example_processing_subtract_adaptive_bg.c
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1 // Copyright (c) Acconeer AB, 2022-2024
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 /** \example example_processing_subtract_adaptive_bg.c
8 * @brief example_processing_subtract_adaptive_bg.c
9 * This program shows how to estimate background reflections by calculating a coherent
10 * exponential average over the incomming radar measurements. As we use IQ data and
11 * include the phase information when we do the calculations, it is possible to
12 * subtract the background that contains all static - or at least almost static -
13 * reflections from the signal. What we have left are the reflections from objects
14 * in motion.
15 */
16
17 #include <assert.h>
18 #include <errno.h>
19 #include <stdbool.h>
20 #include <stdint.h>
21 #include <stdio.h>
22
23 #include "acc_config.h"
24 #include "acc_definitions_a121.h"
25 #include "acc_hal_definitions_a121.h"
26 #include "acc_hal_integration_a121.h"
27 #include "acc_integration_log.h"
28 #include "acc_rss_a121.h"
29 #include "acc_version.h"
30
31 #include "acc_control_helper.h"
32 #include "acc_processing_helpers.h"
33
34 #define SENSOR_ID (1U)
35
36 static void update_configuration(acc_config_t *config);
37
38 int acconeer_main(int argc, char *argv[]);
39
40 int acconeer_main(int argc, char *argv[])
41 {
42 (void)argc;
43 (void)argv;
44
45 acc_control_helper_t control_helper_state = {0};
46
47 printf("Acconeer software version %s\n", acc_version_get());
48
49 const acc_hal_a121_t *hal = acc_hal_rss_integration_get_implementation();
50
51 if (!acc_rss_hal_register(hal))
52 {
53 return EXIT_FAILURE;
54 }
55
56 bool res = acc_control_helper_create(&control_helper_state, SENSOR_ID);
57 if (!res)
58 {
59 printf("acc_control_helper_create() failed\n");
60 return EXIT_FAILURE;
61 }
62
63 update_configuration(control_helper_state.config);
64
65 res = acc_control_helper_activate(&control_helper_state);
66 if (!res)
67 {
68 printf("acc_control_helper_activate() failed\n");
69 return EXIT_FAILURE;
70 }
71
72 uint32_t sweep_data_length = control_helper_state.proc_meta.sweep_data_length;
73
74 acc_vector_iq_t *current_sweep_iq = acc_vector_iq_alloc(sweep_data_length);
75 acc_vector_iq_t *adaptive_background_iq = acc_vector_iq_alloc(sweep_data_length);
76 acc_vector_iq_t *motion_reflections_iq = acc_vector_iq_alloc(sweep_data_length);
77
78 acc_vector_float_t *adaptive_background_amplitude = acc_vector_float_alloc(sweep_data_length);
79 acc_vector_float_t *motion_reflections_amplitude = acc_vector_float_alloc(sweep_data_length);
80
81 bool mem_ok = (current_sweep_iq != NULL) && (adaptive_background_iq != NULL) && (motion_reflections_iq != NULL) &&
82 (adaptive_background_amplitude != NULL) && (motion_reflections_amplitude != NULL);
83
84 if (!mem_ok)
85 {
86 printf("Memory allocation for vectors failed\n");
87 goto clean_up;
88 }
89
90 float time_constant_static_background = 5.0f;
91 float sf_adaptive_background =
92 acc_processing_helper_tc_to_sf(time_constant_static_background, acc_config_frame_rate_get(control_helper_state.config));
93
94 uint32_t iterations = 50U;
95
96 for (uint32_t i = 0U; i < iterations; i++)
97 {
98 if (!acc_control_helper_get_next(&control_helper_state))
99 {
100 printf("acc_control_helper_get_next() failed\n");
101 break;
102 }
103
104 acc_get_iq_sweep_vector(&control_helper_state, current_sweep_iq);
105
106 float sf = acc_processing_helper_dynamic_sf(sf_adaptive_background, i);
