Hi, first of all thank you ibaiGorordo for providing this code to use.
I've managed to get to the point where I'm running the code.

The trick is pyqtgraph is struggling to open - Icon bouncing on my macbook dock.

My setup is AWR1642 w/ SDK 3.6 connected to Macbook M1 using rosetta (ARM and intel translator).
PySerial, NumPy, PyQt5, PyQtGraph seem to be installed correctly, and are not throwing errors when the code is run.

It's hard to tell if it's a problem with intefacing the code meant for AWR1843 w/ SDK 3-, or a deeper M1 problem.
I have a feeling it just might be something to do with how PyQt is setup. But I have no clue which is why I'm asking.
Any help would be much appreciated.

UPDATE: I just tried running the code with the same hardware on a windows machine, and looks like I'm getting the same result. I now believe it's not PyQt and possibly a configuration issue with the code and AWR1642. Once again tips are much appreciated.

Hello and thank you for this code which is really usefull,

There is actually another derecated warning with
QtGui
But i changed it with QtWidget as showed in the terminal now it works but i have another question the 2d scatter plot is now dark and doesn't show anything i wanted to know if it's a problem from the code or is it because i am using a IWR6843AOPEVM config

looking forward to your response and thanks in advance

Hi Ibai,

Good Day!

Can you please let me know, if it's possible to use this code to analyse the performance of AWE1642BOOST-ODS EVM?

As of now, we are using AWR1642BOOST EVM, Since we need elevation data(+ & - of elevation data) to determine the obstacle from a specific height (Meaning - from 1 feet above the ground to 10 feet)

Thanks
Guru

Hi,

I read AWR1843 with diffrent configurations but I have always the same problem. Sometimes (about every 10th time) the byteVec just stays empty. I testes it on Mac and Windows. On Windows, sometimes the program starts reading and after a few seconds the byteVec is empty again. I changed the frame rate to 2 frames/s but the problem is the same. You have an idea, what else I could try?
Thanks for your help!

I noticed that in defining the ports(specifically for a Pi), the code says
#CLIport = serial.Serial('/dev/ttyACM0', 115200)
#Dataport = serial.Serial('/dev/ttyACM1', 921600)

The presence fo the "ACM" instead of "XRUSB" seems to suggest to me that this code was written without downloading the MAXLINEAR driver for the AWR1843. Due to compatibility issues I cannot get the driver on my pi, and I am wondering if it is possible to communicate with the AWR without the driver?

Hi, I am using the AWR1843 for a project, but I would like to read the raw data into Matlab for signal processing (as the radar integrates with other modules currently using Matlab), and I was wondering where you found the Texas Instruments Matlab demo. From searching their website, it does not seem like they have a Matlab demo available. I would greatly appreciate it if you could provide a link to the demo that you found. Note that I do not have a capture device (such as the DCA1000). Thank you very much for your time.

Hi @ibaiGorordo
I am trying to use Raspberry pi 4 for AWR1642 Radar. Can you please tell me if Ubuntu 18.04LTS is compatible with the Raspberry Pi 4? If not can you please let me know the compatible OS(Raspbian/ Ubuntu) version that can be used for mmWave SDK in Raspberry Pi 4.

Thanks in Advance
Malathi K

First of all I would like to thank you for your work on the repo, great job!
I would like to ask which firmware was used to flash the radar (I use AWR1843BOOST)? Then when I flashed the radar with a different FW, your code didn't work. I have tried to find the correct FW but have not been successful:

c:\ti\mmwave_sdk_03_06_00_00-LTS\packages\ti\demo\xwr18xx\mmw\xwr18xx_mmw_demo. bin
c:\ti\mmwave_studio_02_01_01_00\mmWaveStudio\FlashProgrammer
c:\ti\radar_toolbox_1_30_00_05\tools\studio_cli\prebuilt_binaries\mmwave_Studio_cli_xwr18xx. bin

Thank you and best regards,
Ondrej

I am attempting to run this program with an AWR1443. I found this code in a comment on the SDK V1 page you have.
The issue I am having is the code seems to run with no issues but there is no plot appearing. Is there a separate program/app that I need to download to be able to create the plot?
now I am also receiving the error "UnboundLocalError: cannot access local variable 'chirpEndIdx' where it is not associated with a value"
Thanks!

