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xwr.radar.raw

Raw, unabstracted commands.

These commands are commonly issued by dumping the text file output of the TI demo visualizer onto a serial port. However, this is not great for debugging, and the individual parameters are not documented. We instead split each command into a documented and individually callable function.

xwr.radar.raw.APIMixins

Mixins capturing the raw TI Demo API.

Source code in src/xwr/radar/raw.py 
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class APIMixins:
    """Mixins capturing the raw TI Demo API."""

    def send(self, cmd: str, timeout: float = 10.0) -> None:
        raise NotImplementedError()

    def flushCfg(self) -> None:
        """Clear existing (possibly partial) configuration."""
        self.send("flushCfg")

    def dfeDataOutputMode(
        self, modeType: defines.DFEMode = defines.DFEMode.LEGACY
    ) -> None:
        """Set frame data output mode."""
        cmd = "dfeDataOutputMode {}".format(modeType.value)
        self.send(cmd)

    def channelCfg(
        self, rxChannelEn: int = 0b1111, txChannelEn: int = 0b101,
        cascading: int = 0
    ) -> None:
        """Channel configuration for the radar subsystem.

        Args:
            rxChannelEn: bit-masked rx channels to enable.
            txChannelEn: bit-masked tx channels to enable.
            cascading: must always be set to 0.
        """
        cmd = "channelCfg {} {} {}".format(rxChannelEn, txChannelEn, cascading)
        self.send(cmd)

    def adcCfg(
        self, numADCBits: defines.ADCDepth = defines.ADCDepth.BIT16,
        adcOutputFmt: defines.ADCFormat = defines.ADCFormat.COMPLEX_1X
    ) -> None:
        """Configure radar subsystem ADC.

        Args:
            numADCBits: ADC bit depth
            adcOutputFmt: real, complex, and whether to filter the image band.
        """
        cmd = "adcCfg {} {}".format(numADCBits.value, adcOutputFmt.value)
        self.send(cmd)

    def adcbufCfg(
        self, subFrameIdx: int = -1,
        adcOutputFmt: defines.ADCFormat = defines.ADCFormat.COMPLEX_1X,
        sampleSwap: defines.SampleSwap = defines.SampleSwap.MSB_LSB_IQ,
        chanInterleave: int = 1, chirpThreshold: int = 1
    ) -> None:
        """ADC Buffer hardware configuration.

        Args:
            subFrameIdx: subframe to apply to; if `-1`, applies to all.
            adcOutputFmt: real/complex ADC format.
            sampleSwap: write samples in IQ or QI order. We assume `MSB_LSB_IQ`.
            chanInterleave: only non-interleaved (1) is supported.
            chirpThreshold: some kind of "ping-pong" demo parameter.
        """
        cmd = "adcbufCfg {} {} {} {} {}".format(
            subFrameIdx, 1 if adcOutputFmt == defines.ADCFormat.REAL else 0,
            sampleSwap.value, chanInterleave, chirpThreshold)
        self.send(cmd)

    def profileCfg(
        self, profileId: int = 0, startFreq: float = 77.0,
        idleTime: float = 267.0, adcStartTime: float = 7.0,
        rampEndTime: float = 57.14, txStartTime: float = 1.0,
        txOutPower: int = 0, txPhaseShifter: int = 0,
        freqSlopeConst: float = 70.0,
        numAdcSamples: int = 256, digOutSampleRate: int = 5209,
        hpfCornerFreq1: defines.HPFCornerFreq1 = defines.HPFCornerFreq1.KHZ175,
        hpfCornerFreq2: defines.HPFCornerFreq2 = defines.HPFCornerFreq2.KHZ350,
        rxGain: int = 30
    ) -> None:
        """Configure chirp profile(s).

        See the ramp timing calculator in [mmWave Studio](
        https://www.ti.com/tool/MMWAVE-STUDIO) for chirp timing details, and
        the [AWR1843 Datasheet](
        https://www.ti.com/lit/ds/symlink/awr1843.pdf?ts=1708800208074) for
        frequency and sample rate constraints.

        Args:
            profileId: profile to configure. Can only have one in
                `DFEMode.LEGACY`.
            startFreq: chirp start frequency, in GHz. Can be 76 or 77.
            idleTime: chirp timing; see the "RampTimingCalculator".
            adcStartTime: chirp timing; see the "RampTimingCalculator".
            rampEndTime: chirp timing; see the "RampTimingCalculator".
            txStartTime: chirp timing; see the "RampTimingCalculator".
            txOutPower: not entirely clear what this does. The
                demo claims that only '0' is tested / should be used.
            txPhaseShifter: not entirely clear what this does. The
                demo claims that only '0' is tested / should be used.
            freqSlopeConst: frequency slope ("ramp rate") in MHz/us; <100MHz/us.
            numAdcSamples: Number of ADC samples per chirp.
            digOutSampleRate: ADC sample rate in ksps (<12500); see
                Table 8-4 in the AWR1843 Datasheet.
            hpfCornerFreq1: high pass filter corner frequencies.
            hpfCornerFreq2: high pass filter corner frequencies.
            rxGain: RX gain in dB. The meaning of this value is not clear.
        """
        assert startFreq in {76.0, 77.0}
        assert freqSlopeConst < 100.0
        assert digOutSampleRate < 12500

        cmd = "profileCfg {} {} {} {} {} {} {} {} {} {} {} {} {} {}".format(
            profileId, startFreq, idleTime, adcStartTime, rampEndTime,
            txOutPower, txPhaseShifter, freqSlopeConst, txStartTime,
            numAdcSamples, digOutSampleRate, hpfCornerFreq1.value,
            hpfCornerFreq2.value, rxGain)
        self.send(cmd)

    def chirpCfg(
        self, chirpIdx: int = 0, profileId: int = 0,
        startFreqVar: float = 0.0, freqSlopeVar: float = 0.0,
        idleTimeVar: float = 0.0, adcStartTimeVar: float = 0.0,
        txEnable: int = 0
    ) -> None:
        """Radar chirp configuration.

