example_detector_distance_with_iq_data_print.c

This is an example on how the Detector Distance API can be used
This example executes as follows:

- Retrieve HAL integration
- Initialize distance detector resources:
  - Create distance detector configuration
  - Update configuration settings
  - Create Distance detector handle
  - Create buffer for detector calibration data
  - Create buffer for sensor data
- Create and calibrate the sensor
- Calibrate the detector
- Measure distances with the detector (loop):
  - Prepare sensor with the detector
  - Measure and wait until a read can be done
  - Print IQ data amplitude
  - Process measurement and print the result
  - Handle "calibration_needed" indication
- Cleanup:
  - Destroy detector configuration
  - Destroy detector handle
  - Destroy sensor data buffer
  - Destroy detector calibration data buffer

// Copyright (c) Acconeer AB, 2023-2024
// All rights reserved
// This file is subject to the terms and conditions defined in the file
// 'LICENSES/license_acconeer.txt', (BSD 3-Clause License) which is part
// of this source code package.
#include <math.h>
#include <stdbool.h>
#include <stdint.h>
#include <stdio.h>
#include <stdlib.h>
#include "acc_definitions_a121.h"
#include "acc_detector_distance.h"
#include "acc_hal_definitions_a121.h"
#include "acc_hal_integration_a121.h"
#include "acc_integration.h"
#include "acc_integration_log.h"
#include "acc_rss_a121.h"
#include "acc_sensor.h"
#include "acc_version.h"
/** \example example_detector_distance_with_iq_data_print.c
* @brief This is an example on how the Detector Distance API can be used
* @n
* This example executes as follows:
* - Retrieve HAL integration
* - Initialize distance detector resources:
* + Create distance detector configuration
* + Update configuration settings
* + Create Distance detector handle
* + Create buffer for detector calibration data
* + Create buffer for sensor data
* - Create and calibrate the sensor
* - Calibrate the detector
* - Measure distances with the detector (loop):
* + Prepare sensor with the detector
* + Measure and wait until a read can be done
* + Print IQ data amplitude
* + Process measurement and print the result
* + Handle "calibration_needed" indication
* - Cleanup:
* + Destroy detector configuration
* + Destroy detector handle
* + Destroy sensor data buffer
* + Destroy detector calibration data buffer
*/
typedef enum
{
DISTANCE_PRESET_CONFIG_NONE = 0,
DISTANCE_PRESET_CONFIG_BALANCED,
DISTANCE_PRESET_CONFIG_HIGH_ACCURACY,
} distance_preset_config_t;
#define SENSOR_ID (1U)
// 2 seconds should be enough even for long ranges and high signal quality
#define SENSOR_TIMEOUT_MS (2000U)
typedef struct
{
acc_sensor_t *sensor;
acc_detector_distance_config_t *config;
acc_detector_distance_handle_t *handle;
void *buffer;
uint32_t buffer_size;
uint8_t *detector_cal_result_static;
uint32_t detector_cal_result_static_size;
acc_detector_cal_result_dynamic_t detector_cal_result_dynamic;
} distance_detector_resources_t;
static void cleanup(distance_detector_resources_t *resources);
static void set_config(acc_detector_distance_config_t *detector_config, distance_preset_config_t preset);
static bool initialize_detector_resources(distance_detector_resources_t *resources);
static bool do_sensor_calibration(acc_sensor_t *sensor, acc_cal_result_t *sensor_cal_result, void *buffer, uint32_t buffer_size);
static bool do_full_detector_calibration(distance_detector_resources_t *resources, const acc_cal_result_t *sensor_cal_result);
static bool do_detector_calibration_update(distance_detector_resources_t *resources, const acc_cal_result_t *sensor_cal_result);
static bool do_detector_get_next(distance_detector_resources_t *resources,
const acc_cal_result_t *sensor_cal_result,
acc_detector_distance_result_t *result);
static void print_distance_result(const acc_detector_distance_result_t *result);
static void print_iq_data(const acc_config_t *sensor_config,
acc_processing_result_t *processing_result,
acc_processing_metadata_t *processing_metadata);
int acconeer_main(int argc, char *argv[]);
int acconeer_main(int argc, char *argv[])
{
(void)argc;
(void)argv;
