example_service.c
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1 // Copyright (c) Acconeer AB, 2020-2024
2 // All rights reserved
3 // This file is subject to the terms and conditions defined in the file
4 // 'LICENSES/license_acconeer.txt', (BSD 3-Clause License) which is part
5 // of this source code package.
6
7 #include <stdbool.h>
8 #include <stdint.h>
9 #include <stdio.h>
10 #include <stdlib.h>
11
12 #include "acc_config.h"
13 #include "acc_definitions_a121.h"
14 #include "acc_definitions_common.h"
15 #include "acc_hal_definitions_a121.h"
16 #include "acc_hal_integration_a121.h"
17 #include "acc_integration.h"
18 #include "acc_processing.h"
19 #include "acc_rss_a121.h"
20 #include "acc_sensor.h"
21
22 #include "acc_version.h"
23
24 /** \example example_service.c
25 * @brief This is an example on how the Service API can be used
26 * @n
27 * The example executes as follows:
28 * - Create a configuration
29 * - Create a processing instance using the previously created configuration
30 * - Create a sensor instance
31 * - Prepare a sensor
32 * - Perform a sensor measurement and read out the data
33 * - Process the measurement
34 * - Check 'calibration_needed' indication
35 * - Destroy the sensor instance
36 * - Destroy the processing instance
37 * - Destroy the configuration
38 */
39
40 #define SENSOR_ID (1U)
41 #define SENSOR_TIMEOUT_MS (1000U)
42 #define MAX_DATA_ENTRY_LEN (15U) // "-32000+-32000i" + zero termination
43
44 static void set_config(acc_config_t *config);
45
46 static bool do_sensor_calibration_and_prepare(acc_sensor_t *sensor, acc_config_t *config, void *buffer, uint32_t buffer_size);
47
48 static void print_data(acc_int16_complex_t *data, uint16_t data_length);
49
50 static void cleanup(acc_config_t *config, acc_processing_t *processing, acc_sensor_t *sensor, void *buffer);
51
52 int acconeer_main(int argc, char *argv[]);
53
54 int acconeer_main(int argc, char *argv[])
55 {
56 (void)argc;
57 (void)argv;
58 acc_config_t *config = NULL;
59 acc_processing_t *processing = NULL;
60 acc_sensor_t *sensor = NULL;
61 void *buffer = NULL;
62 uint32_t buffer_size = 0;
63 acc_processing_metadata_t proc_meta;
64 acc_processing_result_t proc_result;
65
66 printf("Acconeer software version %s\n", acc_version_get());
67
68 const acc_hal_a121_t *hal = acc_hal_rss_integration_get_implementation();
69
70 if (!acc_rss_hal_register(hal))
71 {
72 return EXIT_FAILURE;
73 }
74
75 config = acc_config_create();
76 if (config == NULL)
77 {
78 printf("acc_config_create() failed\n");
79 cleanup(config, processing, sensor, buffer);
80 return EXIT_FAILURE;
81 }
82
83 set_config(config);
84
85 // Print the configuration
86 acc_config_log(config);
87
88 processing = acc_processing_create(config, &proc_meta);
89 if (processing == NULL)
90 {
91 printf("acc_processing_create() failed\n");
92 cleanup(config, processing, sensor, buffer);
93 return EXIT_FAILURE;
94 }
95
96 if (!acc_rss_get_buffer_size(config, &buffer_size))
97 {
98 printf("acc_rss_get_buffer_size() failed\n");
99 cleanup(config, processing, sensor, buffer);
100 return EXIT_FAILURE;
101 }
102
103 buffer = acc_integration_mem_alloc(buffer_size);
104 if (buffer == NULL)
105 {
106 printf("buffer allocation failed\n");
107 cleanup(config, processing, sensor, buffer);
108 return EXIT_FAILURE;
109 }
110
111 acc_hal_integration_sensor_supply_on(SENSOR_ID);
112 acc_hal_integration_sensor_enable(SENSOR_ID);
113
114 sensor = acc_sensor_create(SENSOR_ID);
115 if (sensor == NULL)
116 {
117 printf("acc_sensor_create() failed\n");
118 cleanup(config, processing, sensor, buffer);
119 return EXIT_FAILURE;
120 }
121
122 if (!do_sensor_calibration_and_prepare(sensor, config, buffer, buffer_size))
123 {
124 printf("do_sensor_calibration_and_prepare() failed\n");
125 acc_sensor_status(sensor);
126 cleanup(config, processing, sensor, buffer);
127 return EXIT_FAILURE;
128 }
129
130 const uint32_t update_count = 5U;
131
132 for (uint32_t i = 0U; i < update_count; i++)
133 {