        See the [mmWave SDK user guide](
        https://dr-download.ti.com/software-development/software-development-kit-sdk/MD-PIrUeCYr3X/03.06.00.00-LTS/mmwave_sdk_user_guide.pdf),
        Table 1 (Page 19).

        Args:
            chirpIdx: Antenna index. Sets `chirpStartIdx`, `chirpEndIdx`
                to `chirpIdx`, and `txEnable` (antenna bitmask) to
                `1 << chirpIdx`.
            profileId: chirp profile to use.
            startFreqVar: allowed frequency tolerance; documentation states
                only 0 is tested.
            freqSlopeVar: allowed frequency tolerance; documentation states
                only 0 is tested.
            idleTimeVar: allowed time tolerance; documentation states
                only 0 is tested.
            adcStartTimeVar: allowed time tolerance; documentation states
                only 0 is tested.
            txEnable: antenna to enable; is converted to a bit mask.
        """
        cmd = "chirpCfg {} {} {} {} {} {} {} {}".format(
            chirpIdx, chirpIdx, profileId, startFreqVar, freqSlopeVar,
            idleTimeVar, adcStartTimeVar, 1 << txEnable)
        self.send(cmd)

    def frameCfg(
        self, chirpStartIdx: int = 0, chirpEndIdx: int = 1, numLoops: int = 16,
        numFrames: int = 0, framePeriodicity: float = 100.0,
        triggerSelect: int = 1, frameTriggerDelay: float = 0.0
    ) -> None:
        """Radar frame configuration.

        !!! warning

            The frame should not have more than a 50% duty cycle according to
            the mmWave SDK documentation.

        Args:
            chirpStartIdx: chirps to use in the frame.
            chirpEndIdx: chirps to use in the frame.
            numLoops: number of chirps per frame; must be >= 16 based on
                trial/error.
            numFrames: how many frames to run before stopping; infinite if 0.
            framePeriodicity: period between frames, in ms.
            triggerSelect: only software trigger (1) is supported.
            frameTriggerDelay: does not appear to be documented.
        """
        cmd = "frameCfg {} {} {} {} {} {} {}".format(
            chirpStartIdx, chirpEndIdx, numLoops, numFrames, framePeriodicity,
            triggerSelect, frameTriggerDelay)
        self.send(cmd)

    def compRangeBiasAndRxChanPhase(
        self, rangeBias: float = 0.0,
        rx_phase: list[tuple[int, int]] = [(0, 1)] * 12
    ) -> None:
        """Set range bias, channel phase compensation.

        !!! note

            rx_phase must have one term per TX-RX pair.
        """
        args = ' '.join("{} {}".format(re, im) for re, im in rx_phase)
        cmd = "compRangeBiasAndRxChanPhase {} {}".format(rangeBias, args)
        self.send(cmd)

    def lvdsStreamCfg(
        self, subFrameIdx: int = -1, enableHeader: bool = False,
        dataFmt: defines.LVDSFormat = defines.LVDSFormat.ADC,
        enableSW: bool = False
    ) -> None:
        """Configure LVDS stream (to the DCA1000EVM); `LvdsStreamCfg`.

        Args:
            subFrameIdx: subframe to apply to. If `-1`, applies to all
                subframes.
            enableHeader: HSI (High speed interface; refers to LVDS) Header
                enabled/disabled flag; disabled for raw mode.
            dataFmt: LVDS format; we assume `LVDSFormat.ADC`.
            enableSW: Use software (SW) instead of hardware streaming; causes
                chirps to be streamed during the inter-frame time after
                processing. We assume HW streaming.
        """
        cmd = "lvdsStreamCfg {} {} {} {}".format(
            subFrameIdx, 1 if enableHeader else 0, dataFmt.value,
            1 if enableSW else 0)
        self.send(cmd)

adcCfg 

adcCfg(
    numADCBits: ADCDepth = BIT16, adcOutputFmt: ADCFormat = COMPLEX_1X
) -> None

Configure radar subsystem ADC.

Parameters:

Name Type Description Default
numADCBits ADCDepth

ADC bit depth

 BIT16
adcOutputFmt ADCFormat

real, complex, and whether to filter the image band.

 COMPLEX_1X
Source code in src/xwr/radar/raw.py 
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def adcCfg(
    self, numADCBits: defines.ADCDepth = defines.ADCDepth.BIT16,
    adcOutputFmt: defines.ADCFormat = defines.ADCFormat.COMPLEX_1X
) -> None:
    """Configure radar subsystem ADC.

    Args:
        numADCBits: ADC bit depth
        adcOutputFmt: real, complex, and whether to filter the image band.
    """
    cmd = "adcCfg {} {}".format(numADCBits.value, adcOutputFmt.value)
    self.send(cmd)

adcbufCfg 

adcbufCfg(
    subFrameIdx: int = -1,
    adcOutputFmt: ADCFormat = COMPLEX_1X,
    sampleSwap: SampleSwap = MSB_LSB_IQ,
    chanInterleave: int = 1,
    chirpThreshold: int = 1,
) -> None

ADC Buffer hardware configuration.

Parameters:

Name Type Description Default
subFrameIdx int

subframe to apply to; if -1, applies to all.