Hi @ibaiGorordo
Thanks for your support. I have installed mmWave-SDK-3.5 and successfully run the AWR1642 Boot python code in my two Ubuntu Systems.
System configuration:

OS type: Ubuntu 18.04, 64 bit
Processor: Intel Core i7-7700 CPU @3.60GHz x 8
RAM : 16GB
GPU: GeForce GTX 1080 Ti 

OS type: Ubuntu 18.04.5 LTS, 64 bit
Processor: AMD Ryzen 7 3800x 8 Core Processor x 16
GNOME : 3.28.2
GPU: GeForce GTX 1080 Ti

I installed ubuntu-18.04.5-preinstalled-server-arm64+raspi3.img.xz on my Raspberry Pi4, which is 64 -bit Ubuntu 18.04.
While I have tried to install mmWave-SDK-3.5 I got an Error cannot execute binary file: Exec format error (Please refer the image).

I was not able to install the packages discussed in this Link. While trying, I faced the Error E: Unable to locate package.
So as a work around I tried installing the packages: libc6-arm64-i386-cross from synaptic package manager.Still the error persists.

Could you please help with install mmWave-SDK-3.5 in raspberry pi-4

Thanks in Advance
Malathi K

Hi,

can you please help me with the specific versions you are using?
I tried out a lot of different constellations regarding the pyqtgraph package and dependencies but couldn't get the UI running.

I tried Python 3.6 / 3.7 with Psyside2, Pyside6 or PyQt5.
I either have problems with deprecated components, freezing UI or DLL load failures.

Can anyone please give me the specific versions of each dependency and the Python Version that is working for you?

python --version
pip freeze

Would suggest to add a requirements.txt pip freeze > requirements.txt to make it easier for others installing the required packages.

Thanks a lot in advance
Stefan

Hey @ibaiGorordo,

First of all I wanted to say great job on the repo, it appears to be exactly what I was looking for. I recently got the AWR1843BOOST evolution board.

I wanted to ask about the SDK version, I am very new to mmWave radars in general so I'm having trouble figuring out the SDK version. I visited the ti website https://www.ti.com/tool/MMWAVE-SDK#downloads but it seems there's only 03.06.00.00-LTS version. I was wondering if you'd know how can I get the 3.0.0 version.

Thanks in advance.

Hi @ibaiGorordo
I am using AWR1642 Boost and your python code to collect the real time data (Range and Velocity of the object in-front of the Sensor ). I have successfully run your python code in Raspberry pi-4.
I have used the following code to calculate the Range

                    point1 = np.array((0, 0, 0))
                    point2 = np.array((x[objectNum], y[objectNum], z[objectNum]))
                    dist = np.linalg.norm(point1 - point2)
                    range_obj[objectNum] = dist;
                    velocity[objectNum] = byteBuffer[idX:idX + 4].view(dtype=np.float32)

                    if( x[objectNum]< 0):
                        print("Position of [",objectNum,"]: Left")
                    if (x[objectNum] > 0):
                        print("Position of [",objectNum,"]: Right")
                    print("Velocity[", objectNum,"]: ",velocity[objectNum])
                    print("Range[", objectNum,"]:  ",range_obj[objectNum])

Here by I have attached the readData_AWR1843.py.
readData_AWR1843.py.pdf

Can you Please let me know the logic I have used to find Range, Velocity and Angle is correct ?

The reason I have asked this question is
Q1. While testing I got Positive/Negative velocity for static objects.
Q2. In the 2D Scatter Plot the objects in the Right side of the sensor actually(In real world) in the Left side of the sensor
Can you please check the attached Youtube Video @03.10 mins

Q3. In this following update function why did you use negative detObj["x"] ( x = -detObj["x"])

Funtion to update the data and display in the plot
def update():
    dataOk = 0
    global detObj
    x = []
    y = []
    vel=[]
    # Read and parse the received data
    dataOk, frameNumber, detObj = readAndParseData18xx(Dataport, configParameters)

    if dataOk and len(detObj["x"])>0:
        #print(detObj)
        x = -detObj["x"]
        y = detObj["y"]
        #vel= detObj["velocity"]

        s.setData(x,y)
        QtGui.QApplication.processEvents()

    return dataOk

Thanks & Regards
Malathi K

Hi again!