134 if (!acc_sensor_measure(sensor))
135 {
136 printf("acc_sensor_measure failed\n");
137 acc_sensor_status(sensor);
138 cleanup(config, processing, sensor, buffer);
139 return EXIT_FAILURE;
140 }
141
142 if (!acc_hal_integration_wait_for_sensor_interrupt(SENSOR_ID, SENSOR_TIMEOUT_MS))
143 {
144 printf("Sensor interrupt timeout\n");
145 acc_sensor_status(sensor);
146 cleanup(config, processing, sensor, buffer);
147 return EXIT_FAILURE;
148 }
149
150 if (!acc_sensor_read(sensor, buffer, buffer_size))
151 {
152 printf("acc_sensor_read failed\n");
153 acc_sensor_status(sensor);
154 cleanup(config, processing, sensor, buffer);
155 return EXIT_FAILURE;
156 }
157
158 acc_processing_execute(processing, buffer, &proc_result);
159
160 if (proc_result.calibration_needed)
161 {
162 printf("The current calibration is not valid for the current temperature.\n");
163 printf("The sensor needs to be re-calibrated.\n");
164
165 if (!do_sensor_calibration_and_prepare(sensor, config, buffer, buffer_size))
166 {
167 printf("do_sensor_calibration_and_prepare() failed\n");
168 acc_sensor_status(sensor);
169 cleanup(config, processing, sensor, buffer);
170 return EXIT_FAILURE;
171 }
172
173 printf("The sensor was successfully re-calibrated.\n");
174 }
175 else
176 {
177 print_data(proc_result.frame, proc_meta.frame_data_length);
178 }
179 }
180
181 cleanup(config, processing, sensor, buffer);
182
183 printf("Application finished OK\n");
184
185 return EXIT_SUCCESS;
186 }
187
188 static void set_config(acc_config_t *config)
189 {
190 // Add configuration of the sensor here
191
192 acc_config_start_point_set(config, 80);
193 acc_config_num_points_set(config, 160);
194 }
195
196 static bool do_sensor_calibration_and_prepare(acc_sensor_t *sensor, acc_config_t *config, void *buffer, uint32_t buffer_size)
197 {
198 bool status = false;
199 bool cal_complete = false;
200 acc_cal_result_t cal_result;
201 const uint16_t calibration_retries = 1U;
202
203 // Random disturbances may cause the calibration to fail. At failure, retry at least once.
204 for (uint16_t i = 0; !status && (i <= calibration_retries); i++)
205 {
206 // Reset sensor before calibration by disabling/enabling it
207 acc_hal_integration_sensor_disable(SENSOR_ID);
208 acc_hal_integration_sensor_enable(SENSOR_ID);
209
210 do
211 {
212 status = acc_sensor_calibrate(sensor, &cal_complete, &cal_result, buffer, buffer_size);
213
214 if (status && !cal_complete)
215 {
216 status = acc_hal_integration_wait_for_sensor_interrupt(SENSOR_ID, SENSOR_TIMEOUT_MS);
217 }
218 } while (status && !cal_complete);
219 }
220
221 if (status)
222 {
223 // Reset sensor after calibration by disabling/enabling it
224 acc_hal_integration_sensor_disable(SENSOR_ID);
225 acc_hal_integration_sensor_enable(SENSOR_ID);
226
227 status = acc_sensor_prepare(sensor, config, &cal_result, buffer, buffer_size);
228 }
229
230 return status;
231 }
232
233 static void print_data(acc_int16_complex_t *data, uint16_t data_length)
234 {
235 printf("Processed data:\n");
236 char buffer[MAX_DATA_ENTRY_LEN];
237
238 for (uint16_t i = 0; i < data_length; i++)
239 {
240 if ((i > 0) && ((i % 8) == 0))
241 {
242 printf("\n");
243 }
244
245 snprintf(buffer, sizeof(buffer), "%" PRIi16 "+%" PRIi16 "i", data[i].real, data[i].imag);
246
247 printf("%14s ", buffer);
248 }
249
250 printf("\n");
251 }
252
253 static void cleanup(acc_config_t *config, acc_processing_t *processing, acc_sensor_t *sensor, void *buffer)
254 {
255 acc_hal_integration_sensor_disable(SENSOR_ID);
256 acc_hal_integration_sensor_supply_off(SENSOR_ID);
257
258 if (sensor != NULL)
259 {
260 acc_sensor_destroy(sensor);
261 }
262
263 if (processing != NULL)
264 {
265 acc_processing_destroy(processing);
266 }
267
268 if (config != NULL)
269 {
270 acc_config_destroy(config);
271 }
272
273 if (buffer != NULL)
274 {
275 acc_integration_mem_free(buffer);
276 }
277 }
acc_config_start_point_set
void acc_config_start_point_set(acc_config_t *config, int32_t start_point)
Set the starting point of the sweep.