 -1
adcOutputFmt ADCFormat

real/complex ADC format.

 COMPLEX_1X
sampleSwap SampleSwap

write samples in IQ or QI order. We assume MSB_LSB_IQ.

 MSB_LSB_IQ
chanInterleave int

only non-interleaved (1) is supported.

 1
chirpThreshold int

some kind of "ping-pong" demo parameter.

 1
Source code in src/xwr/radar/raw.py 
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def adcbufCfg(
    self, subFrameIdx: int = -1,
    adcOutputFmt: defines.ADCFormat = defines.ADCFormat.COMPLEX_1X,
    sampleSwap: defines.SampleSwap = defines.SampleSwap.MSB_LSB_IQ,
    chanInterleave: int = 1, chirpThreshold: int = 1
) -> None:
    """ADC Buffer hardware configuration.

    Args:
        subFrameIdx: subframe to apply to; if `-1`, applies to all.
        adcOutputFmt: real/complex ADC format.
        sampleSwap: write samples in IQ or QI order. We assume `MSB_LSB_IQ`.
        chanInterleave: only non-interleaved (1) is supported.
        chirpThreshold: some kind of "ping-pong" demo parameter.
    """
    cmd = "adcbufCfg {} {} {} {} {}".format(
        subFrameIdx, 1 if adcOutputFmt == defines.ADCFormat.REAL else 0,
        sampleSwap.value, chanInterleave, chirpThreshold)
    self.send(cmd)

channelCfg 

channelCfg(
    rxChannelEn: int = 15, txChannelEn: int = 5, cascading: int = 0
) -> None

Channel configuration for the radar subsystem.

Parameters:

Name Type Description Default
rxChannelEn int

bit-masked rx channels to enable.

 15
txChannelEn int

bit-masked tx channels to enable.

 5
cascading int

must always be set to 0.

 0
Source code in src/xwr/radar/raw.py 
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def channelCfg(
    self, rxChannelEn: int = 0b1111, txChannelEn: int = 0b101,
    cascading: int = 0
) -> None:
    """Channel configuration for the radar subsystem.

    Args:
        rxChannelEn: bit-masked rx channels to enable.
        txChannelEn: bit-masked tx channels to enable.
        cascading: must always be set to 0.
    """
    cmd = "channelCfg {} {} {}".format(rxChannelEn, txChannelEn, cascading)
    self.send(cmd)

chirpCfg 

chirpCfg(
    chirpIdx: int = 0,
    profileId: int = 0,
    startFreqVar: float = 0.0,
    freqSlopeVar: float = 0.0,
    idleTimeVar: float = 0.0,
    adcStartTimeVar: float = 0.0,
    txEnable: int = 0,
) -> None

Radar chirp configuration.

See the mmWave SDK user guide, Table 1 (Page 19).

Parameters:

Name Type Description Default
chirpIdx int

Antenna index. Sets chirpStartIdx, chirpEndIdx to chirpIdx, and txEnable (antenna bitmask) to 1 << chirpIdx.

 0
profileId int

chirp profile to use.

 0
startFreqVar float

allowed frequency tolerance; documentation states only 0 is tested.

 0.0
freqSlopeVar float

allowed frequency tolerance; documentation states only 0 is tested.

 0.0
idleTimeVar float

allowed time tolerance; documentation states only 0 is tested.

 0.0
adcStartTimeVar float

allowed time tolerance; documentation states only 0 is tested.

 0.0
txEnable int

antenna to enable; is converted to a bit mask.

 0
Source code in src/xwr/radar/raw.py 
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def chirpCfg(
    self, chirpIdx: int = 0, profileId: int = 0,
    startFreqVar: float = 0.0, freqSlopeVar: float = 0.0,
    idleTimeVar: float = 0.0, adcStartTimeVar: float = 0.0,
    txEnable: int = 0
) -> None:
    """Radar chirp configuration.

    See the [mmWave SDK user guide](
    https://dr-download.ti.com/software-development/software-development-kit-sdk/MD-PIrUeCYr3X/03.06.00.00-LTS/mmwave_sdk_user_guide.pdf),
    Table 1 (Page 19).

    Args:
        chirpIdx: Antenna index. Sets `chirpStartIdx`, `chirpEndIdx`
            to `chirpIdx`, and `txEnable` (antenna bitmask) to
            `1 << chirpIdx`.
        profileId: chirp profile to use.
        startFreqVar: allowed frequency tolerance; documentation states
            only 0 is tested.
        freqSlopeVar: allowed frequency tolerance; documentation states
            only 0 is tested.
        idleTimeVar: allowed time tolerance; documentation states
            only 0 is tested.
        adcStartTimeVar: allowed time tolerance; documentation states
            only 0 is tested.
        txEnable: antenna to enable; is converted to a bit mask.
    """
    cmd = "chirpCfg {} {} {} {} {} {} {} {}".format(
        chirpIdx, chirpIdx, profileId, startFreqVar, freqSlopeVar,
        idleTimeVar, adcStartTimeVar, 1 << txEnable)
    self.send(cmd)

compRangeBiasAndRxChanPhase 

compRangeBiasAndRxChanPhase(
    rangeBias: float = 0.0, rx_phase: list[tuple[int, int]] = [(0, 1)] * 12
) -> None

Set range bias, channel phase compensation.

Note

rx_phase must have one term per TX-RX pair.

Source code in src/xwr/radar/raw.py 
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def compRangeBiasAndRxChanPhase(
    self, rangeBias: float = 0.0,
    rx_phase: list[tuple[int, int]] = [(0, 1)] * 12
) -> None:
    """Set range bias, channel phase compensation.

