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器件型号：IWR6843 工具/软件：
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我正在使用 IWR6843 的 CAN 接口从雷达接收数据。 我使用了 TI 汽车雷达工厂中提供的 object_data_over_can 示例、用于实现工业雷达 IWR6843 的 CAN 传输。 但是、我目前面临的问题是、如果我将雷达帧周期增加到 20Hz 或每个 50ms、我可以看到一些数据包在 CAN 总线级别丢弃。 当我配置为 5Hz 时、不会观察到压降。 我已给出我要使用的配置：
"sensorStop\n",//stop sensor before configuring
"flushCfg\n",//flush the configuration
"dfeDataOutputMode 1\n",//frame based chirp configuration
"channelCfg 15 7 0\n",//15 = 4 antennas 1111b, 7 = azimuth(tx1 & tx3) and elevation(tx2) both the antennas are enabled 111b, n/a
"adcCfg 2 1\n",//2 = 16-bits adc, 1 = output format complex mode
"adcbufCfg -1 0 1 1 1\n",//-1 = by default, 0 = adcbuf output format only complex mode, 1 = adcbuf iq swap selection, 1 = non-interleaved, 1 = only 1 supported
"profileCfg 0 61 35 6 43.0 0 0 8.241 1 125 3433 0 0 48\n",//0 = profile identifier, 60 = frequency 60GHz, 35 = idle time in usec, 6 = adc start time in usec, 43.0 = ramp end time in usec, 0 = txOutPower(always 0), 0 = txPhaseShifter(always 0), 8.241 = freq. slope in MHz, 1 = txStartTime in usec, 125 = numOfADCSamples, 3433 = digOutSampleRate, 0 = HPF1 175KHz, 0 = HPF2 350KHz, 48 = rxGain
"chirpCfg 0 0 0 0 0 0 0 1\n",// 0 = chirp start index, 0 = chirp end index, 0 = profile identifier, 0 = start freq variation in Hz, 0 = freq slope variation in KHz/us, 0 = idel time variation in us, 0 = adc start time variation in us, 1 = tx enable antenna 001b tx1 enabled & tx2 tx3 disabled
"chirpCfg 1 1 0 0 0 0 0 2\n",// 1 = chirp start index, 1 = chirp end index, 0 = profile identifier, 0 = start freq variation in Hz, 0 = freq slope variation in KHz/us, 0 = idel time variation in us, 0 = adc start time variation in us, 4 = tx enable antenna 100b tx3 enabled & tx1 tx2 disabled
"chirpCfg 2 2 0 0 0 0 0 4\n",// 2 = chirp start index, 2 = chirp end index, 0 = profile identifier, 0 = start freq variation in Hz, 0 = freq slope variation in KHz/us, 0 = idel time variation in us, 0 = adc start time variation in us, 4 = tx enable antenna 100b tx3 enabled & tx1 tx2 disabled
"frameCfg 0 1 128 0 50 1 0\n",//0 = chirp start index, 1 = chirp end index, 128 = doppler chirps, 0 = num of frames, 100 = frame periodicity in ms, 1 = software trigger, 0 = frame trigger delay in ms
"lowPower 0 0\n",//0 = dont care, 0 = regular adc mode
"guiMonitor -1 1 0 0 0 0 0\n",//-1 = by default, 1 = enable export of point cloud(x,y,z,doppler,snr,noiseval), 0 = disabled to log magnitude range, 0 = disabled to log noise profile,
"cfarCfg -1 0 2 8 4 3 0 10 1\n",//-1 = by default, 0 = detection in range direction, 2 = CFAR_CASO, 8 = noise avg window length, 4 = guard length, 3 = division shift, 0 = cyclic/wrap around mode disabled, 10 = threshold scale in dB, 1 = peak groupnig enabled to resolve radar freeze issue
"cfarCfg -1 1 0 4 2 3 1 10 1\n",//-1 = by default, 1 = detection in doppler direction, 0 = CFAR_CA, 4 = noise avg window length, 2 = guard length, 3 = division shift, 1 = cyclic/wrap around mode enabled, 10 = threshold scale in dB, 1 = peak groupnig enabled to resolve radar freeze issue
"multiObjBeamForming -1 1 0.5\n",
"clutterRemoval -1 0\n",//disabled clutter removal to detect static objects
"calibDcRangeSig -1 0 -5 8 256\n",
"extendedMaxVelocity -1 0\n",
"bpmCfg -1 0 0 1\n",
"lvdsStreamCfg -1 0 0 0\n",
"compRangeBiasAndRxChanPhase 0.0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0\n",
"measureRangeBiasAndRxChanPhase 0 1.5 0.2\n",
"CQRxSatMonitor 0 3 4 63 0\n",
"CQSigImgMonitor 0 127 4\n",
"analogMonitor 0 0\n",
"aoaFovCfg -1 -60 60 -17 17\n",
"cfarFovCfg -1 0 0 49.99\n",
"cfarFovCfg -1 1 -30 30.00\n",
"%SceneryParam -50 50 0.5 60 -6 6\n",
"staticBoundaryBox -50 50 0.5 60 -0.5 6\n",
"boundaryBox -50 50 0.5 60 -0.5 6\n",
"gatingParam 4 6 6 6 10\n",
"stateParam 4 10 60 600 20 600\n",
"allocationParam 30 30 0.5 3 2 2\n",
"maxAcceleration 0.1 0.1 0.1\n",
"trackingCfg 1 2 250 20 78 121 99\n",
"sensorPosition 2 0 0\n",
"presenceBoundaryBox -3 3 2 6 0.5 2.5\n",
"sensorStart\r\n",
有人能告诉我在 20Hz 下使用雷达是否存在任何固有限制、或者我应该使用什么指标来决定最大频率应该是多少吗？ 指向应在其中搜索的相关文档的任何链接也很有帮助。
此致、
Prishat