MAX_DATA_ENTRY_LEN
#define MAX_DATA_ENTRY_LEN
Definition: example_service.c:42
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_processing_destroy
void acc_processing_destroy(acc_processing_t *handle)
Destroy a processing instance identified with the provided processing handle.
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
acc_sensor_read
bool acc_sensor_read(const acc_sensor_t *sensor, void *buffer, uint32_t buffer_size)
Read out radar data.
set_config
static void set_config(acc_config_t *config)
Definition: example_service.c:188
buffer
void * buffer
Definition: i2c_example_cargo.c:40
acc_version.h
acc_rss_get_buffer_size
bool acc_rss_get_buffer_size(const acc_config_t *config, uint32_t *buffer_size)
Get the buffer size needed for the specified config.
acc_int16_complex_t
Data type for interger-based representation of complex numbers.
Definition: acc_definitions_common.h:40
acc_config_destroy
void acc_config_destroy(acc_config_t *config)
Destroy a configuration freeing any resources allocated.
acc_cal_result_t
The result from a completed calibration.
Definition: acc_definitions_a121.h:30
acc_processing_execute
void acc_processing_execute(acc_processing_t *handle, void *buffer, acc_processing_result_t *result)
Process the data according to the configuration used in create.
acc_config_create
acc_config_t * acc_config_create(void)
Create a configuration.
acc_integration.h
acconeer_main
int acconeer_main(int argc, char *argv[])
Assembly test example.
Definition: example_service.c:54
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
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
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
sensor
acc_sensor_t * sensor
Definition: i2c_example_cargo.c:33
cleanup
static void cleanup(acc_config_t *config, acc_processing_t *processing, acc_sensor_t *sensor, void *buffer)
Definition: example_service.c:253
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_processing_metadata_t::frame_data_length
uint16_t frame_data_length
Definition: acc_processing.h:39
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
snprintf
#define snprintf
Definition: printf.h:84
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_config_num_points_set
void acc_config_num_points_set(acc_config_t *config, uint16_t num_points)
Set the number of data points to measure.
acc_hal_definitions_a121.h
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_processing_t
struct acc_processing_handle acc_processing_t
Definition: acc_processing.h:30
acc_sensor_status
void acc_sensor_status(const acc_sensor_t *sensor)
Check the status of the sensor.
SENSOR_TIMEOUT_MS
#define SENSOR_TIMEOUT_MS
Definition: example_service.c:41
print_data
static void print_data(acc_int16_complex_t *data, uint16_t data_length)
Definition: example_service.c:233
acc_sensor_prepare
bool acc_sensor_prepare(acc_sensor_t *sensor, const acc_config_t *config, const acc_cal_result_t *cal_result, void *buffer, uint32_t buffer_size)
Prepare a sensor to do a measurement.
acc_integration_mem_free
void acc_integration_mem_free(void *ptr)
Free dynamic memory.
Definition: acc_integration_stm32.c:602
acc_definitions_common.h
acc_config_log
void acc_config_log(const acc_config_t *config)
Print a configuration to the log.
acc_config.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.
acc_processing_result_t::calibration_needed
bool calibration_needed
Definition: acc_processing.h:84
acc_sensor_measure
bool acc_sensor_measure(acc_sensor_t *sensor)
Start a radar measurement with previously prepared configuration.
acc_processing_create
acc_processing_t * acc_processing_create(const acc_config_t *config, acc_processing_metadata_t *processing_metadata)
Create a processing instance with the provided configuration.
acc_processing.h
acc_sensor_t
struct acc_sensor acc_sensor_t
Definition: acc_sensor.h:31
SENSOR_ID
#define SENSOR_ID
Definition: example_service.c:40
acc_sensor_destroy
void acc_sensor_destroy(acc_sensor_t *sensor)
Destroy a sensor instance freeing any resources allocated.
acc_definitions_a121.h
do_sensor_calibration_and_prepare
static bool do_sensor_calibration_and_prepare(acc_sensor_t *sensor, acc_config_t *config, void *buffer, uint32_t buffer_size)
Definition: example_service.c:196
acc_sensor_create
acc_sensor_t * acc_sensor_create(acc_sensor_id_t sensor_id)
Create a sensor instance.