    !!! note

        rx_phase must have one term per TX-RX pair.
    """
    args = ' '.join("{} {}".format(re, im) for re, im in rx_phase)
    cmd = "compRangeBiasAndRxChanPhase {} {}".format(rangeBias, args)
    self.send(cmd)

dfeDataOutputMode 

dfeDataOutputMode(modeType: DFEMode = LEGACY) -> None

Set frame data output mode.

Source code in src/xwr/radar/raw.py 
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def dfeDataOutputMode(
    self, modeType: defines.DFEMode = defines.DFEMode.LEGACY
) -> None:
    """Set frame data output mode."""
    cmd = "dfeDataOutputMode {}".format(modeType.value)
    self.send(cmd)

flushCfg 

flushCfg() -> None

Clear existing (possibly partial) configuration.

Source code in src/xwr/radar/raw.py 
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def flushCfg(self) -> None:
    """Clear existing (possibly partial) configuration."""
    self.send("flushCfg")

frameCfg 

frameCfg(
    chirpStartIdx: int = 0,
    chirpEndIdx: int = 1,
    numLoops: int = 16,
    numFrames: int = 0,
    framePeriodicity: float = 100.0,
    triggerSelect: int = 1,
    frameTriggerDelay: float = 0.0,
) -> None

Radar frame configuration.

Warning

The frame should not have more than a 50% duty cycle according to the mmWave SDK documentation.

Parameters:

Name Type Description Default
chirpStartIdx int

chirps to use in the frame.

 0
chirpEndIdx int

chirps to use in the frame.

 1
numLoops int

number of chirps per frame; must be >= 16 based on trial/error.

 16
numFrames int

how many frames to run before stopping; infinite if 0.

 0
framePeriodicity float

period between frames, in ms.

 100.0
triggerSelect int

only software trigger (1) is supported.

 1
frameTriggerDelay float

does not appear to be documented.

 0.0
Source code in src/xwr/radar/raw.py 
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def frameCfg(
    self, chirpStartIdx: int = 0, chirpEndIdx: int = 1, numLoops: int = 16,
    numFrames: int = 0, framePeriodicity: float = 100.0,
    triggerSelect: int = 1, frameTriggerDelay: float = 0.0
) -> None:
    """Radar frame configuration.

    !!! warning

        The frame should not have more than a 50% duty cycle according to
        the mmWave SDK documentation.

    Args:
        chirpStartIdx: chirps to use in the frame.
        chirpEndIdx: chirps to use in the frame.
        numLoops: number of chirps per frame; must be >= 16 based on
            trial/error.
        numFrames: how many frames to run before stopping; infinite if 0.
        framePeriodicity: period between frames, in ms.
        triggerSelect: only software trigger (1) is supported.
        frameTriggerDelay: does not appear to be documented.
    """
    cmd = "frameCfg {} {} {} {} {} {} {}".format(
        chirpStartIdx, chirpEndIdx, numLoops, numFrames, framePeriodicity,
        triggerSelect, frameTriggerDelay)
    self.send(cmd)

lvdsStreamCfg 

lvdsStreamCfg(
    subFrameIdx: int = -1,
    enableHeader: bool = False,
    dataFmt: LVDSFormat = ADC,
    enableSW: bool = False,
) -> None

Configure LVDS stream (to the DCA1000EVM); LvdsStreamCfg.

Parameters:

Name Type Description Default
subFrameIdx int

subframe to apply to. If -1, applies to all subframes.

 -1
enableHeader bool

HSI (High speed interface; refers to LVDS) Header enabled/disabled flag; disabled for raw mode.

 False
dataFmt LVDSFormat

LVDS format; we assume LVDSFormat.ADC.

 ADC
enableSW bool

Use software (SW) instead of hardware streaming; causes chirps to be streamed during the inter-frame time after processing. We assume HW streaming.

 False
Source code in src/xwr/radar/raw.py 
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def lvdsStreamCfg(
    self, subFrameIdx: int = -1, enableHeader: bool = False,
    dataFmt: defines.LVDSFormat = defines.LVDSFormat.ADC,
    enableSW: bool = False
) -> None:
    """Configure LVDS stream (to the DCA1000EVM); `LvdsStreamCfg`.

    Args:
        subFrameIdx: subframe to apply to. If `-1`, applies to all
            subframes.
        enableHeader: HSI (High speed interface; refers to LVDS) Header
            enabled/disabled flag; disabled for raw mode.
        dataFmt: LVDS format; we assume `LVDSFormat.ADC`.
        enableSW: Use software (SW) instead of hardware streaming; causes
            chirps to be streamed during the inter-frame time after
            processing. We assume HW streaming.
    """
    cmd = "lvdsStreamCfg {} {} {} {}".format(
        subFrameIdx, 1 if enableHeader else 0, dataFmt.value,
        1 if enableSW else 0)
    self.send(cmd)

profileCfg 

profileCfg(
    profileId: int = 0,
    startFreq: float = 77.0,
    idleTime: float = 267.0,
    adcStartTime: float = 7.0,
    rampEndTime: float = 57.14,
    txStartTime: float = 1.0,
    txOutPower: int = 0,
    txPhaseShifter: int = 0,
    freqSlopeConst: float = 70.0,
    numAdcSamples: int = 256,
    digOutSampleRate: int = 5209,
    hpfCornerFreq1: HPFCornerFreq1 = KHZ175,
    hpfCornerFreq2: HPFCornerFreq2 = KHZ350,
    rxGain: int = 30,
) -> None

Configure chirp profile(s).

