SWRA656C May   2020  – October 2022 AWR6843 , AWR6843AOP , IWR1642 , IWR1843 , IWR6443 , IWR6843 , IWR6843AOP

 

  1.   Migrating to xWR68xx and xWR18xx Millimeter Wave Sensors
  2.   Trademarks
  3. 1Introduction
  4. 2xWR1843 Hardware/Software Migration
    1. 2.1 Migrating From xWR1642 to xWR1843
      1. 2.1.1 Device Comparison
      2. 2.1.2 Hardware Migration Notes
        1. 2.1.2.1 Antenna Addition
      3. 2.1.3 Hardware Design Checklist
      4. 2.1.4 Software Migration Notes
  5. 3xWR6843AoP ES2.0 Migration
    1. 3.1 Hardware Changes From xWR6843AoP ES1.0 to xWR6843AoP ES2.0
    2. 3.2 Software Migration From xWR6843AoP ES1.0 to xWR6843AoP ES2.0
      1. 3.2.1 xWR6843AoP ES2.0 - Platform Software Updates
      2. 3.2.2 xWR6843AoP ES2.0 - AoA Software Updates
  6. 4Helpful Resources
  7. 5Code Snapshots
    1. 5.1  SDK 3.3 API Change for MMWave_open
    2. 5.2  SDK 3.3 API Change for ADCBuf_open
    3. 5.3  SDK 3.3 API Change for CANFD_init
    4. 5.4  SDK 3.3 68xx Secondary Bootloader Update
    5. 5.5  SDK 3.3 16xx vs 68xx: Calibration Frequency Update
    6. 5.6  SDK 3.3 16xx vs 68xx: SoC Definition Updates
    7. 5.7  SDK 3.3 16xx vs 18xx: SoC Definition Updates
    8. 5.8  SDK 3.4 xWR68xx Calibration Frequency Update
    9. 5.9  SDK 3.4 Object Detect HWA DPC Range FFT Scaling
    10. 5.10 SDK 3.4 Object Detect Range HWA DPC Radar Cube Format
    11. 5.11 xWR6843AoP ES1.0 Antenna Geometry
    12. 5.12 xWR6843AoP ES2.0 Antenna Geometry
    13. 5.13 xWR6843AoP ES2.0 Antenna Geometry Code Update
    14. 5.14 Antenna Geometry Structure Usage in mmw demo
    15. 5.15 xWR6843AoP ES2.0 RX Channel Phase Compensation
  8. 6References
  9. 7Revision History