I am using your code with an AWR1642 board on SDK3.3.
Running fine so far, but im not getting any output on the z axis. I thought the board isn't capable of calculating the z data, but now i read the obstacle detection example where they use the 1642 for 3D output. There they use the special AWR1642 "ODS" Board which is able to get elevation.

is there a way to get z axis (elevation) data with the normal 1642 Boost board?

Link to the obstacle detection guide:
http://dev.ti.com/tirex/content/mmwave_automotive_toolbox_2_7_1/labs/lab0004_obstacle_detection/docs/ODSdemo_usersguide.html

Hello,
thanks for your project.
What's firmware need write to AWR1843 flash for mss and rss parts ?
Thanks in advance

Hello Ibai,
Thank you for the great work and this code Ibai.

I am wondering if you will be releasing the code on azimuth angle anytime soon.

If not, can you please give some hints on how to implement it or any good resources?

Thank you.

When I print the objdetect all the z values are 0.

Also when I tried to give a configuration.cfg saved from MMDemo visualizer the plot screen is blank

Any inputs .
Thanks

I am using it on a drone, and the radar works completely fine before takeoff. However in a few seconds after takeoff dataOK remains 0 only, and we stop getting any readings. Any idea why this may occur?
Module used: TI AWR 1843 BOOST
This will help me make changes in the code and experiment it on my drone

I m working with IWR1843, I marked a breakpoint after
dataOk, frameNumber, detObj = readAndParseData18xx(Dataport, configParameters)

But I always get frameNumber is 0 and dataOk is 0.

Why is it so?
Does the same code works for IWR1843 ? IF not what is the modifications need to make?

Hey, fantastic codework here and an invaluable resource for working with these radar devices.
I have one of the newer sensor chips, the xWRL6432, which from what I can tell seems to run on SDK version 5.x.

What is the difference between your versions of the code (SDK 1, 2 and 3) and what would be needed for me to update it to SDK 5? I see that most of the difference lies in the read and parse config file function, but I am unsure of how exactly they differ.

Hey,

i got my sensor today and tested your code. Its working for the demo configuration, but as expected, I get an error when I use the advanced frame configuration. (I used the example cfg from the SDK) The error is:
startFreq = int(float(splitWords[2]))
ValueError: could not convert string to float:
Do you have an idea how to solve it?

Thank you
Florian

I have a this problem when I running the script.

Is my setting wrong?

Hello,
i am trying to use this code with IWR6843AOP board with sdk 3.05 the code works fine but gets stuck after sensor start it just reads the config file and sends it and does nothing

Hi,

I am currently exploring your python code in visualizing the heatmap. However, the code does not open the heatmap visualization and I noticed the code for creating the heatmap is shown:

            plt.clf()
            cs = plt.contourf(rangeArray,dopplerArray,rangeDoppler)
            fig.colorbar(cs, shrink=0.9)
            fig.canvas.draw()
            plt.pause(0.1)

Is there a way to display the heatmap?

Thanks

Hi Ibai,

Good Day!

Can you please let me know the uses of CAN Connectors in AWR1843BOOST EVM? I saw in the TI documentation that using Peak System connector(CAN - USB), we can connect the system to AWR1843 CAN FD.

But, Can you please let me know, how to directly connect the radar to CAN bus in a vehicle? Is it using OBD2 connectors??

Can you please enlighten me, as I am confused about the CAN BUS - AWR1843BOOST Connections

Thanks
Guru

There seems to be a hidden mode for Azimuth-Elevation heatmap that can be enabled: #6 (comment)

It is probably a special mode for the AOP and ODS devices that when the static azimuth is selected, instead of the Range-Azimuth heatmap that was provided in previous boards, it outputs the Azimuth-Elevation heatmap (the guimonitor command is the same).

First, test in the demo visualizer with the Range-Azimuth heatmap selected. If that provides the Range-Elevation heatmap, it can probably be extracted using the same logic as the Range-Azimuth heatmap.

hi, is there a c++ implementation of this code?

Hello~ I encountered the problem that the value of detObj.z is always zero while running this code of AWR1843. I wonder if there exists any way to fix this problem.

Hi,
I am using AWR1642 EVM to detect objects and your python code to obtain Range, Velocity, Angle. I have fixed EVM in left side of car's dashboard. I could see EVM was not able to sense the right side objects most of the time.

During sensing I have noted that

1. Velocity of opposite vehicles as either positive or negative but it has to be negative
2. What is the unit of velocity here?