See the ramp timing calculator in mmWave Studio for chirp timing details, and the AWR1843 Datasheet for frequency and sample rate constraints.

Parameters:

Name Type Description Default
profileId int

profile to configure. Can only have one in DFEMode.LEGACY.

 0
startFreq float

chirp start frequency, in GHz. Can be 76 or 77.

 77.0
idleTime float

chirp timing; see the "RampTimingCalculator".

 267.0
adcStartTime float

chirp timing; see the "RampTimingCalculator".

 7.0
rampEndTime float

chirp timing; see the "RampTimingCalculator".

 57.14
txStartTime float

chirp timing; see the "RampTimingCalculator".

 1.0
txOutPower int

not entirely clear what this does. The demo claims that only '0' is tested / should be used.

 0
txPhaseShifter int

not entirely clear what this does. The demo claims that only '0' is tested / should be used.

 0
freqSlopeConst float

frequency slope ("ramp rate") in MHz/us; <100MHz/us.

 70.0
numAdcSamples int

Number of ADC samples per chirp.

 256
digOutSampleRate int

ADC sample rate in ksps (<12500); see Table 8-4 in the AWR1843 Datasheet.

 5209
hpfCornerFreq1 HPFCornerFreq1

high pass filter corner frequencies.

 KHZ175
hpfCornerFreq2 HPFCornerFreq2

high pass filter corner frequencies.

 KHZ350
rxGain int

RX gain in dB. The meaning of this value is not clear.

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Source code in src/xwr/radar/raw.py 
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def profileCfg(
    self, profileId: int = 0, startFreq: float = 77.0,
    idleTime: float = 267.0, adcStartTime: float = 7.0,
    rampEndTime: float = 57.14, txStartTime: float = 1.0,
    txOutPower: int = 0, txPhaseShifter: int = 0,
    freqSlopeConst: float = 70.0,
    numAdcSamples: int = 256, digOutSampleRate: int = 5209,
    hpfCornerFreq1: defines.HPFCornerFreq1 = defines.HPFCornerFreq1.KHZ175,
    hpfCornerFreq2: defines.HPFCornerFreq2 = defines.HPFCornerFreq2.KHZ350,
    rxGain: int = 30
) -> None:
    """Configure chirp profile(s).

    See the ramp timing calculator in [mmWave Studio](
    https://www.ti.com/tool/MMWAVE-STUDIO) for chirp timing details, and
    the [AWR1843 Datasheet](
    https://www.ti.com/lit/ds/symlink/awr1843.pdf?ts=1708800208074) for
    frequency and sample rate constraints.

    Args:
        profileId: profile to configure. Can only have one in
            `DFEMode.LEGACY`.
        startFreq: chirp start frequency, in GHz. Can be 76 or 77.
        idleTime: chirp timing; see the "RampTimingCalculator".
        adcStartTime: chirp timing; see the "RampTimingCalculator".
        rampEndTime: chirp timing; see the "RampTimingCalculator".
        txStartTime: chirp timing; see the "RampTimingCalculator".
        txOutPower: not entirely clear what this does. The
            demo claims that only '0' is tested / should be used.
        txPhaseShifter: not entirely clear what this does. The
            demo claims that only '0' is tested / should be used.
        freqSlopeConst: frequency slope ("ramp rate") in MHz/us; <100MHz/us.
        numAdcSamples: Number of ADC samples per chirp.
        digOutSampleRate: ADC sample rate in ksps (<12500); see
            Table 8-4 in the AWR1843 Datasheet.
        hpfCornerFreq1: high pass filter corner frequencies.
        hpfCornerFreq2: high pass filter corner frequencies.
        rxGain: RX gain in dB. The meaning of this value is not clear.
    """
    assert startFreq in {76.0, 77.0}
    assert freqSlopeConst < 100.0
    assert digOutSampleRate < 12500

    cmd = "profileCfg {} {} {} {} {} {} {} {} {} {} {} {} {} {}".format(
        profileId, startFreq, idleTime, adcStartTime, rampEndTime,
        txOutPower, txPhaseShifter, freqSlopeConst, txStartTime,
        numAdcSamples, digOutSampleRate, hpfCornerFreq1.value,
        hpfCornerFreq2.value, rxGain)
    self.send(cmd)

xwr.radar.raw.BoilerplateMixins

Mixins capturing non-relevant parts of the TI AWR Demo API.

These configuration class are required for the software to not cause an error, but are not actually relevant to the output.

Note

The arguments used here are generally not fully documented. If there are any use cases for these commands, we can properly document them and move them to the main API.

Source code in src/xwr/radar/raw.py 
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class BoilerplateMixins:
    """Mixins capturing non-relevant parts of the TI AWR Demo API.

    These configuration class are required for the software to not cause an
    error, but are not actually relevant to the output.

    !!! note

        The arguments used here are generally not fully documented. If there
        are any use cases for these commands, we can properly document them and
        move them to the main API.
    """

    def send(self, cmd: str, timeout: float = 10.0) -> None:
        raise NotImplementedError()

    def boilerplate_setup(self) -> None:
        """Call mandatory but irrelevant commands."""
        self.lowPower()
        self.guiMonitor()
        self.cfarCfg(procDirection=0)
        self.cfarCfg(procDirection=1)
        self.multiObjBeamForming()
        self.calibDcRangeSig()
        self.clutterRemoval()
        self.aoaFovCfg()
        self.cfarFovCfg(procDirection=0)
        self.cfarFovCfg(procDirection=1)
        self.measureRangeBiasAndRxChanPhase()
        self.extendedMaxVelocity()
        self.CQRxSatMonitor()
        self.CQSigImgMonitor()
        self.analogMonitor()
        self.calibData()

    def lowPower(self, dontCare: int = 0, adcMode: int = 0) -> None:
        """Low power mode config."""
        cmd = "lowPower {} {}".format(dontCare, adcMode)
        self.send(cmd)

    def guiMonitor(
        self, subFrameIdx: int = -1, detectedObjects: int = 0,
        logMagRange: int = 0, noiseProfile: int = 0,
        rangeAzimuthHeatMap: int = 0, rangeDopplerHeatMap: int = 0,
        statsInfo: int = 0
    ) -> None:
        """Set GUI exports.