distance_detector_resources_t resources = {0};
printf("Acconeer software version %s\n", acc_version_get());
const acc_hal_a121_t *hal = acc_hal_rss_integration_get_implementation();
if (!acc_rss_hal_register(hal))
{
return EXIT_FAILURE;
}
resources.config = acc_detector_distance_config_create();
if (resources.config == NULL)
{
printf("acc_detector_distance_config_create() failed\n");
cleanup(&resources);
return EXIT_FAILURE;
}
set_config(resources.config, DISTANCE_PRESET_CONFIG_BALANCED);
if (!initialize_detector_resources(&resources))
{
printf("Initializing detector resources failed\n");
cleanup(&resources);
return EXIT_FAILURE;
}
// Print the configuration
acc_detector_distance_config_log(resources.handle, resources.config);
/* Turn the sensor on */
acc_hal_integration_sensor_supply_on(SENSOR_ID);
acc_hal_integration_sensor_enable(SENSOR_ID);
resources.sensor = acc_sensor_create(SENSOR_ID);
if (resources.sensor == NULL)
{
printf("acc_sensor_create() failed\n");
cleanup(&resources);
return EXIT_FAILURE;
}
acc_cal_result_t sensor_cal_result;
if (!do_sensor_calibration(resources.sensor, &sensor_cal_result, resources.buffer, resources.buffer_size))
{
printf("Sensor calibration failed\n");
cleanup(&resources);
return EXIT_FAILURE;
}
if (!do_full_detector_calibration(&resources, &sensor_cal_result))
{
printf("Detector calibration failed\n");
cleanup(&resources);
return EXIT_FAILURE;
}
while (true)
{
acc_detector_distance_result_t result = {0};
if (!do_detector_get_next(&resources, &sensor_cal_result, &result))
{
printf("Could not get next result\n");
cleanup(&resources);
return EXIT_FAILURE;
}
/* If "calibration needed" is indicated, the sensor needs to be recalibrated and the detector calibration updated */
if (result.calibration_needed)
{
printf("Sensor recalibration and detector calibration update needed ... \n");
if (!do_sensor_calibration(resources.sensor, &sensor_cal_result, resources.buffer, resources.buffer_size))
{
printf("Sensor calibration failed\n");
cleanup(&resources);
return EXIT_FAILURE;
}
/* Once the sensor is recalibrated, the detector calibration should be updated and measuring can continue. */
if (!do_detector_calibration_update(&resources, &sensor_cal_result))
{
printf("Detector calibration update failed\n");
cleanup(&resources);
return EXIT_FAILURE;
}
printf("Sensor recalibration and detector calibration update done!\n");
}
else
{
print_distance_result(&result);
}
}
cleanup(&resources);
printf("Done!\n");
return EXIT_SUCCESS;
}
static void cleanup(distance_detector_resources_t *resources)
{
acc_hal_integration_sensor_disable(SENSOR_ID);
acc_hal_integration_sensor_supply_off(SENSOR_ID);
acc_detector_distance_config_destroy(resources->config);
acc_detector_distance_destroy(resources->handle);
acc_integration_mem_free(resources->buffer);
acc_integration_mem_free(resources->detector_cal_result_static);
if (resources->sensor != NULL)
{
acc_sensor_destroy(resources->sensor);
}
}
static void set_config(acc_detector_distance_config_t *detector_config, distance_preset_config_t preset)
{
// Add configuration of the detector here
switch (preset)
{
case DISTANCE_PRESET_CONFIG_NONE:
// Add configuration of the detector here
break;
case DISTANCE_PRESET_CONFIG_BALANCED:
acc_detector_distance_config_start_set(detector_config, 0.25f);
acc_detector_distance_config_end_set(detector_config, 3.0f);
acc_detector_distance_config_max_step_length_set(detector_config, 0U);
acc_detector_distance_config_max_profile_set(detector_config, ACC_CONFIG_PROFILE_5);
acc_detector_distance_config_reflector_shape_set(detector_config, ACC_DETECTOR_DISTANCE_REFLECTOR_SHAPE_GENERIC);
acc_detector_distance_config_peak_sorting_set(detector_config, ACC_DETECTOR_DISTANCE_PEAK_SORTING_STRONGEST);
acc_detector_distance_config_threshold_method_set(detector_config, ACC_DETECTOR_DISTANCE_THRESHOLD_METHOD_CFAR);
acc_detector_distance_config_threshold_sensitivity_set(detector_config, 0.5f);
acc_detector_distance_config_signal_quality_set(detector_config, 15.0f);
acc_detector_distance_config_close_range_leakage_cancellation_set(detector_config, false);
break;
case DISTANCE_PRESET_CONFIG_HIGH_ACCURACY:
