects detected. See Section 4.3 to
understand the Radar cross section and the actual range at which objects equal to the radar cross section
can be theoretically detected by mmWave technology.
Effects on other user knobs:
• Setting this slider to lower values provides more options for the Radial Velocity Resolution, versus
setting this slider to higher values providing less options for the Radial Velocity Resolution.
CLI command details: defines number of ADC samples and ADC sampling frequency in ksps in the
profileCfg command.
2.4.5
Maximum Radial Velocity (m/s)
This is a slider that prompts users to select the desired Maximum Radial Velocity in meters/second. Select
the value based on the maximum radial velocity you expect targets to be moving in within the radar field of
view.
Effects on other user knobs:
• Radial Velocity Resolution is directly proportional to the Maximum Radial Velocity setting. Setting this
slider to lower values provides finer Radial Velocity Resolution versus setting this slider to higher end
of values provides coarser Radial Velocity Resolution.
CLI command details: defines idle time in µs in the profileCfg command.
2.4.6
Radial Velocity Resolution (m/s)
This is a drop-down menu that prompts users to select the desired Radial Velocity Resolution in
meters/second.
Effects on other user knobs:
• This knob is the lowest dependent parameter in this configuration and gets constrained by all the
preceding parameters.
CLI command details: defines number of loops in the frameCfg command
2.5
2.5.1
Scene Selection - Best Velocity Resolution
Frame Rate (fps)
This is a slider that prompts users to select the rate at which measurement data must be shipped out of
the mmWave device.
Effects on other user knobs:
• As the Best Velocity Resolution configuration, it controls the Radial Velocity Resolution, and sets it to
the best possible value for the chosen frame rate.
• Controls the minimum value on the Maximum Radial Velocity slider.
• Faster rates limit the number of plots and measurement data that can be captured from the mmWave
device. See Section 2.8 for more details.
CLI command details: defines frame duration (for example, frame periodicity in ms) in the frameCfg
command.
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CONFIGURE Tab
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2.5.2
Azimuth Resolution (Degrees)
This is a drop-down menu that prompts users to select the azimuth resolution and elevation (xWR14xx
devices only) configuration for TI mmWave EVMs. The options are as follows:
• 15º (4 RX, 2 TX),
• 30º (4 RX, 1 TX)
• 90º (2 RX, 1 TX)
• None (1 TX, 1 RX)
• 15º + Elevation (4 RX, 3 TX, for xWR14xx devices only)
Effects on other user knobs:
• Affects the possible minimum and maximum values for all sliders in the scene selection.
• When elevation is selected for xWR14xx devices, the Scatter Plot selection results in a 3D plot in the
plots tab.
CLI command details: defines the RX and TX antenna mask in the channelCfg command and creates
the chirpCfgs.
2.5.3
Radial Velocity Resolution (m/s)
As a Best Velocity Resolution configuration, the Radial Velocity Resolution is set to the best possible
value for the chosen frame rate.
2.5.4
Maximum Radial Velocity (m/s)
This is a slider that prompts users to select the desired Maximum Radial Velocity in meters/second. Select
the value based on the maximum radial velocity you expect the targets to be moving in within the radar
field of view.
Effects on other user knobs:
Based on the system resources diverted to fulfill the user-selected value for Maximum Radial Velocity,
options for Range Resolution are affected in this configuration.
• Higher values for Maximum Radial Velocity selected by this slider provides only coarser options for
Range Resolution and short-range options for Max Unambiguous Range.
• Lower values for Maximum Radial Velocity selected by this slider provides more finer options for
Range Resolution and long-range options for Max Unambiguous Range.
CLI command details: defines the number of loops in the frameCfg command.
2.5.5
Range Resolution (m)
This is a slider that prompts users to select the desired range resolution in meters. Select the value based
on the minimum separation you expect between the detected objects or points in the point cloud.
Effects on other user knobs:
• Relatively lower or finer Range Resolution selected by this slider provides options for shorter Max
Unambiguous Range.
• Relatively higher or coarser Range Resolution selected by this slider provides options for longer Max
Unambiguous Range.
CLI command details: Range Resolution and Max Unambiguous Range define the number of ADC
samples, frequency slope constant, Ramp end time in µs, idle time in µs, and ADC sampling frequency in
ksps in the profileCfg command.
