TI mmwave RADAR
초기 설치 (윈도우 권장)
DCA1000EVM대신 IWR 1642에 직접 연결 후 작업, [Ref Tutorial]
usb 드라이버 다운로드 : IWR1642: stand alone XDS110 drivers, http://processors.wiki.ti.com/index.php/XDS_Emulation_Software_Package
롬(??) 업데이트 [UniFlash v4 User Guide for mmWave Devices]
확인 : mmWave Demo Visualizer, [메뉴얼 ]
Uniflash 설치
펌웨어(??) 설치 툴
- linux : 'sudo apt-get install libusb-dev' ->
sudo ./uniflash_sl.4.5.0.2056.run - windows :
- Webapp : Uniflash
<param name="command_port" value="/dev/ttyACM0" />
<param name="command_rate" value="115200" />
<param name="data_port" value="/dev/ttyACM1" />
<param name="data_rate" value="921600" />
TI Resouce Explorer
- Traffic Monitoring Overview
- ROS Point Cloud Visualizer
- People Counting Demo : 설명자료, pdf
- Zone Occupancy Detection
- Gesture Recognition
사전 설치 : Matlab runtime_R2017a (9.2)
ROS 연계 (ubuntu)
sudo apt-get install ros-kinetic-pcl-ros ros-kinetic-pcl-msgs ros-kinetic-pcl-conversions ros-kinetic-perception-pcl
cd ~/catkin_ws/src
git clone https://github.com/radar-lab/ti_mmwave_rospkg.git
git clone https://github.com/wjwwood/serial.git
cd ~/catkin_ws
catkin_make
sudo chmod 666 /dev/ttyACM0
sudo chmod 666 /dev/ttyACM1
roslaunch ti_mmwave_rospkg 1642es2_short_range.launch
rostopic echo /ti_mmwave/radar_scan
에러 발생시 참고 : https://github.com/radar-lab/ti_mmwave_rospkg#troubleshooting
TI Radar CNN
https://github.com/radar-lab/ti-mmwave-cnn
mmWave software development kit (SDK)
- 다운로드(Linus) : http://software-dl.ti.com/ra-processors/esd/MMWAVE-SDK/lts-latest/exports/mmwave_sdk_02_01_00_04-Linux-x86-Install.bin
- chmod +x *.bin
- User Guide
Code Composer Studio(CCS)
Download the latest CCS : http://processors.wiki.ti.com/index.php/Download_CCS
mmWaveLib
- SDK 메뉴얼 50page
- mmWaveLib is a collection of algorithms that provide basic functionality needed for FMCW radar-cube processing.
- This component is available for xWR16xx only and contains optimized library routines for C674 DSP architecture only.
DCA1000EVM
- DCA1000EVM(http://www.ti.com/tool/DCA1000EVM)은 TI mmWave EVM과 연결하여 Raw ADC 데이터 캡쳐를 할 수 있게 하는 인터페이스 보드입니다.