acc_detector_distance_config_start_set(detector_config, 0.25f);
acc_detector_distance_config_end_set(detector_config, 3.0f);
acc_detector_distance_config_max_step_length_set(detector_config, 2U);
acc_detector_distance_config_max_profile_set(detector_config, ACC_CONFIG_PROFILE_3);
acc_detector_distance_config_reflector_shape_set(detector_config, ACC_DETECTOR_DISTANCE_REFLECTOR_SHAPE_GENERIC);
acc_detector_distance_config_peak_sorting_set(detector_config, ACC_DETECTOR_DISTANCE_PEAK_SORTING_STRONGEST);
acc_detector_distance_config_threshold_method_set(detector_config, ACC_DETECTOR_DISTANCE_THRESHOLD_METHOD_CFAR);
acc_detector_distance_config_threshold_sensitivity_set(detector_config, 0.5f);
acc_detector_distance_config_signal_quality_set(detector_config, 20.0f);
acc_detector_distance_config_close_range_leakage_cancellation_set(detector_config, false);
break;
}
}
static bool initialize_detector_resources(distance_detector_resources_t *resources)
{
resources->handle = acc_detector_distance_create(resources->config);
if (resources->handle == NULL)
{
printf("acc_detector_distance_create() failed\n");
return false;
}
if (!acc_detector_distance_get_sizes(resources->handle, &(resources->buffer_size), &(resources->detector_cal_result_static_size)))
{
printf("acc_detector_distance_get_sizes() failed\n");
return false;
}
resources->buffer = acc_integration_mem_alloc(resources->buffer_size);
if (resources->buffer == NULL)
{
printf("sensor buffer allocation failed\n");
return false;
}
resources->detector_cal_result_static = acc_integration_mem_alloc(resources->detector_cal_result_static_size);
if (resources->detector_cal_result_static == NULL)
{
printf("calibration buffer allocation failed\n");
return false;
}
return true;
}
static bool do_sensor_calibration(acc_sensor_t *sensor, acc_cal_result_t *sensor_cal_result, void *buffer, uint32_t buffer_size)
{
bool status = false;
bool cal_complete = false;
const uint16_t calibration_retries = 1U;
// Random disturbances may cause the calibration to fail. At failure, retry at least once.
for (uint16_t i = 0; !status && (i <= calibration_retries); i++)
{
// Reset sensor before calibration by disabling/enabling it
acc_hal_integration_sensor_disable(SENSOR_ID);
acc_hal_integration_sensor_enable(SENSOR_ID);
do
{
status = acc_sensor_calibrate(sensor, &cal_complete, sensor_cal_result, buffer, buffer_size);
if (status && !cal_complete)
{
status = acc_hal_integration_wait_for_sensor_interrupt(SENSOR_ID, SENSOR_TIMEOUT_MS);
}
} while (status && !cal_complete);
}
if (status)
{
/* Reset sensor after calibration by disabling/enabling it */
acc_hal_integration_sensor_disable(SENSOR_ID);
acc_hal_integration_sensor_enable(SENSOR_ID);
}
return status;
}
static bool do_full_detector_calibration(distance_detector_resources_t *resources, const acc_cal_result_t *sensor_cal_result)
{
bool done = false;
bool status;
do
{
status = acc_detector_distance_calibrate(resources->sensor,
resources->handle,
sensor_cal_result,
resources->buffer,
resources->buffer_size,
resources->detector_cal_result_static,
resources->detector_cal_result_static_size,
&resources->detector_cal_result_dynamic,
&done);
if (status && !done)
{
status = acc_hal_integration_wait_for_sensor_interrupt(SENSOR_ID, SENSOR_TIMEOUT_MS);
}
} while (status && !done);
return status;
}
static bool do_detector_calibration_update(distance_detector_resources_t *resources, const acc_cal_result_t *sensor_cal_result)
{
bool done = false;
bool status;
do
{
status = acc_detector_distance_update_calibration(resources->sensor,
resources->handle,
sensor_cal_result,
resources->buffer,
resources->buffer_size,
&resources->detector_cal_result_dynamic,
&done);
if (status && !done)
{
status = acc_hal_integration_wait_for_sensor_interrupt(SENSOR_ID, SENSOR_TIMEOUT_MS);
}
} while (status && !done);
return status;
}
static bool do_detector_get_next(distance_detector_resources_t *resources,
const acc_cal_result_t *sensor_cal_result,
acc_detector_distance_result_t *result)
{
bool result_available = false;
do
{
if (!acc_detector_distance_prepare(resources->handle,
resources->config,
resources->sensor,
sensor_cal_result,
resources->buffer,