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CONFIGURE Tab
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Maximum Unambiguous Range (m)
This is a slider that prompts users to select the desired Maximum Unambiguous Range in meters. Select
the value based on the farthest distance you expect to see objects detected. See Section 4.3 to
understand the radar cross section and the actual range at which objects equal to the radar cross section
can be theoretically detected by mmWave technology.
Effects on other user knobs:
• Moving this slider fine-tunes the user-selected Range Resolution value.
CLI command details: Range Resolution and Max Unambiguous Range define the number of ADC
samples, frequency slope constant, Ramp end time in µs, idle time in µs, and ADC sampling frequency in
ksps in the profileCfg command.
2.6
2.6.1
Scene Selection - Best Range
Frame Rate (fps)
This is a slider that prompts users to select the rate at which measurement data must be shipped out of
the mmWave device.
Effects on other user knobs:
• Controls the minimum value on the Maximum Radial Velocity slider.
• Faster rates limit the number of plots and measurement data that can be captured from the mmWave
device. See Section 2.8 for more details.
CLI command details: defines the frame duration (for example, frame periodicity in ms) in the frameCfg
command.
2.6.2
Azimuth Resolution (Degrees)
This is a drop-down menu that prompts users to select the azimuth resolution and elevation (xWR14xx
devices only) configuration for TI mmWave EVMs. The options are as follows:
• 15º (4 RX, 2 TX),
• 30º (4 RX, 1 TX)
• 90º (2 RX, 1 TX)
• None (1 TX, 1 RX)
• 15º + Elevation (4 RX, 3 TX, for xWR14xx devices only)
Effects on other user knobs:
• Affects the possible minimum and maximum values for all sliders in the scene selection.
• When elevation is selected for xWR14xx devices, the Scatter Plot selection results in a 3D plot in the
plots tab.
CLI command details: defines the RX and TX antenna mask in the channelCfg command and creates
the chirpCfgs.
2.6.3
Maximum Unambiguous Range (m)
This is a slider that prompts users to select the desired Maximum Unambiguous Range in steps of 5
meters. Select the value based on the farthest distance you expect to see objects detected. See
Section 4.3 to understand the radar cross section and the actual range at which objects equal to the radar
cross section can be theoretically detected by mmWave technology.
Effects on other user knobs:
• Setting this slider to lower values provides less but finer options for Range Resolution, versus setting
this slider to higher values providing more but coarser options for the Range Resolution.
CLI command details: defines the frequency slope constant in the profileCfg command.
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CONFIGURE Tab
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2.6.4
Range Resolution (m)
This is a slider that prompts users to select the desired range resolution in meters. Select the value based
on the minimum amount of separation you expect between the detected objects or points in the point
cloud.
Effects on other user knobs:
• Coarser values for Range Resolution selected by this slider provides more options and higher values
for Maximum Radial Velocity.
• Finer values for Range Resolution selected by this slider provides less options and lower values for
Maximum Radial Velocity.
Based on the system resources diverted to fulfill the user-selected value for Range Resolution, options for
Maximum Radial Velocity are affected in this configuration.
CLI command details: defines the number of ADC samples, Ramp end time in µs, and ADC sampling
frequency in ksps in the profileCfg command.
2.6.5
Maximum Radial Velocity (m/s)
This is a slider that prompts users to select the desired Maximum Radial Velocity in meters/second. Select
the value based on the maximum radial velocity you expect the targets to be moving in within the radar
field of view.
Effects on other user knobs:
Radial Velocity Resolution is directly proportional to the Maximum Radial Velocity setting. Setting this
slider to lower values provides finer Radial Velocity Resolution, versus setting this slider to higher values
providing coarser Radial Velocity Resolution.
CLI command details: defines the idle time in µs in the profileCfg command.
2.7
2.7.1
Object Detection
Group Peaks from Same Object
This is a set of checkboxes – one for enabling peak grouping in the range direction and one for enabling
peak grouping in the Doppler direction. With the peak-grouping scheme enabled, instead of reporting a
cluster of detected neighboring points, only one point, the highest one, is reported. This reduces the total
number of detected points per frame. The effect of this can be seen in scatter plots (see Figure 6).
CLI command details: defines the peakGrouping command.