107 acc_vector_iq_update_exponential_average(current_sweep_iq, adaptive_background_iq, sf);
108 acc_vector_iq_subtract(current_sweep_iq, adaptive_background_iq, motion_reflections_iq);
109
110 acc_vector_iq_amplitude(adaptive_background_iq, adaptive_background_amplitude);
111 acc_vector_iq_amplitude(motion_reflections_iq, motion_reflections_amplitude);
112
113 acc_vector_float_print("Background amplitude", adaptive_background_amplitude);
114 acc_vector_float_print("Motion amplitude", motion_reflections_amplitude);
115
116 uint32_t max_peak_index_static = acc_vector_float_argmax(adaptive_background_amplitude);
117 uint32_t max_peak_index_motion = acc_vector_float_argmax(motion_reflections_amplitude);
118 printf("Highest background peak index : %" PRIu32 "\n", max_peak_index_static);
119 printf("Highest motion peak index : %" PRIu32 "\n", max_peak_index_motion);
120 }
121
122 clean_up:
123 acc_vector_iq_free(current_sweep_iq);
124 acc_vector_iq_free(adaptive_background_iq);
125 acc_vector_iq_free(motion_reflections_iq);
126
127 acc_vector_float_free(adaptive_background_amplitude);
128 acc_vector_float_free(motion_reflections_amplitude);
129
130 acc_control_helper_destroy(&control_helper_state);
131
132 printf("Application finished OK\n");
133
134 return EXIT_SUCCESS;
135 }
136
137 static void update_configuration(acc_config_t *config)
138 {
139 int32_t start_point = 100; // start at 250 mm
140 uint16_t step_length = 12;
141 uint16_t num_points = 16; // range length 16*12*2.5mm = 480 mm
142
143 acc_config_start_point_set(config, start_point);
144 acc_config_num_points_set(config, num_points);
145 acc_config_step_length_set(config, step_length);
146 acc_config_profile_set(config, ACC_CONFIG_PROFILE_2);
147 acc_config_hwaas_set(config, 30);
148 // The processing in this example assumes that sweeps_per_frame = 1
149 acc_config_sweeps_per_frame_set(config, 1);
150 acc_config_frame_rate_set(config, 10);
151 acc_config_prf_set(config, ACC_CONFIG_PRF_13_0_MHZ);
152 }
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.
acc_control_helper_create
bool acc_control_helper_create(acc_control_helper_t *radar, acc_sensor_id_t sensor_id)
Create a helper instance.
Definition: acc_control_helper.c:41
acc_rss_a121.h
acc_vector_float_free
void acc_vector_float_free(acc_vector_float_t *vector)
Free storage of data elements in a float vector.
Definition: acc_processing_helpers.c:85
acc_vector_iq_free
void acc_vector_iq_free(acc_vector_iq_t *vector)
Free storage of data elements in an IQ vector.
Definition: acc_processing_helpers.c:73
acc_control_helper_t::config
acc_config_t * config
Definition: acc_control_helper.h:25
acc_version.h
acc_config_profile_set
void acc_config_profile_set(acc_config_t *config, acc_config_profile_t profile)
Set a profile.
SENSOR_ID
#define SENSOR_ID
Definition: example_processing_subtract_adaptive_bg.c:34
acc_config_sweeps_per_frame_set
void acc_config_sweeps_per_frame_set(acc_config_t *config, uint16_t sweeps)
Set sweeps per frame.
acc_processing_helper_dynamic_sf
float acc_processing_helper_dynamic_sf(float static_sf, uint32_t update_count)
Calculate a dynamic smoothing factor.
Definition: acc_processing_helpers.c:110
acc_vector_iq_subtract
void acc_vector_iq_subtract(const acc_vector_iq_t *vector_a, const acc_vector_iq_t *vector_b, acc_vector_iq_t *vector_out)
Subtract two IQ vectors.
Definition: acc_processing_helpers.c:249
acc_control_helper_destroy
void acc_control_helper_destroy(acc_control_helper_t *radar)
Destroy a helper instance.