- 홈페이지
- Quick Start Guide
- User guide
- 드라이버/mmWave studio
UART Read
https://github.com/nsekhar/serialcheck
~/serialcheck$ gcc -o serialcheck serialcheck.c CROSS_COMPILE=arm-linux-gnueabihf-
~/serialcheck$ gcc -o serialstats serialstats.c CROSS_COMPILE=arm-linux-gnueabihf-
serialstats -d /dev/ttySX -i 1 &
Commnad CLI 접속
- 센서 : (C:\ti\mmwave_sdk_02_01_00_04\packages\ti\demo\xwr16xx\mmw)로 플래싱
- 실행 : roslaunch rviz_1642_2d.launch #실행 안해도 자동으로 값 출력
- 확인 : moserial -> data port 지정 , echo uncheck
설정
cat /dev/ttyS1
echo "hi" > /dev/ttyS1
Configuration (.cfg) File Format : SDK 메뉴얼 14page
mmWave sensing Estimation툴을 이용하여 설정값 변경이 더편함
샘플 cfg 다운 받아 사용 권장
RawData 파싱
mmw Demo Data Structure v0.1: Out-of-box Demo 플래슁
#!/usr/bin/env python3
# coding: utf-8
from __future__ import print_function
#import warnings; warnings.simplefilter('ignore')
import os
import sys
sys.path.append("/workspace/include")
import pcl_helper
import rospy
from sensor_msgs.msg import PointCloud2
import sensor_msgs.point_cloud2 as pc2
import pcl
import pcl_msg
import struct
import sys
import time
import numpy as np
import math
def rect(r, theta):
"""theta in degrees
returns tuple; (float, float); (x,y)
"""
x = r * math.cos(theta) #math.cos(math.radians(theta))
y = r * math.sin(theta) #math.sin(math.radians(theta))
return x,y
def polar(x, y):
"""returns r, theta(degrees)
"""
r = (x ** 2 + y ** 2) ** .5
if y == 0:
theta = 180 if x < 0 else 0
elif x == 0:
theta = 90 if y > 0 else 270
else:
theta = math.degrees(math.atan(float(y) / x))
return r, theta
def validateChecksum(header):
#h = typecast(uint8(header),'uint16');
header = np.uint8(header)
h = np.array(header, dtype=np.uint16)
#a = uint32(sum(h));
a = sum(h)
a = np.uint32(a)
#b = uint16(sum(typecast(a,'uint16')));
b = np.array(a, dtype=np.uint16)
b = sum(b)
b = np.uint16(b)
#CS = uint16(bitcmp(b));
CS = ~b
CS = np.uint16(CS)
return CS
def parsePoint(data, tlvLength): # Type : x06
point_data = np.zeros([tlvLength/struct.calcsize('4f'),3],dtype=np.float32)
for i in range(tlvLength/struct.calcsize('4f')):
if(struct.calcsize('4f') == len(data[16*i:16*i+16])):
parse_range, parse_angle, parse_doppler, parse_snr = struct.unpack('4f', data[16*i:16*i+16]) #struct.unpack('3H3h', data[4+12*i:4+12*i+12]) # heder 4, payload 12
#print("Point : {}, {}".format(parse_range, parse_angle))
x,y = rect(parse_range, parse_angle)
datas = np.array([x,y,0])
point_data[i,]=datas
#np.append(point_data, datas)
#point_data = np.vstack((point_data,datas))
else:
# print("** parsePoint Error [{}]**".format(len(data[16*i:16*i+16])))
pass
#pc = pcl.PointCloud(point_data)
#pcl_xyzrgb = pcl_helper.XYZ_to_XYZRGB(pc, [255,255,255])
#out_ros_msg = pcl_helper.pcl_to_ros(pcl_xyzrgb)
#pub_point.publish(out_ros_msg)
def parseTargetIndex(data, tlvLength): # Type : x08
index_data = np.zeros([tlvLength/struct.calcsize('B'),3],dtype=np.float32) # 'I16f' for little endian , '>I16f' for big endian
for i in range(tlvLength/struct.calcsize('B')):
if(struct.calcsize('B') == len(data[1*i:1*i+1])):
targetID = struct.unpack('B', data[1*i:1*i+1]) #76, 144, 212, 280
print("TargetID : {}".format(targetID))
datas = np.array([targetID,0,0])
index_data[i,]=datas
#np.append(taget_data, datas)
#point_data = np.vstack((taget_data,datas))
else:
print("** parseTargetIndex Error [{}]**".format(len(data[1*i:1*i+1])))
#pass
def parseTargetList(data, tlvLength): # Type : x07
target_data = np.zeros([tlvLength/struct.calcsize('I16f'),3],dtype=np.float32) # 'I16f' for little endian , '>I16f' for big endian
for i in range(tlvLength/struct.calcsize('I16f')):
if(struct.calcsize('I16f') == len(data[68*i:68*i+68])):
tid, posX, posY, velX, velY, accX, accY, EC1, EC2,EC3,EC4,EC5,EC6,EC7,EC8,EC9, g = struct.unpack('I16f', data[68*i:68*i+68]) #76, 144, 212, 280
print("Detect[{}] : {}, {}".format(tid, posX, posY))
datas = np.array([posX,posY,0])
target_data[i,]=datas
#np.append(taget_data, datas)
#point_data = np.vstack((taget_data,datas))
else:
print("** parseTargetList Error [{}]**".format(len(data[68*i:68*i+68])))
#pass
#pc = pcl.PointCloud(target_data)
#pcl_xyzrgb = pcl_helper.XYZ_to_XYZRGB(pc, [255,255,255])
#out_ros_msg = pcl_helper.pcl_to_ros(pcl_xyzrgb)
#pub_track.publish(out_ros_msg)
def tlvHeader(data):
while data:
headerLength = 52
try:
magic, version, platform, cpuCycles, length, frameNum, subframeNumber, chirpMargin, frameMargin, uartSentTime, trackProcessTime, numTLVs, checksum = struct.unpack('Q10I2H', data[:headerLength])
#print("numTLVs : ", numTLVs)
#print("length : ", length-52) #exclude header length 52
except:
break
"""checksum
header = struct.unpack('52c', data[:headerLength])
cs = validateChecksum(header)
print (" checksum : {} == {}".format(cs, checksum))
"""
pendingBytes = length - headerLength
data = data[headerLength:]
for i in range(numTLVs):
if (len(data) != 0):
tlvType, tlvLength = tlvHeaderDecode(data[:8])
data = data[8:] # after TLV header
if (tlvType == 6):
parsePoint(data, tlvLength-8)
elif (tlvType == 7):
parseTargetList(data, tlvLength-8)
elif (tlvType == 8):
parseTargetIndex(data, tlvLength-8)
else:
print("- Unidentified tlv type :", hex(tlvType)) # this line print 0x02, 0x04
data = data[tlvLength:]
pendingBytes -= (8+tlvLength)
data = data[pendingBytes:]
yield length, frameNum
def tlvHeaderDecode(data):
if(struct.calcsize('2I') == len(data)):
tlvType, tlvLength = struct.unpack('2I', data)
return tlvType, tlvLength
else:
return 0,0
if __name__ == "__main__":
#rospy.init_node('radar', anonymous=True)
#pub_point = rospy.Publisher("/radar_point", PointCloud2, queue_size=1)
#pub_track = rospy.Publisher("/radar_track", PointCloud2, queue_size=1)
if sys.byteorder == "little":
print("Little-endian platform.")
else:
print("Big-endian platform.")
fileName = "/dev/ttyACM1"
rawDataFile = open(fileName, "rb")
print("Read Data From : ", fileName)
while(1):
rawData = rawDataFile.read()
magic = b'\x02\x01\x04\x03\x06\x05\x08\x07'
offset = rawData.find(magic)
rawData = rawData[offset:]
for length, frameNum in tlvHeader(rawData):
continue
People tracking Demo
- C:\ti\mmwave_industrial_toolbox_3_1_1\labs\lab0011-pplcount\lab0011_pplcount_quickstart\
===========================================================
[IWR1642] v3.1.1
===========================================================
dfeDataOutputMode 1
channelCfg 15 3 0
adcCfg 2 1
adcbufCfg 0 1 1 1
profileCfg 0 77 30 7 62 0 0 60 1 128 2500 0 0 30
chirpCfg 0 0 0 0 0 0 0 1
chirpCfg 1 1 0 0 0 0 0 2
frameCfg 0 1 128 0 50 1 0
lowPower 0 1
guiMonitor 1 1 0 0
cfarCfg 6 4 4 4 4 16 16 4 4 50 62 0
doaCfg 600 1875 30 1
SceneryParam -6 6 0.05 6
GatingParam 4 3 2 0