Figure 6. Range Peak Grouping Disabled (Left) and Enabled (Right)
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Range Detection Threshold (0 to 100 dB)
This textbox lets users enter the threshold for the CFAR (object detection) algorithm in the range direction.
Tune this value as per your setup in the radar field of view (for example, clutter, distant object, and so on).
CLI command details: defines the cfarCfg command. The dB value is converted to the threshold value in
the CLI using the following:
xWR14xx – CFAR threshold scale is in Q9 format.
Linear scale:
TLin = 2TCLI /512
(1)
Scale in dB:
TdB = 20log10 2TCLI/512 = 6 ´ TCLI / 512
(2)
Threshold in CLI:
TCLI = 512 ´ TdB / 6
(3)
xWR16xx – CFAR threshold scale is in Q8 format.
Linear scale:
TLin = 2 (TCLI / 256 ´ NumVirtAntennas)
(4)
Scale in dB:
TdB = 20 log10 2(TCLI / 256 ´ NumVirtAntennas) = 6 ´ (TCLI / 256 ´ NumVirtAntennas)
(5)
Threshold in CLI:
TCLI = 256 ´ NumVirtAntennas ´ TdB / 6
2.7.3
(6)
Doppler Detection Threshold (0-100dB)
This textbox lets users enter the threshold for the CFAR (object detection) algorithm in the doppler
direction. This feature is currently supported only in xWR16xx devices. See Section 2.7.2 for more details
that apply for this parameter.
2.8
Plot Selection
This section prompts users to select the plots they want to see on the Plots tab. For the best performance,
depending on the scene parameters that are selected by the user, selecting more than two plots may
require a frame rate around 10 fps. Selecting heatmaps requires the frame rate to be 1 fps, otherwise the
target (mmWave sensor) will not have enough frame duration to ship out data every frame over the UART.
2.8.1
Scatter Plot
This lets users enable the detected objects list to be sent out by the target (mmWave sensor) device and
display it on the Scatter plot and Doppler-Range plot on the plots tab.
CLI command details: defines the detected-objects parameter in the guiMonitor command.
2.8.2
Range Profile
This lets users enable the log-magnitude range profile data at zero Doppler to be sent out by the target
(mmWave sensor) device and display it on the Range Profile plot on the plots tab.
CLI command details: defines the log-magnitude range parameter in the guiMonitor command.
2.8.3
Noise Profile
This lets users enable the log magnitude noise profile data to be sent out by target (mmWave sensor)
device and display it on the Noise profile graph (green color) in the same Range Profile plot window on
the plots tab.
CLI command details: defines the noise profile parameter in the guiMonitor command.
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CONFIGURE Tab
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2.8.4
Range Azimuth Heat Map
This lets users enable the zero Doppler radar cube matrix for all range bins and all antennas to be sent
out by the target (mmWave sensor) device and display it on the Range azimuth heatmap plot on the plots
tab. This requires the frame rate to be 1 fps otherwise the target (mmWave sensor) will not have enough
frame duration to ship out data every frame over the UART.
CLI command details: defines the range-azimuth heat map parameter in the guiMonitor command.
2.8.5
Range Doppler Heat Map
This lets users enable the entire detection matrix to be sent out by the target (mmWave sensor) device
and display it on the range-doppler heatmap plot on the plots tab. This requires the frame rate to be 1 fps
otherwise the target (mmWave sensor) will not have enough frame duration to ship out data every frame
over the UART.
CLI command details: defines the range-doppler heat map parameter in the guiMonitor command.
2.8.6
Statistics
This lets users enable the statistics information to be sent out by the target (mmWave sensor) device and
to show the CPU load plot on the plots tab.
CLI command details: defines the statistics parameter in the guiMonitor command.
2.9
User Selected Configuration
When the user has selected the parameters in the previous section, they can now take the following
actions.
2.9.1
Send Config to mmWave Device
This lets users send the generated configuration (CLI) commands to be sent to the target (mmWave
sensor) device. This command operates successfully only if the following are met:
• Valid serial ports have been configured as shown in the setup section
• Target (mmWave sensor) device is booted up and running the mmW demo
Users can see the commands echoed back on the Console Messages display with the feedback that is
received from the target for every line of commands sent. These console messages are a great help when
debugging issues or getting familiar with the CLI commands. A successful execution of this button results
in the last command sensorStart to be sent to the device and a response Done to be received from the
device.