        !!! note

            We disable everything to minimize the chances of interference.
        """
        cmd = "guiMonitor {} {} {} {} {} {} {}".format(
            subFrameIdx, detectedObjects, logMagRange, noiseProfile,
            rangeAzimuthHeatMap, rangeDopplerHeatMap, statsInfo)
        self.send(cmd)

    def cfarCfg(
        self, subFrameIdx: int = -1, procDirection: int = 1,
        averageMode: int = 0, winLen: int = 4, guardLen: int = 2,
        noiseDivShift: int = 3, cyclicMode: int = 1, threshold: float = 15.0,
        peakGroupingEn: int = 1
    ) -> None:
        """Configure CFAR.

        !!! note

            This command must be called twice for `procDirection=0, 1`.
        """
        cmd = "cfarCfg {} {} {} {} {} {} {} {} {}".format(
            subFrameIdx, procDirection, averageMode, winLen, guardLen,
            noiseDivShift, cyclicMode, threshold, peakGroupingEn)
        self.send(cmd)

    def multiObjBeamForming(
        self, subFrameIdx: int = -1, enabled: int = 0, threshold: float = 0.5
    ) -> None:
        """Configure multi-object beamforming."""
        cmd = "multiObjBeamForming {} {} {}".format(
            subFrameIdx, enabled, threshold)
        self.send(cmd)

    def calibDcRangeSig(
        self, subFrameIdx: int = -1, enabled: int = 0,
        negativeBinIdx: int = -5, positiveBinIdx: int = 8,
        numAvgFrames: int = 256
    ) -> None:
        """DC range calibration at radar start.

        !!! quote "TI's note"
            Antenna coupling signature dominates the range bins close to
            the radar. These are the bins in the range FFT output located
            around DC.

            When this feature is enabled, the signature is estimated during
            the first N chirps, and then it is subtracted during the
            subsequent chirps

        !!! info

            Rover performs this step during offline data processing.
        """
        cmd = "calibDcRangeSig {} {} {} {} {}".format(
            subFrameIdx, enabled, negativeBinIdx, positiveBinIdx, numAvgFrames)
        self.send(cmd)

    def clutterRemoval(self, subFrameIdx: int = -1, enabled: int = 0) -> None:
        """Static clutter removal."""
        cmd = "clutterRemoval {} {}".format(subFrameIdx, enabled)
        self.send(cmd)


    def aoaFovCfg(
        self, subFrameIdx: int = -1, minAzimuthDeg: int = -90,
        maxAzimuthDeg: int = 90, minElevationDeg: int = -90,
        maxElevationDeg: int = 90
    ) -> None:
        """FOV limits for CFAR."""
        cmd = "aoaFovCfg {} {} {} {} {}".format(
            subFrameIdx, minAzimuthDeg, maxAzimuthDeg,
            minElevationDeg, maxElevationDeg)
        self.send(cmd)

    def cfarFovCfg(
        self, subFrameIdx: int = -1, procDirection: int = 0,
        min_meters_or_mps: float = 0, max_meters_or_mps: float = 0
    ) -> None:
        """Range/doppler limits for CFAR.

        !!! note

            Must be called twice for `procDirection=0, 1`.
        """
        cmd = "cfarFovCfg {} {} {} {}".format(
            subFrameIdx, procDirection, min_meters_or_mps, max_meters_or_mps)
        self.send(cmd)

    def measureRangeBiasAndRxChanPhase(
        self, enabled: int = 0, targetDistance: float = 1.5,
        searchWin: float = 0.2
    ) -> None:
        """Only used in a specific calibration procedure."""
        cmd = "measureRangeBiasAndRxChanPhase {} {} {}".format(
            enabled, targetDistance, searchWin)
        self.send(cmd)

    def extendedMaxVelocity(
        self, subFrameIdx: int = -1, enabled: int = 0
    ) -> None:
        """Velocity disambiguation feature."""
        cmd = "extendedMaxVelocity {} {}".format(subFrameIdx, enabled)
        self.send(cmd)

    def CQRxSatMonitor(
        self, profile: int = 0, satMonSel: int = 3, priSliceDuration: int = 5,
        numSlices: int = 121, rxChanMask: int = 0
    ) -> None:
        """Saturation monitoring."""
        cmd = "CQRxSatMonitor {} {} {} {} {}".format(
            profile, satMonSel, priSliceDuration, numSlices, rxChanMask)
        self.send(cmd)

    def CQSigImgMonitor(
        self, profile: int = 0, numSlices: int = 127,
        numSamplePerSlice: int = 4
    ) -> None:
        """Signal/image band energy monitoring."""
        cmd = "CQSigImgMonitor {} {} {}".format(
            profile, numSlices, numSamplePerSlice)
        self.send(cmd)

    def analogMonitor(
        self, rxSaturation: int = 0, sigImgBand: int = 0
    ) -> None:
        """Enable/disable monitoring."""
        cmd = "analogMonitor {} {}".format(rxSaturation, sigImgBand)
        self.send(cmd)

    def calibData(
        self, save_enable: int = 0, restore_enable: int = 0,
        Flash_offset: int = 0
    ) -> None:
        """Save/restore RF calibration data."""
        cmd = "calibData {} {} {}".format(
            save_enable, restore_enable, Flash_offset)
        self.send(cmd)

CQRxSatMonitor 

CQRxSatMonitor(
    profile: int = 0,
    satMonSel: int = 3,
    priSliceDuration: int = 5,
    numSlices: int = 121,
    rxChanMask: int = 0,
) -> None

Saturation monitoring.