StateParam 10 5 10 100 5
AllocationParam 450 0.01 25 1 2
VariationParam 0.289 0.289 1.0
PointCloudEn 1
trackingCfg 1 2 250 20 200 50 90
sensorStart
left wall: -6
R wall: 6
front wall: 6
back wall: 0
------------------
===========================================================
[IWR6843] v3.1.1
===========================================================
flushCfg
dfeDataOutputMode 1
channelCfg 15 5 0
adcCfg 2 1
adcbufCfg 0 1 1 1
profileCfg 0 60.6 30 10 62 0 0 53 1 128 2500 0 0 30
chirpCfg 0 0 0 0 0 0 0 1
chirpCfg 1 1 0 0 0 0 0 4
frameCfg 0 1 128 0 50 1 0
lowPower 0 1
guiMonitor 1 1 0 0
cfarCfg 6 4 4 4 4 16 16 4 4 50 62 0
doaCfg 600 1875 30 1 1 0
SceneryParam -6 6 0.5 6
GatingParam 4 3 2 0
StateParam 10 5 100 100 5
AllocationParam 250 250 0.25 10 1 2
AccelerationParam 1 1 1
trackingCfg 1 2 250 20 52 82 50 90
sensorStart
left wall: -6
R wall: 6
front wall: 6
back wall: 0
------------------
var getXYZ_type2 = function (vec, vecIdx, Params, numDetecObj, sizeObj)
{
var x_coord = [];
var y_coord = [];
var z_coord = [];
var doppler = [];
var i, startIdx;
var subFrameNum = Params.currentSubFrameNumber;
/* list of detected objs
for platform = 68xx
typedef struct DPIF_PointCloudCartesian_t
{
x - coordinate in meters
float x;
y - coordinate in meters
float y;
z - coordinate in meters
float z;
Doppler in m/s
float doppler;
}DPIF_PointCloudCartesian;
*/
for (i = 0; i < numDetecObj; i++)
{
/*start index in bytevec for this detected obj*/
startIdx = vecIdx + i*sizeObj;
x_coord[i] = getFloat(vec[startIdx + 0], vec[startIdx + 1], vec[startIdx + 2], vec[startIdx + 3]);
y_coord[i] = getFloat(vec[startIdx + 4], vec[startIdx + 5], vec[startIdx + 6], vec[startIdx + 7]);
z_coord[i] = getFloat(vec[startIdx + 8], vec[startIdx + 9], vec[startIdx + 10], vec[startIdx + 11]);
doppler[i] = getFloat(vec[startIdx + 12], vec[startIdx + 13], vec[startIdx + 14], vec[startIdx + 15]);
}
var range;
range = math.sqrt(math.add(math.dotMultiply(z_coord, z_coord), math.add(math.dotMultiply(x_coord, x_coord), math.dotMultiply(y_coord, y_coord))));
var rangeIdx = math.map(range, function (value) {
return Math.round(value / Params.dataPath[subFrameNum].rangeIdxToMeters);
});
var dopplerIdx = math.map(doppler, function (value) {
return Math.round(value / Params.dataPath[subFrameNum].dopplerResolutionMps);
});
return { rangeIdx: rangeIdx, dopplerIdx: dopplerIdx, x_coord: x_coord, y_coord: y_coord, z_coord: z_coord, doppler: doppler}
}
ttyS0 is the device for the first UART serial port on x86 and x86_64 architectures. If you have a PC motherboard with serial ports you'd be using a ttySn to attach a modem or a serial console.
ttyUSB0 is the device for the first USB serial convertor. If you have an USB serial cable you'd be using a ttyUSBn to connect to the serial port of a router.
ttyAMA0 is the device for the first serial port on ARM architecture. If you have an ARM-based TV box with a serial console and running Android or OpenELEC, you'd be using a ttyAMAn to attach a console to it.
Since there is no guide explaining the data output structure, you will have to view the source code to understand the output. You will be interested in three files
mss_main.c,: transmits the data,mmw_messages.hand<SDK_INSTALL_DIR>/packages/ti/demo/io_interface/mmw_output.h:define the output.