resources->buffer_size))
{
printf("acc_detector_distance_prepare() failed\n");
return false;
}
if (!acc_sensor_measure(resources->sensor))
{
printf("acc_sensor_measure() failed\n");
return false;
}
if (!acc_hal_integration_wait_for_sensor_interrupt(SENSOR_ID, SENSOR_TIMEOUT_MS))
{
printf("Sensor interrupt timeout\n");
return false;
}
if (!acc_sensor_read(resources->sensor, resources->buffer, resources->buffer_size))
{
printf("acc_sensor_read() failed\n");
return false;
}
if (!acc_detector_distance_process(resources->handle,
resources->buffer,
resources->detector_cal_result_static,
&resources->detector_cal_result_dynamic,
&result_available,
result))
{
printf("acc_detector_distance_process() failed\n");
return false;
}
/**
* The function for printing the IQ data must be called every time
* the acc_detector_distance_process has been called.
*/
print_iq_data(result->sensor_config, result->processing_result, result->processing_metadata);
} while (!result_available);
return true;
}
static void print_iq_data(const acc_config_t *sensor_config,
acc_processing_result_t *processing_result,
acc_processing_metadata_t *processing_metadata)
{
/* Get the iq data frame from the processing result */
acc_int16_complex_t *frame = processing_result->frame;
/* Get information about the frame from the sensor config */
uint16_t sweeps_per_frame = acc_config_sweeps_per_frame_get(sensor_config);
uint8_t num_subsweeps = acc_config_num_subsweeps_get(sensor_config);
uint16_t sweep_length = processing_metadata->frame_data_length / sweeps_per_frame;
printf("BEGIN:Distance(m), [Frame], Amplitude\n");
/* Loop over all subsweeps */
for (uint8_t subsweep_idx = 0; subsweep_idx < num_subsweeps; subsweep_idx++)
{
/* Get information about the start point and step length from the sensor config */
int32_t start_point = acc_config_subsweep_start_point_get(sensor_config, subsweep_idx);
uint16_t step_length = acc_config_subsweep_step_length_get(sensor_config, subsweep_idx);
/* Get subsweep offset and length from the processing metadata */
uint16_t subsweep_offset = processing_metadata->subsweep_data_offset[subsweep_idx];
uint16_t subsweep_length = processing_metadata->subsweep_data_length[subsweep_idx];
/* Loop over all points in subsweep */
for (uint16_t point_idx = 0; point_idx < subsweep_length; point_idx++)
{
/* Print the point distance, in meters */
float distance = acc_processing_points_to_meter(start_point + point_idx * step_length);
printf("%" PRIfloat ", [", ACC_LOG_FLOAT_TO_INTEGER(distance));
/* Perform a coherent mean calculation for the point over sweeps per frame */
int32_t iq_point_real_acc = 0;
int32_t iq_point_imag_acc = 0;
/* Loop over all points in sweeps_per_frame */
for (uint16_t sweep_idx = 0; sweep_idx < sweeps_per_frame; sweep_idx++)
{
uint16_t point_offset = sweep_idx * sweep_length + subsweep_offset + point_idx;
iq_point_real_acc += frame[point_offset].real;
iq_point_imag_acc += frame[point_offset].imag;
/* Make sure to print correct sign for imaginary part*/
char sign[1] = "+";
int16_t imag = frame[point_offset].imag;
if (imag < 0)
{
sign[0] = '-';
imag = -imag;
}
/* Print IQ point*/
printf("%" PRIi16 "%s%" PRIi16 "i%s", frame[point_offset].real, sign, imag, ((sweep_idx + 1 == sweeps_per_frame) ? "" : ", "));
}
iq_point_real_acc = iq_point_real_acc / sweeps_per_frame;
iq_point_imag_acc = iq_point_imag_acc / sweeps_per_frame;
/* Calculate the absolute value of the IQ point */
uint32_t iq_point_abs = (uint32_t)sqrt(iq_point_real_acc * iq_point_real_acc + iq_point_imag_acc * iq_point_imag_acc);
/* Print the point absolute value */
printf("], %" PRIu32 "\n", iq_point_abs);
}
}
printf("END:Distance(m), [Frame], Amplitude\n");
}
static void print_distance_result(const acc_detector_distance_result_t *result)
{
printf("%d detected distances", result->num_distances);
if (result->num_distances > 0)
{
printf(": ");
for (uint8_t i = 0; i < result->num_distances; i++)
{
printf("%" PRIfloat " m ", ACC_LOG_FLOAT_TO_INTEGER(result->distances[i]));
}
}
printf("\n");
}
acc_hal_integration_sensor_supply_off
void acc_hal_integration_sensor_supply_off(acc_sensor_id_t sensor_id)
Power off sensor supply.