Source code in src/xwr/radar/raw.py 
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def CQRxSatMonitor(
    self, profile: int = 0, satMonSel: int = 3, priSliceDuration: int = 5,
    numSlices: int = 121, rxChanMask: int = 0
) -> None:
    """Saturation monitoring."""
    cmd = "CQRxSatMonitor {} {} {} {} {}".format(
        profile, satMonSel, priSliceDuration, numSlices, rxChanMask)
    self.send(cmd)

CQSigImgMonitor 

CQSigImgMonitor(
    profile: int = 0, numSlices: int = 127, numSamplePerSlice: int = 4
) -> None

Signal/image band energy monitoring.

Source code in src/xwr/radar/raw.py 
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def CQSigImgMonitor(
    self, profile: int = 0, numSlices: int = 127,
    numSamplePerSlice: int = 4
) -> None:
    """Signal/image band energy monitoring."""
    cmd = "CQSigImgMonitor {} {} {}".format(
        profile, numSlices, numSamplePerSlice)
    self.send(cmd)

analogMonitor 

analogMonitor(rxSaturation: int = 0, sigImgBand: int = 0) -> None

Enable/disable monitoring.

Source code in src/xwr/radar/raw.py 
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def analogMonitor(
    self, rxSaturation: int = 0, sigImgBand: int = 0
) -> None:
    """Enable/disable monitoring."""
    cmd = "analogMonitor {} {}".format(rxSaturation, sigImgBand)
    self.send(cmd)

aoaFovCfg 

aoaFovCfg(
    subFrameIdx: int = -1,
    minAzimuthDeg: int = -90,
    maxAzimuthDeg: int = 90,
    minElevationDeg: int = -90,
    maxElevationDeg: int = 90,
) -> None

FOV limits for CFAR.

Source code in src/xwr/radar/raw.py 
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def aoaFovCfg(
    self, subFrameIdx: int = -1, minAzimuthDeg: int = -90,
    maxAzimuthDeg: int = 90, minElevationDeg: int = -90,
    maxElevationDeg: int = 90
) -> None:
    """FOV limits for CFAR."""
    cmd = "aoaFovCfg {} {} {} {} {}".format(
        subFrameIdx, minAzimuthDeg, maxAzimuthDeg,
        minElevationDeg, maxElevationDeg)
    self.send(cmd)

boilerplate_setup 

boilerplate_setup() -> None

Call mandatory but irrelevant commands.

Source code in src/xwr/radar/raw.py 
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def boilerplate_setup(self) -> None:
    """Call mandatory but irrelevant commands."""
    self.lowPower()
    self.guiMonitor()
    self.cfarCfg(procDirection=0)
    self.cfarCfg(procDirection=1)
    self.multiObjBeamForming()
    self.calibDcRangeSig()
    self.clutterRemoval()
    self.aoaFovCfg()
    self.cfarFovCfg(procDirection=0)
    self.cfarFovCfg(procDirection=1)
    self.measureRangeBiasAndRxChanPhase()
    self.extendedMaxVelocity()
    self.CQRxSatMonitor()
    self.CQSigImgMonitor()
    self.analogMonitor()
    self.calibData()

calibData 

calibData(
    save_enable: int = 0, restore_enable: int = 0, Flash_offset: int = 0
) -> None

Save/restore RF calibration data.

Source code in src/xwr/radar/raw.py 
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def calibData(
    self, save_enable: int = 0, restore_enable: int = 0,
    Flash_offset: int = 0
) -> None:
    """Save/restore RF calibration data."""
    cmd = "calibData {} {} {}".format(
        save_enable, restore_enable, Flash_offset)
    self.send(cmd)

calibDcRangeSig 

calibDcRangeSig(
    subFrameIdx: int = -1,
    enabled: int = 0,
    negativeBinIdx: int = -5,
    positiveBinIdx: int = 8,
    numAvgFrames: int = 256,
) -> None

DC range calibration at radar start.

TI's note

Antenna coupling signature dominates the range bins close to the radar. These are the bins in the range FFT output located around DC.

When this feature is enabled, the signature is estimated during the first N chirps, and then it is subtracted during the subsequent chirps

Info

Rover performs this step during offline data processing.

Source code in src/xwr/radar/raw.py 
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def calibDcRangeSig(
    self, subFrameIdx: int = -1, enabled: int = 0,
    negativeBinIdx: int = -5, positiveBinIdx: int = 8,
    numAvgFrames: int = 256
) -> None:
    """DC range calibration at radar start.

    !!! quote "TI's note"
        Antenna coupling signature dominates the range bins close to
        the radar. These are the bins in the range FFT output located
        around DC.