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CONFIGURE Tab
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Another indication of successful connectivity to the target device is the black status bar on the bottom of
the page shows two valid COM ports and the status says Hardware Connected (see Figure 7). After the
successful execution, users can switch to the Plots tab to view the requested plots.
Figure 7. Valid Configuration
If the last two lines in the console messages contain any other lines than these, it means either the device
generated an error, the device stopped responding, or the commands did not go through completely and
the user must try again. See Section 5 for more details.
2.9.2
Save Config to PC
This lets users save the generated configuration (CLI) commands in a .cfg file on the user’s PC. Users
can then read and modify this file as per their needs. This file can also later be used to send the
configuration to the device using the advanced option Load Config from PC and Send button on the plots
tab. Users can refer to the mmWave SDK User's Guide for more details on the format and content of this
generated file. The top section of this file contains metadata detailing the settings of the user knobs.
2.9.3
Reset Selection
This lets users reset the sliders, checkboxes, textboxes, and drop-downs to their original reset values,
except for the platform drop-down.
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PLOTS Tab
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PLOTS Tab
When users have successfully configured the device using either the Send Config to mmWave Device or
Load Config from PC and Send button, users can begin to see data being plotted on the requested plots.
If no data is shown on the plots, then see Section 5 for more details.
3.1
X-Y Scatter Plot
This plot shows the detected objects in the X-Y domain (see Figure 8).
NOTE: Select Scatter Plot in the configure tab and configure the device accordingly to view this plot.
The X- and Y-axis can be controlled using the Range Width and Range Depth text boxes. Use the stop
button to stop plotting and then you can change these settings. Once the settings are changed, resume
plotting using the start button. The maximum value users can select is limited by the Maximum
Unambiguous Range achievable by the current configuration.
Figure 8. X-Y Scatter Plot for Detected Objects
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PLOTS Tab
3.2
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Doppler Range Plot
This plot shows the detected objects using the range and Doppler coordinates (see Figure 9).
NOTE: Select Scatter Plot in the Configure tab and configure the device accordingly to view this
plot.
The X-axis can be controlled using the Range Width and Range Depth text boxes. Use the stop button to
stop plotting and then you can change these settings. Once changed, resume the plotting using the start
button. The maximum value users can select is limited by the Maximum Unambiguous Range achievable
by the current configuration.
Figure 9. Doppler Range Plot for Detected Objects
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PLOTS Tab
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3.3
Range Profile
This plot shows the range profile at the 0th Doppler (static objects) using the blue line and noise profile (if
enabled) using green line (see Figure 12). By default, this graph shows the linear values. The detected
objects in the 0th Doppler range bin are shown as orange cross marks over the blue Range Profile plot
line (see Figure 10 and Figure 11).
NOTE: Select Range Profile and Noise Profile in the Configure tab and configure the device
accordingly to view this plot.
The log scale for the Y-axis can be selected using the Range Profile Log Scale checkbox. The maximum
limit for the Y-axis in the linear domain can be selected by the user with the Range Profile Y-max text box.
Use the stop button to stop plotting and then you can change these settings. Once the settings are
changed, resume plotting using the start button.
Figure 10. Range Profile in Linear Scale
Figure 11. Range Profle in Log Scale
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PLOTS Tab
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Figure 12. Range and Noise Profile in Log Scale
3.4
CPU Load
This plot displays the CPU load for the data processing chain during the active or chirping section of a
given frame and during the nonactive or interframe section of the frame (see Figure 13). The CPU load is
expressed as a percentage of these active and inactive durations and therefore varies for a given
profileCfg, but with a different frame rate. For xWR14xx devices, this plot shows the CPU load for the
Cortex®-R4F. For xWR16xx devices, this plot shows the CPU load for the C674x DSP core (where data
path processing happens).
NOTE: Select Statistics in the Configure tab and configure the device accordingly to view this plot.
Figure 13. CPU Load for Frame Rate = 30 fps (Example)
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3.5
Range-Doppler Heatmap
This plot displays the entire radar cube matrix in Range and Doppler coordinates using the heatmap plot
(see Figure 14).
NOTE: Select Range Doppler Heat Map in the Configure tab and configure the device accordingly to
view this plot.
Figure 14. Doppler Range Heatmap
3.6
Range-Azimuth Heatmap
This plot displays the radar cube matrix for zero Doppler only but across all range bins and all antennas
(see Figure 15).