Definition: acc_hal_integration_stm32cube_xm.c:104
acc_rss_a121.h
acc_detector_distance_get_sizes
bool acc_detector_distance_get_sizes(const acc_detector_distance_handle_t *handle, uint32_t *buffer_size, uint32_t *detector_cal_result_static_size)
Get the memory size needed to use the Distance Detector API functions.
acc_processing_metadata_t::subsweep_data_offset
uint16_t subsweep_data_offset[(4U)]
Definition: acc_processing.h:43
cargo_result_t::calibration_needed
bool calibration_needed
Definition: example_cargo.h:112
acc_detector_distance_config_peak_sorting_set
void acc_detector_distance_config_peak_sorting_set(acc_detector_distance_config_t *config, acc_detector_distance_peak_sorting_t peak_sorting)
Set peak sorting method.
DISTANCE_PRESET_CONFIG_HIGH_ACCURACY
@ DISTANCE_PRESET_CONFIG_HIGH_ACCURACY
Definition: example_detector_distance_with_iq_data_print.c:53
acc_hal_integration_sensor_supply_on
void acc_hal_integration_sensor_supply_on(acc_sensor_id_t sensor_id)
Power on sensor supply.
Definition: acc_hal_integration_stm32cube_xm.c:99
acc_processing_result_t
Result provided by the processing module.
Definition: acc_processing.h:71
do_detector_get_next
static bool do_detector_get_next(distance_detector_resources_t *resources, const acc_cal_result_t *sensor_cal_result, acc_detector_distance_result_t *result)
Definition: example_detector_distance_with_iq_data_print.c:375
do_detector_calibration_update
static bool do_detector_calibration_update(distance_detector_resources_t *resources, const acc_cal_result_t *sensor_cal_result)
Definition: example_detector_distance_with_iq_data_print.c:351
distance_detector_resources_t::detector_cal_result_static_size
uint32_t detector_cal_result_static_size
Definition: i2c_distance_detector.c:39
acc_sensor_read
bool acc_sensor_read(const acc_sensor_t *sensor, void *buffer, uint32_t buffer_size)
Read out radar data.
buffer
void * buffer
Definition: i2c_example_cargo.c:40
acc_version.h
sensor_cal_result
acc_cal_result_t sensor_cal_result
Definition: i2c_example_cargo.c:36
acc_config_num_subsweeps_get
uint8_t acc_config_num_subsweeps_get(const acc_config_t *config)
Get the number of subsweeps to use.
cleanup
static void cleanup(distance_detector_resources_t *resources)
Definition: example_detector_distance_with_iq_data_print.c:205
acc_int16_complex_t
Data type for interger-based representation of complex numbers.
Definition: acc_definitions_common.h:40
ACC_DETECTOR_DISTANCE_PEAK_SORTING_STRONGEST
@ ACC_DETECTOR_DISTANCE_PEAK_SORTING_STRONGEST
Definition: acc_detector_distance_definitions.h:36
distance_detector_resources_t::buffer_size
uint32_t buffer_size
Definition: i2c_distance_detector.c:37
acc_detector_distance_config_threshold_method_set
void acc_detector_distance_config_threshold_method_set(acc_detector_distance_config_t *config, acc_detector_distance_threshold_method_t threshold_method)
Set threshold method.
distance_preset_config_t
distance_preset_config_t
Definition: example_detector_distance_low_power_hibernate.c:47
print_distance_result
static void print_distance_result(const acc_detector_distance_result_t *result)
Definition: example_detector_distance_with_iq_data_print.c:504
acc_cal_result_t
The result from a completed calibration.