Could you help me with these queries?

Thanks in advance
Ranjani N

Hi @ibaiGorordo

I am using AWR1642BOOST. Demo visualizer shows the scatter plot of objects detected for about 10 meters and in configuration tab, Maximum Unambiguous Range (meters) also has max value of 10.8 only.

I used the config file from the DemoVisualizer to run your python Code readData_AWR1843.py
Can I manually extend the range to 40m in the config? If so how to do that?

In this video I see a free space grid and clustering.
How to implement the same in the python code?

Thanks in advance
Malathi K

Hi,
I'm using your python code for collecting data like range, velocity from AWR1642 Radar. I have replaced the config file of the python code with config from the mmwave demo visualizer.

I could visualize the range in DemoVisualizer (refer image)

I am able to get the velocity using your code, but not the range(in meters).

Could you please help me with finding the range?

System Configuration:
OS type: Ubuntu 18.04, 64bit
Processor: Intel Core i7-7700 CPU @ 3.60GHz × 8
RAM: 16GB
GPU: GeForce GTX 1080 Ti

Thanks in advance
Ranjani N

I'm using AWR1843 Device, I have used readData_AWR1843.py. I have changed the port numbers correctly and used the same configuration file provided by you. The device is getting connected but I'm not getting any output, the scatter plot is empty. Can you suggest what to do? Is MATLAB required in anyway, cause I'm directly working on Python.

Hi,
I cloned your project in order to use the Python visualiser so I can display in real time, data from AWR1843 radar (the radar has mmwave SDK 3 running on it, its the demo provided by TI). After installing all the dependencies (pyserial, pyqtgraph etc.), I run the "readData_AWAR1843.py" file and I keep getting the following error :
"DeprecationWarning: GraphicsWindow is deprecated, use GraphicsLayoutWidget instead,will be removed in 0.13 win = pg.GraphicsWindow(title="2D scatter plot")."
(and The window crashes)

Could you please help me out, because I tried to use "GraphicsLayoutWidget" and it runs the program but without doing or displaying anything at all (see picture below). Maybe I'am using GraphicsLayoutWidget the wrong way : How can I use GraphicsLayoutWidget instead of GraphicsWindow ?

Thank you for all you help !

Hi,
I'm using AWR1642 EVM to detect obstacles. I was using Demo Visualizer to evaluate the range and velocity. In the Demo Visualizer, the velocity will be negative if the obstacle move towards the sensor (please check the image) and positive if the obstacle moves away. But, I was not able to obtain an accurate value. So I started using your python code.

While using, I analyzed that, sometimes the velocity is both positive and negative when the obstacle is approaching towards the sensor. How to interpret such difference? I needed the positivity and negativity to differentiate the moving direction of the obstacle.
Please help me with the issue.

Thanks in advance
Selvarajan Nagendran

Hello,
First of all, I tested your code with the AWR6843AOPEVM board, and it works like a charm.
I check my static points on the mmWave Visualizer, then I test your code and print the {x,y,z,velocity} data and see that it fits for the x and y.
When I try to move my hand above the antennas, the velocity changes from 0 to different values.
However one problem remains with the z parameter which is always equal to 0, although I move my hand in a way to vary in all three axis, though the z remains equal to 0.
Any clues on how to troubleshoot that please ?
Thanks,
Lilia.

Hi,
I'm using https://github.com/ibaiGorordo/AWR1843-Read-Data-Python-MMWAVE-SDK-3- to read the data from AWR1642 EVM.
I tried to find the height of the detected object by excuting readData_AWR1843.py, using Z coordinates. The Z values are always zero.
Here I have attached the config file created from Demo Visualizer.

sensorStop
flushCfg
dfeDataOutputMode 1
channelCfg 15 3 0
adcCfg 2 1
adcbufCfg -1 0 1 1 0
profileCfg 0 77 438 7 48.98 0 0 15 1 256 6250 0 0 30
chirpCfg 0 0 0 0 0 0 0 1
chirpCfg 1 1 0 0 0 0 0 2
frameCfg 0 1 16 0 100 1 0
lowPower 0 1
guiMonitor -1 1 1 0 0 0 1
cfarCfg -1 0 2 8 4 3 0 15 1
cfarCfg -1 1 0 4 2 3 1 15 1
multiObjBeamForming -1 1 0.5
clutterRemoval -1 0
calibDcRangeSig -1 0 -5 8 256
extendedMaxVelocity -1 0
bpmCfg -1 0 0 1
lvdsStreamCfg -1 0 0 0
compRangeBiasAndRxChanPhase 0.0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0
measureRangeBiasAndRxChanPhase 0 1.5 0.2
CQRxSatMonitor 0 3 4 127 0
CQSigImgMonitor 0 127 4
analogMonitor 0 0
aoaFovCfg -1 -90 90 -90 90
cfarFovCfg -1 0 0 50.00
cfarFovCfg -1 1 -1 1.00
calibData 0 0 0
sensorStart