NOTE: Select Range Azimuth Heat Map in the Configure tab and configure the device accordingly
to view this plot.
Figure 15. Azimuth-Range Heatmap (Example)
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PLOTS Tab
3.7
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3-D Scatter Plot
This is available only for xWR14xx devices, when Elevation is selected in the Scene Selection
configuration. This plot displays the detected objects in 3-D space (see Figure 16).
NOTE: Select Scatter Plot and 15 + Elevation in the Configure tab and configure the device
(xWR14xx) accordingly to view this plot.
3D Scatter Plot
1
Z
0
-1
0
-5
0
5
meters
10
5
meters
Figure 16. 3-D Scatter plot
3.8
Display Parameters
This is the informational data presented on the plots tab for user reference. Use the drop-down menu to
switch between the type of information that is needed.
3.8.1
Profiling Parameters
When this display choice is selected, the screen shows the following information (see Figure 17):
• Platform: the hexadecimal string that is output by the mmWave sensor device.
• SDK version: the version of the software that is currently running on the mmWave sensor device.
• Number of Detected Objects: a continuously updating field (new measurement every frame) that shows
the number of detected objects for a given frame.
• InterChirpProcessingMargin: a continuously updating field (new measurement every frame) that shows
the time, in microseconds, that is left in a given (chirp + interchirp) duration after the chirp processing.
The value is the average value across all chirps in a given frame.
• InterFrameProcessingMargin: a continuously updating field (new measurement every frame) that
shows the time, in microseconds, that is left in a given frame after all the frame processing is
completed.
• InterFrameProcessingTime: a continuously updating field (new measurement every frame) that shows
the time, in microseconds, that was consumed for frame processing after the active chirps were
completed.
• TransmitOutputTime: a continuously updating field (new measurement every frame) that shows the
time, in microseconds, for the requested output (controlled using the selections in the Plot Selection
section of the Configure tab) to be shipped out over the UART from the mmWave device to the PC.
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Figure 17. Display Parameters – Profiling
3.8.2
Scene Parameters
When this display choice is selected, the scene parameters are calculated back from the actual
configuration that was sent to the device (see Figure 18). These values should approximately match the
CONFIGURE tab values if the SEND CONFIG TO MMWAVE DEVICE button was used to configure the
device.
Figure 18. Display Parameters – Scene
3.8.3
Chirp/Frame Parameters
When this display choice is selected, the chirp/ frame parameters are taken from the actual configuration
that was sent to the device and displayed (see Figure 19).
Figure 19. Display Parameters - Chirp/Frame
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Advanced Options
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4
Advanced Options
4.1
Load Config From PC
Users can configure the device from their own configuration file or the saved app-generated configuration
file (see Section 2.9.2) by using the LOAD CONFIG FROM PC AND SEND button on the PLOTS tab.
Ensure the first two commands in this config file are sensorStop followed by flushCfg.
When loading the configuration, using this button will not change the user input knobs in the CONFIGURE
tab. If the user wishes to change the configuration loaded using this option, then user must hand edit the
config file while referencing to the CLI command documentation in the mmWave SDK User's Guide.
The console messages window on the CONFIGURE tab continues to show the progress and feedback of
the commands and device interaction even when this option is selected. The description and behavior of
the PLOTS tab is similar to what is described in the previous section.
4.2
Getting the Version
Users can navigate to Help → About to get the app version that is currently running on the browser and
the SDK version that is running on the connected mmWave sensor device (see Figure 20). The SDK
version is shown only when the mmWave sensor device is properly connected to this app using the
serial/COM port and a functional demo is running on the target. Checking the version is a good
troubleshooting mechanism to determine whether the mmWave device is up and running (see Figure 21).
**********************
mmWave Demo Visualizer
**********************
Version
: 1.0.0.4
Publish Date
: 04/26/2017
**********************
mmWave SDK
**********************
Platform
: xWR16xx
mmWave SDK Version: 01.00.00.04
RF H/W Version
: 01.00
RF F/W Version
: 01.07.00.04.17.04.19
mmWaveLink Version: 00.07.01.01
Figure 20. Help → About (Connected Setup)
**********************
mmWave Demo Visualizer
**********************
Version
: 1.0.0.4
Publish Date : 04/26/2017
**********************
mmWave SDK
**********************
Checking SDK Version ...