Definition: acc_definitions_a121.h:30
acc_detector_distance_config_start_set
void acc_detector_distance_config_start_set(acc_detector_distance_config_t *config, float start_m)
Set start of measured interval (m)
acconeer_main
int acconeer_main(int argc, char *argv[])
Assembly test example.
Definition: example_detector_distance_with_iq_data_print.c:96
ACC_CONFIG_PROFILE_5
@ ACC_CONFIG_PROFILE_5
Definition: acc_definitions_a121.h:57
acc_integration.h
acc_detector_distance_create
acc_detector_distance_handle_t * acc_detector_distance_create(const acc_detector_distance_config_t *config)
Create Distance Detector handle using the provided Distance Detector configuration.
do_sensor_calibration
static bool do_sensor_calibration(acc_sensor_t *sensor, acc_cal_result_t *sensor_cal_result, void *buffer, uint32_t buffer_size)
Definition: example_detector_distance_with_iq_data_print.c:291
acc_detector_distance_config_destroy
void acc_detector_distance_config_destroy(acc_detector_distance_config_t *config)
Destroy Distance Detector configuration.
DISTANCE_PRESET_CONFIG_BALANCED
@ DISTANCE_PRESET_CONFIG_BALANCED
Definition: example_detector_distance_with_iq_data_print.c:52
config
cargo_config_t config
Definition: i2c_example_cargo.c:34
acc_hal_rss_integration_get_implementation
const acc_hal_a121_t * acc_hal_rss_integration_get_implementation(void)
Get hal implementation reference.
Definition: acc_hal_integration_stm32cube_xm.c:152
DISTANCE_PRESET_CONFIG_NONE
@ DISTANCE_PRESET_CONFIG_NONE
Definition: example_detector_distance_with_iq_data_print.c:51
acc_detector_distance_calibrate
bool acc_detector_distance_calibrate(acc_sensor_t *sensor, acc_detector_distance_handle_t *handle, const acc_cal_result_t *sensor_cal_result, void *buffer, uint32_t buffer_size, uint8_t *detector_cal_result_static, uint32_t detector_cal_result_static_size, acc_detector_cal_result_dynamic_t *detector_cal_result_dynamic, bool *calibration_complete)
Calibrate detector.
distance_detector_resources_t::detector_cal_result_dynamic
acc_detector_cal_result_dynamic_t detector_cal_result_dynamic
Definition: i2c_distance_detector.c:40
acc_detector_distance_process
bool acc_detector_distance_process(acc_detector_distance_handle_t *handle, void *buffer, uint8_t *detector_cal_result_static, acc_detector_cal_result_dynamic_t *detector_cal_result_dynamic, bool *result_available, acc_detector_distance_result_t *result)
Process sensor data into a Detector result.
acc_integration_mem_alloc
void * acc_integration_mem_alloc(size_t size)
Allocate dynamic memory.
Definition: acc_integration_stm32.c:592
acc_processing_metadata_t
Metadata that will be populated by the processing module during creation.
Definition: acc_processing.h:36
detector_cal_result_static
static uint8_t * detector_cal_result_static
Definition: example_detector_distance_calibration_caching.c:70
acc_hal_a121_t
Definition: acc_hal_definitions_a121.h:82
acc_rss_hal_register
bool acc_rss_hal_register(const acc_hal_a121_t *hal)
Register an integration.
acc_sensor.h
buffer_size
uint32_t buffer_size
Definition: i2c_example_cargo.c:41
acc_detector_cal_result_dynamic_t
The result from a completed calibration update.
Definition: acc_detector_distance_definitions.h:23
distance_detector_resources_t::detector_cal_result_static
uint8_t * detector_cal_result_static
Definition: i2c_distance_detector.c:38
acc_detector_distance_config_close_range_leakage_cancellation_set
void acc_detector_distance_config_close_range_leakage_cancellation_set(acc_detector_distance_config_t *config, bool enable)
Enable close range leakage cancellation.
sensor
acc_sensor_t * sensor
Definition: i2c_example_cargo.c:33
distance_detector_resources_t
Definition: i2c_distance_detector.c:29
acc_detector_distance_config_max_profile_set
void acc_detector_distance_config_max_profile_set(acc_detector_distance_config_t *config, acc_config_profile_t max_profile)
Set maximum Profile.
acc_config_sweeps_per_frame_get
uint16_t acc_config_sweeps_per_frame_get(const acc_config_t *config)
Get the number of sweeps per frame.
acc_detector_distance_destroy
void acc_detector_distance_destroy(acc_detector_distance_handle_t *handle)
Destroy Distance Detector handle, freeing its resources.
acc_hal_integration_wait_for_sensor_interrupt
bool acc_hal_integration_wait_for_sensor_interrupt(acc_sensor_id_t sensor_id, uint32_t timeout_ms)
Wait for a sensor interrupt.
