Calculating Distance and Velocity from FMCW Radar Data in MATLAB

I'm working on processing FMCW radar data in MATLAB for a project, and I need to calculate the distance and velocity of a detected object. The dataset I have is called 'adcData' and is structured in three dimensions:

The first dimension (columns) contains sampled values for a single ramp. The second dimension (rows) indexes the ramp number. The third dimension represents the antenna number.

The assignment says: "You're tasked with generating the spectrum for each ramp for both antennas and storing this in a variable named FFT_R. Additionally, you're supposed to create a frequency vector Fr and use it to calculate the distance vector R."

F_c = 76.5e9;

B = 300e6;

lambda = 3e8 / F_c;

d = lambda / 2;

T_rampe = 64e-6;

T_PRI = 70e-6;

N_Rampen = 128;

F_Sample = 4e6;

N_Samples = T_rampe * F_Sample;

%b.)

t = 0:1/F_Sample:T_rampe-1/F_Sample;

x_ant1 = adcData(:, 1, 1);

x_ant2 = adcData(:, 1, 2);

N_Samples_per_Ramp = size(adcData, 1);

FFTR = fft(adcData, [], 1);

FFTR = fftshift(FFTR, 1);

magnitude = abs(FFTR);

[maxValue, maxRangeIndex] = max(magnitude);

df = F_Sample / N_Samples_per_Ramp;

Fr = (-N_Samples_per_Ramp/2:N_Samples_per_Ramp/2-1) * df;

f_beat = Fr(maxRangeIndex);

R = (f_beat * c) / (2 * B);

The formula for R doesn't seem to be correct, the values it produces dont make sense at all, and the dimensions of R are 1x128x2, which seems plausible, one R for every ramp. Unfortunately, I can't find the proper formula or the way to do that in any of my course materials.

[VICTOR RANGEL LICEA]

It seems that the R formula is incomplete, From https://rfbeam.ch/wp-content/uploads/dlm_uploads/2022/10/ST200_UserManual.pdf, page 15 the formula to get R is

R = (c/2) *(f_beat/B) * (TM /2); where TM es the modulation period