Please connect hardware
Figure 21. Help → About (Not Connected Setup)
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4.3
RCS
This is the small section in the CONFIGURE tab used for calculations and informative purposes.
4.3.1
Desired Radar Cross Section (sq. m)
This textbox prompts users to select the desired RCS for getting the Maximum Range at which an object
of this RCS is likely to be detected, based on the scene and object detection parameters selected on the
left-hand side. Hints for approximate values follow:
• Truck → 100 sq. m
• Car → 10 sq. m
• Motorcycle → 3.2 sq. m
• Adult → 1 sq. m
• Child → 0.5 sq. m
The value for Maximum Range calculated based on this input is shown in the Maximum Range for desired
RCS (m) display box.
4.3.2
Maximum Range for Desired RCS (m)
This is for information purposes only, to guide users in setting the slider value for Maximum Unambiguous
Range accordingly. This value is calculated based on the user input in the Desired Radar Cross Section
(sq. m) and the scene and object detection parameters selected on the left-hand side.
4.3.3
RCS at Max Unambiguous Range (sq. m)
This is for information purposes only, to guide users in setting the slider value for Maximum Unambiguous
Range accordingly. This value is calculated based on the user input selected in the Maximum
Unambiguous Range and other scene and object detection parameters selected on the left-hand side.
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Troubleshooting
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5
Troubleshooting
5.1
Console Message: Errors Returned by Device
If the user selected invalid parameters in the user generated configuration file or the sliders in the
CONFIGURE tab generate an invalid configuration, then the mmWave sensor device reports back an
error. This error can be seen as Error -1 in the Console Messages or as a red error message above the
SEND CONFIG TO MMWAVE DEVICE button. Users must correct the source of the error (fix the usergenerated config file, move the sliders, and so on) and try again.
5.2
Serial Port Status Message: Not Switching to Hardware Connected or Both Ports Are
Not Showing Up
A successful connection results in two COM ports displaying in the bottom status bar, and a Hardware
Connected or Waiting for Data.. message (see Figure 22).
Figure 22. Serial Port Status Message
If
•
•
•
the user does not see the previous message, then the following common errors could be the root cause:
The mmWave device is not powered on and running the demo
Incorrect COM port numbers were selected in Options → Serial port.
Another application (for example, Tera Term) has those COM ports open and the app is unable access
to these ports.
• The device was just rebooted while the app was running.
Once previously mentioned errors are corrected, use the small icon (a broken link or exclamation icon) at
the bottom of the screen to disconnect and connect the ports again.
5.3
Console Message: sensorStart Message Not Sent to Host
If the user sees some messages appear in the console messages, but not all of them and the last
message is not sensorStart, then the following common errors could be the root cause:
• Commands sent earlier generated an error. User must correct the source of error (fix the usergenerated config file, move the sliders, and so on) and try again.
• Commands sent earlier caused the software running on the device to crash. Users can connect the
Code Composer Studio™ (CCS) debugger to the target device to debug this situation further. In the
absence of CCS, reboot the device and start again. If the device still does not work for a given config,
check the config against the mmWave SDK user's guide.
– One reason could be that the number of plots selected caused the shipment of the output data to
exceed one frame duration.
• Sometimes the UART on the target device does not receive all the characters or messages (for
example, the PC is sending config data over the UART faster than the device can process, and so on).
Just repeat the action (Send Config.. or Load Config..) and try again.
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5.4
Warning for Plots and Frame Rate
The following are some guidelines for selecting the plots and frame rate:
• If heatmap is selected, reduce the frame rate to less than 5 fps. (If this suggestion is not followed, then
the target mmWave device intentionally halts and the user must reboot the device).
• If heatmap is not selected but all other plots are selected, then depending on the scene parameters
selected, the GUI performance can be sluggish and the user should ideally select 10 fps as the frame
rate.
5.5
Configuration Successful but Plots Not Updating
One of the commands sent caused the software running on the device to crash. Users can connect the
CCS debugger to the target device to debug this situation further. In the absence of CCS, reboot the
device and start again. If the device still does not work for a given config, check the config against the
mmWave SDK user's guide. One reason could be that the number of plots selected caused the shipment
of the output data to exceed one frame duration.
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