Definition: acc_hal_integration_stm32cube_xm.c:130
acc_hal_integration_a121.h
acc_detector_distance_config_signal_quality_set
void acc_detector_distance_config_signal_quality_set(acc_detector_distance_config_t *config, float signal_quality)
Set signal quality (dB)
handle
cargo_handle_t * handle
Definition: i2c_example_cargo.c:35
acc_processing_metadata_t::frame_data_length
uint16_t frame_data_length
Definition: acc_processing.h:39
result
cargo_result_t result
Definition: i2c_example_cargo.c:43
acc_int16_complex_t::real
int16_t real
Definition: acc_definitions_common.h:42
acc_version_get
const char * acc_version_get(void)
Get the version of the Acconeer software.
acc_config_t
struct acc_config acc_config_t
Definition: acc_config.h:24
printf
#define printf
Definition: printf.h:60
acc_config_subsweep_step_length_get
uint16_t acc_config_subsweep_step_length_get(const acc_config_t *config, uint8_t index)
Get the step length in a sweep.
acc_processing_points_to_meter
float acc_processing_points_to_meter(int32_t points)
Convert a distance or step length in points to meter.
detector_cal_result_static_size
static uint32_t detector_cal_result_static_size
Definition: example_detector_distance_calibration_caching.c:71
acc_hal_integration_sensor_enable
void acc_hal_integration_sensor_enable(acc_sensor_id_t sensor_id)
Enable sensor.
Definition: acc_hal_integration_stm32cube_xm.c:109
acc_hal_definitions_a121.h
initialize_detector_resources
static bool initialize_detector_resources(distance_detector_resources_t *resources)
Definition: example_detector_distance_with_iq_data_print.c:259
set_config
static void set_config(acc_detector_distance_config_t *detector_config, distance_preset_config_t preset)
Definition: example_detector_distance_with_iq_data_print.c:222
acc_detector_distance_config_log
void acc_detector_distance_config_log(const acc_detector_distance_handle_t *handle, const acc_detector_distance_config_t *config)
Log Distance configuration, typically through printf.
acc_detector_distance_prepare
bool acc_detector_distance_prepare(const acc_detector_distance_handle_t *handle, const acc_detector_distance_config_t *config, acc_sensor_t *sensor, const acc_cal_result_t *sensor_cal_result, void *buffer, uint32_t buffer_size)
Prepare the Detector for measurements.
do_full_detector_calibration
static bool do_full_detector_calibration(distance_detector_resources_t *resources, const acc_cal_result_t *sensor_cal_result)
Definition: example_detector_distance_with_iq_data_print.c:325
acc_detector_distance_result_t
Distance Detector result returned from acc_detector_distance_process.
Definition: acc_detector_distance.h:48
distance_preset_config_t
distance_preset_config_t
Definition: example_detector_distance_with_iq_data_print.c:49
ACC_DETECTOR_DISTANCE_THRESHOLD_METHOD_CFAR
@ ACC_DETECTOR_DISTANCE_THRESHOLD_METHOD_CFAR
Definition: acc_detector_distance_definitions.h:51
distance_detector_resources_t::config
acc_detector_distance_config_t * config
Definition: i2c_distance_detector.c:33
acc_processing_result_t::frame
acc_int16_complex_t * frame
Definition: acc_processing.h:91
acc_hal_integration_sensor_disable
void acc_hal_integration_sensor_disable(acc_sensor_id_t sensor_id)
Disable sensor.
Definition: acc_hal_integration_stm32cube_xm.c:119
acc_detector_distance_config_end_set
void acc_detector_distance_config_end_set(acc_detector_distance_config_t *config, float end_m)
Set end of measured interval (m)
acc_integration_log.h
acc_detector_distance_handle_t
struct acc_detector_distance_handle acc_detector_distance_handle_t
Distance Detector handle.