        When this feature is enabled, the signature is estimated during
        the first N chirps, and then it is subtracted during the
        subsequent chirps

    !!! info

        Rover performs this step during offline data processing.
    """
    cmd = "calibDcRangeSig {} {} {} {} {}".format(
        subFrameIdx, enabled, negativeBinIdx, positiveBinIdx, numAvgFrames)
    self.send(cmd)

cfarCfg 

cfarCfg(
    subFrameIdx: int = -1,
    procDirection: int = 1,
    averageMode: int = 0,
    winLen: int = 4,
    guardLen: int = 2,
    noiseDivShift: int = 3,
    cyclicMode: int = 1,
    threshold: float = 15.0,
    peakGroupingEn: int = 1,
) -> None

Configure CFAR.

Note

This command must be called twice for procDirection=0, 1.

Source code in src/xwr/radar/raw.py 
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def cfarCfg(
    self, subFrameIdx: int = -1, procDirection: int = 1,
    averageMode: int = 0, winLen: int = 4, guardLen: int = 2,
    noiseDivShift: int = 3, cyclicMode: int = 1, threshold: float = 15.0,
    peakGroupingEn: int = 1
) -> None:
    """Configure CFAR.

    !!! note

        This command must be called twice for `procDirection=0, 1`.
    """
    cmd = "cfarCfg {} {} {} {} {} {} {} {} {}".format(
        subFrameIdx, procDirection, averageMode, winLen, guardLen,
        noiseDivShift, cyclicMode, threshold, peakGroupingEn)
    self.send(cmd)

cfarFovCfg 

cfarFovCfg(
    subFrameIdx: int = -1,
    procDirection: int = 0,
    min_meters_or_mps: float = 0,
    max_meters_or_mps: float = 0,
) -> None

Range/doppler limits for CFAR.

Note

Must be called twice for procDirection=0, 1.

Source code in src/xwr/radar/raw.py 
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def cfarFovCfg(
    self, subFrameIdx: int = -1, procDirection: int = 0,
    min_meters_or_mps: float = 0, max_meters_or_mps: float = 0
) -> None:
    """Range/doppler limits for CFAR.

    !!! note

        Must be called twice for `procDirection=0, 1`.
    """
    cmd = "cfarFovCfg {} {} {} {}".format(
        subFrameIdx, procDirection, min_meters_or_mps, max_meters_or_mps)
    self.send(cmd)

clutterRemoval 

clutterRemoval(subFrameIdx: int = -1, enabled: int = 0) -> None

Static clutter removal.

Source code in src/xwr/radar/raw.py 
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def clutterRemoval(self, subFrameIdx: int = -1, enabled: int = 0) -> None:
    """Static clutter removal."""
    cmd = "clutterRemoval {} {}".format(subFrameIdx, enabled)
    self.send(cmd)

extendedMaxVelocity 

extendedMaxVelocity(subFrameIdx: int = -1, enabled: int = 0) -> None

Velocity disambiguation feature.

Source code in src/xwr/radar/raw.py 
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def extendedMaxVelocity(
    self, subFrameIdx: int = -1, enabled: int = 0
) -> None:
    """Velocity disambiguation feature."""
    cmd = "extendedMaxVelocity {} {}".format(subFrameIdx, enabled)
    self.send(cmd)

guiMonitor 

guiMonitor(
    subFrameIdx: int = -1,
    detectedObjects: int = 0,
    logMagRange: int = 0,
    noiseProfile: int = 0,
    rangeAzimuthHeatMap: int = 0,
    rangeDopplerHeatMap: int = 0,
    statsInfo: int = 0,
) -> None

Set GUI exports.

Note

We disable everything to minimize the chances of interference.

Source code in src/xwr/radar/raw.py 
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def guiMonitor(
    self, subFrameIdx: int = -1, detectedObjects: int = 0,
    logMagRange: int = 0, noiseProfile: int = 0,
    rangeAzimuthHeatMap: int = 0, rangeDopplerHeatMap: int = 0,
    statsInfo: int = 0
) -> None:
    """Set GUI exports.

    !!! note

        We disable everything to minimize the chances of interference.
    """
    cmd = "guiMonitor {} {} {} {} {} {} {}".format(
        subFrameIdx, detectedObjects, logMagRange, noiseProfile,
        rangeAzimuthHeatMap, rangeDopplerHeatMap, statsInfo)
    self.send(cmd)

lowPower 

lowPower(dontCare: int = 0, adcMode: int = 0) -> None

Low power mode config.

Source code in src/xwr/radar/raw.py 
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def lowPower(self, dontCare: int = 0, adcMode: int = 0) -> None:
    """Low power mode config."""
    cmd = "lowPower {} {}".format(dontCare, adcMode)
    self.send(cmd)

measureRangeBiasAndRxChanPhase 

measureRangeBiasAndRxChanPhase(
    enabled: int = 0, targetDistance: float = 1.5, searchWin: float = 0.2
) -> None

Only used in a specific calibration procedure.

Source code in src/xwr/radar/raw.py 
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def measureRangeBiasAndRxChanPhase(
    self, enabled: int = 0, targetDistance: float = 1.5,
    searchWin: float = 0.2
) -> None:
    """Only used in a specific calibration procedure."""
    cmd = "measureRangeBiasAndRxChanPhase {} {} {}".format(
        enabled, targetDistance, searchWin)
    self.send(cmd)

multiObjBeamForming 

multiObjBeamForming(
    subFrameIdx: int = -1, enabled: int = 0, threshold: float = 0.5
) -> None

Configure multi-object beamforming.

Source code in src/xwr/radar/raw.py 
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def multiObjBeamForming(
    self, subFrameIdx: int = -1, enabled: int = 0, threshold: float = 0.5
) -> None:
    """Configure multi-object beamforming."""
    cmd = "multiObjBeamForming {} {} {}".format(
        subFrameIdx, enabled, threshold)
    self.send(cmd)