Definition: acc_control_helper.c:50
config
cargo_config_t config
Definition: i2c_example_cargo.c:34
ACC_CONFIG_PROFILE_2
@ ACC_CONFIG_PROFILE_2
Definition: acc_definitions_a121.h:53
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_vector_iq_t
Definition: acc_processing_helpers.h:27
acc_config_frame_rate_set
void acc_config_frame_rate_set(acc_config_t *config, float frame_rate)
Set the frame rate.
acc_hal_a121_t
Definition: acc_hal_definitions_a121.h:82
acc_control_helper_t::proc_meta
acc_processing_metadata_t proc_meta
Definition: acc_control_helper.h:32
acc_rss_hal_register
bool acc_rss_hal_register(const acc_hal_a121_t *hal)
Register an integration.
acc_vector_iq_amplitude
void acc_vector_iq_amplitude(const acc_vector_iq_t *vector_a, acc_vector_float_t *vector_out)
Amplitude of an IQ vector.
Definition: acc_processing_helpers.c:305
acc_config_hwaas_set
void acc_config_hwaas_set(acc_config_t *config, uint16_t hwaas)
Set the hardware accelerated average samples (HWAAS)
acc_processing_metadata_t::sweep_data_length
uint16_t sweep_data_length
Definition: acc_processing.h:41
acc_control_helper.h
acc_hal_integration_a121.h
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_frame_rate_get
float acc_config_frame_rate_get(const acc_config_t *config)
Get the frame rate.
acc_config_step_length_set
void acc_config_step_length_set(acc_config_t *config, uint16_t step_length)
Set the step length in a sweep.
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
acconeer_main
int acconeer_main(int argc, char *argv[])
Assembly test example.
Definition: example_processing_subtract_adaptive_bg.c:40
acc_processing_helpers.h
acc_vector_float_t
Definition: acc_processing_helpers.h:33
acc_integration_log.h
acc_vector_iq_alloc
acc_vector_iq_t * acc_vector_iq_alloc(uint32_t data_length)
Allocate storage for an IQ vector.
Definition: acc_processing_helpers.c:27
acc_vector_float_alloc
acc_vector_float_t * acc_vector_float_alloc(uint32_t data_length)
Allocate storage for a float vector.
Definition: acc_processing_helpers.c:50
acc_vector_float_print
void acc_vector_float_print(const char *label, acc_vector_float_t *vector_a)
Print float vector.
Definition: acc_processing_helpers.c:401
acc_control_helper_t
Definition: acc_control_helper.h:23
acc_control_helper_activate
bool acc_control_helper_activate(acc_control_helper_t *radar)
Activate the sensor.
Definition: acc_control_helper.c:81
acc_config_prf_set
void acc_config_prf_set(acc_config_t *config, acc_config_prf_t prf)
Set Pulse Repetition Frequency.
ACC_CONFIG_PRF_13_0_MHZ
@ ACC_CONFIG_PRF_13_0_MHZ
Definition: acc_definitions_a121.h:118
acc_config.h
acc_control_helper_get_next
bool acc_control_helper_get_next(acc_control_helper_t *radar)
Perform a radar measurement and wait for the result.
Definition: acc_control_helper.c:157
acc_get_iq_sweep_vector
void acc_get_iq_sweep_vector(const acc_control_helper_t *control_helper_state, acc_vector_iq_t *vector_out)
Converts a newly captured IQ frame with one sweep to an IQ vector.
Definition: acc_processing_helpers.c:138
update_configuration
static void update_configuration(acc_config_t *config)
Definition: example_processing_subtract_adaptive_bg.c:137
acc_definitions_a121.h
acc_vector_float_argmax
uint32_t acc_vector_float_argmax(acc_vector_float_t *vector_a)
Index of element with maximum value in a float vector.
Definition: acc_processing_helpers.c:357
acc_vector_iq_update_exponential_average
void acc_vector_iq_update_exponential_average(const acc_vector_iq_t *current, acc_vector_iq_t *averaged_data, float sf)
Update the exponential average of an IQ vector.
Definition: acc_processing_helpers.c:116
acc_processing_helper_tc_to_sf
float acc_processing_helper_tc_to_sf(float time_constant_s, float update_rate_hz)
Convert time constant to smoothing factor.
Definition: acc_processing_helpers.c:97