1. Can you please let me know how to determine the Z coordinate?
2. Is it possible to determine the height of objects using Z coordinate?

Thanks in Advance
Malathi K

Hi @ibaiGorordo
I am using AWR1642. I would like to calculate Angle of Arrival(AoA) using your python code readData_AWR1843.py
The objective of trying to calculate AoA is to know if the obstacle is arriving to the left or right of the sensor.

The logic I had is that the X-coordinate is negative in case of obstacle being arrived from the left and positive in case of obstacle being arrived from the right. But here the angle is not estimated here. It would be more precised to use the angle.

Q1: Is my thought process of finding the position(left/right) correct?
Q2: How to estimate the AoA?

Thanks in advance
Malathi K

The TI website states that you need to use the DCA1000 EVM board with the AWR1843 in order to obtain raw data from the radar chip. For the work done in this repository are you using just the AWR directly or did you use the DCA as well?

Hello,
I am currently using AWR 1843 and trying to run you repo.
I am able to plot 1 frame from the radar but dataOk becomes 0 after 1 frame so that I cannot plot the live 2d scatter plot.
Could you help me with this issue?
I have used the .cfg file from demo visualizer v3.5 and confirmed demo visualizer is working with my AWR 1843 radar.

Dear Ibai,

Good Day!

Can you please let me know, if I can use AWR1843BOOST for detecting animals on the road? (example: Cattle).

Thanks
Guru

Hi Ibai,

Good Day!

It's been a while, I hope you are doing fantastic!

Can you please let me, if there is any way we can calculate the real velocity from AWR1843BOOST Radar? , I just wanted to differentiate static and moving obstacles and false positives(noises that confuses me, by looking like real data).

Thanks
Guru

Do you have the BIN file to program the AWR1843BOOT EVM? what's the .CFG file?

hello
I change the '.cfg' to get cloud point,but the result was so wired.I let my radar towards the wall but the result looks like a long arc.And i have no idea about this.Please tell me why,my friends.

Hey I'm wondering if you could provide some resources that could help me implement the other package types such as range profile, etc. Thanks

Hello, since my project involves mid-range detection, I need to transmit the radar settings as a whole, not just the number of antennas, profileCfg and frameCfg.
Can you tell me how to write the setup? Thank you.

Hi @ibaiGorordo,

Good Day!

Can you please let me know, if it's possible to extract data from AWR1243BOOST OR AWR2243BOOST IMAGING RADARS? , Using this Code, by changing the Config file.

Thanks
Guru

Hi, I'm unsure if this is the right place to ask this question,

At line 281 of readData_AWR1843.py file. When the GUI launches, the entire GUI crashes straight away, but the rest of the code still runs through the debugger. I've also tried using the AWR1642 readData file and it does the same thing. I can't seem to find any documentation online and im struggling to run the program. Some direction would be greatly appreciated.

Hi,
I am using AWR1642 for detecting objects. While using your code, Qt GUI has scatter plot which shows the real time data and plots it. I am curious about can we number the detected objects like first detected object as 1 in plot and second detected object as 2 in plot. If so can you please help me with this ?

Thanks in advance
Malathi K

Hi @ibaiGorordo

Good Day!

Please find the attached image(displaying the position where the radar is fixed in a Car), While testing the radar, I encountered noise data from irregular road plane / tiny pot holes.

If I enable the static clutter, Can I be able to reduce the above said noise data? Or Can I tilt the radar upwards to avoid the radar signals hitting the road (at least for time being, as I couldn't find a way to control elevation data in AWR1642BOOST EVM)

Thanks
Guru

Is it possible to modify the config so that AWR1642 can also use this program to show range-doppler heatmap

After I try, it works.