3.2.1 xWR6843AoP ES2.0 - Platform Software Updates

Table 3-2 xWR6843AoP ES2.0 Software - Platform Updates
NoSummaryComponents ImpactedRequired Changes
1MMWAVE-SDK 3.4.0 or above required for xWR6843AoP ES2.0Makefile OR CCS projectsApplication code must be re-compiled with MMWAVE-SDK 3.4.0 or above to run on xWR6843AoP ES2.0 as prior SDK versions are not compatible with ES2.0. Conversely, SDK 3.4.0 is not compatible with xWR6843AoP ES1.0 devices.
Makefile: No change required if you are using SDK makefiles, as this is automatically handled in the SDK 3.4 environment setup script: C:\ti\mmwave_sdk_03_04_xx_xx\packages\scripts\windows\setenv.bat OR
CCS Projectspec: If the application is compiled using CCS projectspecs, you need to update the products property in DSS and MSS projectspecs as shown below.
<property name="products" value="com.ti.rtsc.SYSBIOS:6.73.01.01;com.ti.MMWAVE_SDK:3.4.0.03;"/>
Example: For reference CCS projects for xWR6843AoP ES2.0, see the 68xx AoP – mmWave SDK Demo available in MMWAVE Industrial Toolbox.
2Change the value of SHMEM_ALLOC parameter in MetaImage (flashable) binary generation step.Makefile OR CCS projects (mss).The value of SHMEM_ALLOC parameter should be set to 0x00000006 for ES2.0 (it was 0x02000006 for ES1.0 device).
Makefile: No change required if you are using SDK makefiles build, as this is automatically handled in the SDK 3.4 device specific makefiles.
OR
CCS Projectspec: If the application is compiled using CCS projectspecs, update the postBuildStep in MSS projectspec to replace the value 0x02000006 with 0x00000006.
Example: For reference CCS projects for xWR6843AoP ES2.0 , see the 68xx AoP – mmWave SDK Demo available in MMWAVE Industrial Toolbox.
3Update RadarSS firmware file nameMakefile OR CCS projects (mss)The RadarSS binary for xwr6xxx devices is now called xwr6xxx_radarss_rprc.bin instead of iwr6xxx_radarss_rprc.bin. Makefile: No change required if you are using SDK makefiles, as this is automatically handled in the SDK 3.4 environment setup script based on the MMWAVE_SDK_DEVICE variable.
OR
CCS Projectspec: If the application is compiled using CCS projectspecs, replace iwr6xxx_radarss_rprc.bin with xwr6xxx_radarss_rprc.bin in the metaimage generation steps (postbuild steps)
Example: For reference CCS projects for xWR6843AoP ES2.0 , see the 68xx AoP – mmWave SDK Demo available in MMWAVE Industrial Toolbox.
4API update for MMWave_open
SDK 3.3 and above requires a new parameter to be passed to MMWave_open		MSS/DSS start-up codeMMWave_open: Application must set the value of calibMonTimeUnit parameter before calling MMWave_open as shown below. The image below shows reference code updates in the SDK 68xx mmw demo
File: mmwave_sdk_03_04_xx_xx\packages\ti\demo\xwr68xx\mmw\mss\mss_main.c
Code Snapshot: see Section 5.1
5API update for ADCBuf_open
SDK 3.3 and above requires a new parameter to be passed to ADCBuf_open		MSS/DSS start-up codeADCBUF_open: Application must set the value of socHandle in the ADCBufparams structure before calling ADCBUF_open as shown below. The image below shows reference code updates in the SDK 68xx mmw demo.
File: mmwave_sdk_03_04_xx_xx\packages\ti\demo\utils\mmwdemo_adcconfig.c
Code Snapshot: see Section 5.2
6API update for CANFD_init
SDK 3.3 and above requires new parameter to be passed to CANFD_init		DriversCANDF_init: Applications using CANFD driver must pass instance ID to the CANFD_init API as shown below. Only a value of 0 is supported at this time. The image below shows reference code updates in the SDK CANFD driver test.
File: mmwave_sdk_03_04_xx_xx\packages\ti\drivers\canfd\test\xwr68xx\main.c
Code Snapshot: see Section 5.3
7SDK 3.3 and above removes support for Bus error interrupt from the DMA driver for xWR6843 ES2 as that interrupt is not hooked up to the device.DriversApplication would get an error code back from the xwr68xx driver if DMA_enable Interrupt API is called for DMA_IntType_BER. You can either remove the call to the above API or ignore the error; however you should review the DMA usage to make sure there is no invalid memory access via MSS DMA engine.
8General note on CLI configuration fileSensor ConfigurationFor applications that re-use the mmWave demo/CLI framework, ensure that the configuration commands (for example, profileCfg, chirpCfg, frameCfg, and so forth) follow the format provided in sample configuration files provided in the mmw demo directory:
C:\ti\mmwave_sdk_03_04_xx_xx\packages\ti\demo\xwr64xx\mmw\profiles.
for more details, see the Configuration File Format section in the mmwwave SDK User's Guide. Section 6
9BSS clock un-gate required in Secondary bootloaderSecondary BootloaderNote: This update is not related to the main application. It is needed only if you are using a custom secondary bootloader in your system. The Secondary Bootloader must ungate BSS clock using SOC gate/ungate API before downloading image to RadarSS/BSS memory as shown below.
The image below shows reference code updates in the SDK secondary bootloader example.
File: C:\ti\mmwave_sdk_03_04_xx_xx\packages\ti\utils\sbl\platform\sbl_xwr68xx.c
Code Snapshot: see Section 5.4
10SDK 3.4 mmWave layer enables all valid init time and runtime calibrations for xwr6xxx devicesMSS/DSS start-up codeApplication should pass valid values for freqLimitLow and freqLimitHigh in mmWave_Open API and can now enable periodic calibrations in mmWave_Start API
The image below shows reference code updates in the SDK 68xx mmw demo.
File: mmwave_sdk_03_04_00_03\packages\ti\demo\xwr68xx\mmw\mss\mss_main.c
Code Snapshot: see Section 5.8
11Object detection DPC accepts antenna geometry to enable wider configurations of Tx/Rx antennasDPCconfigurationThis field is mandatory only for HWA-based Object detection DPC when compiled to use the new AoA 2D algorithm (in the xwr64xx AoP mmw demo). For DSP-based DPC and for HWA-based DPC that uses standard AoA DPU, this field is unused.
The image below shows the reference code in the SDK 64xx mmw demo. File: mmwave_sdk_03_04_00_03\packages\ti\demo\xwr64xx\mmw\main.c
Code Snapshot: see Section 5.14
12Object Detection HWA DPC now accepts Range FFT Scaling ParametersDPC configurationRange HWA-based DPU and Object detection HWA-based DPCs now allow you to set the scaling values for butterfly stages and converting from internal 24-bit to 16- bit output
The image below shows the reference code in the SDK 64xx mmw demo. File: mmwave_sdk_03_04_00_03\packages\ti\demo\xwr64xx\mmw\main.c
Code Snapshot: see Section 5.9
13Objectdetection Range HWA DPC now allows user to specify the radar cube formatDPC ConfigurationObjDetRangeHWA DPC allows user to specify the radar cube format to allow flexibility in integrating various DSP based algorithms/processing chains

Note: mmW demos support only DPIF_RADARCUBE_FORMAT_

The image below shows the reference code in the SDK 68xx mmw demo. File: mmwave_sdk_03_04_00_03\packages\ti\demo\xwr68xx\mmw\mss\mss_main.c

Code Snapshot: see Section 5.10
14Updates related to saving/restoring device calibration parameters (Phase shift calibration parameters)For more details on this and other calibration related updates, see the MMWAVE-SDK 3.4.0 release notes in the Migration Notes.