Definition: acc_detector_distance.h:36
ACC_LOG_FLOAT_TO_INTEGER
#define ACC_LOG_FLOAT_TO_INTEGER(a)
Definition: acc_integration_log.h:26
acc_detector_distance_update_calibration
bool acc_detector_distance_update_calibration(acc_sensor_t *sensor, acc_detector_distance_handle_t *handle, const acc_cal_result_t *sensor_cal_result, void *buffer, uint32_t buffer_size, acc_detector_cal_result_dynamic_t *detector_cal_result_dynamic, bool *calibration_complete)
Perform a subset of the full Detector calibration.
print_iq_data
static void print_iq_data(const acc_config_t *sensor_config, acc_processing_result_t *processing_result, acc_processing_metadata_t *processing_metadata)
Definition: example_detector_distance_with_iq_data_print.c:433
SENSOR_ID
#define SENSOR_ID
Definition: example_detector_distance_with_iq_data_print.c:56
acc_integration_mem_free
void acc_integration_mem_free(void *ptr)
Free dynamic memory.
Definition: acc_integration_stm32.c:602
acc_int16_complex_t::imag
int16_t imag
Definition: acc_definitions_common.h:43
acc_detector_distance_config_reflector_shape_set
void acc_detector_distance_config_reflector_shape_set(acc_detector_distance_config_t *config, acc_detector_distance_reflector_shape_t reflector_shape)
Set reflector shape.
distance_detector_resources_t::sensor
acc_sensor_t * sensor
Definition: i2c_distance_detector.c:31
acc_detector_distance_config_threshold_sensitivity_set
void acc_detector_distance_config_threshold_sensitivity_set(acc_detector_distance_config_t *config, float threshold_sensitivity)
Set threshold sensitivity.
acc_detector_distance_config_create
acc_detector_distance_config_t * acc_detector_distance_config_create(void)
Create a Distance Detector configuration.
acc_detector_distance.h
acc_sensor_calibrate
bool acc_sensor_calibrate(acc_sensor_t *sensor, bool *cal_complete, acc_cal_result_t *cal_result, void *buffer, uint32_t buffer_size)
Calibrate a sensor.
PRIfloat
#define PRIfloat
Specifier for printing float type using integers.
Definition: acc_integration_log.h:31
distance_detector_resources_t::handle
acc_detector_distance_handle_t * handle
Definition: i2c_distance_detector.c:34
distance_detector_resources_t::buffer
void * buffer
Definition: i2c_distance_detector.c:36
acc_detector_distance_config_t
struct acc_detector_distance_config acc_detector_distance_config_t
Distance Detector configuration.
Definition: acc_detector_distance.h:43
ACC_DETECTOR_DISTANCE_REFLECTOR_SHAPE_GENERIC
@ ACC_DETECTOR_DISTANCE_REFLECTOR_SHAPE_GENERIC
Definition: acc_detector_distance_definitions.h:60
acc_detector_distance_config_max_step_length_set
void acc_detector_distance_config_max_step_length_set(acc_detector_distance_config_t *config, uint16_t max_step_length)
Set maximum step length.
acc_sensor_measure
bool acc_sensor_measure(acc_sensor_t *sensor)
Start a radar measurement with previously prepared configuration.
SENSOR_TIMEOUT_MS
#define SENSOR_TIMEOUT_MS
Definition: example_detector_distance_with_iq_data_print.c:58
acc_config_subsweep_start_point_get
int32_t acc_config_subsweep_start_point_get(const acc_config_t *config, uint8_t index)
Get the starting point of the sweep.
acc_sensor_t
struct acc_sensor acc_sensor_t
Definition: acc_sensor.h:31
ACC_CONFIG_PROFILE_3
@ ACC_CONFIG_PROFILE_3
Definition: acc_definitions_a121.h:54
acc_sensor_destroy
void acc_sensor_destroy(acc_sensor_t *sensor)
Destroy a sensor instance freeing any resources allocated.
acc_processing_metadata_t::subsweep_data_length
uint16_t subsweep_data_length[(4U)]
Definition: acc_processing.h:45
acc_definitions_a121.h
acc_sensor_create
acc_sensor_t * acc_sensor_create(acc_sensor_id_t sensor_id)
Create a sensor instance.