example_detector_distance_low_power_off.c

This is an example on how to disable the sensor and put the system in a low power state between measurements
The example executes as follows:

- Create a distance configuration
- Create a sensor instance
- Enable sensor
- Create a detector instance
- Calibrate the sensor
- Calibrate the detector
  - Disable sensor
- Loop forever:
  - Enable sensor
  - Prepare the detector
  - Perform a sensor measurement and read out the data
  - Disable sensor
  - Process the measurement and get detector result
  - Put the system in deep sleep for a specified amount of time
- Destroy the configuration
- Destroy the detector instance
- Destroy the sensor instance

// 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 <stdbool.h>
#include <stdint.h>
#include <stdio.h>
#include <stdlib.h>
#include "acc_definitions_a121.h"
#include "acc_definitions_common.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_low_power_off.c
* @brief This is an example on how to disable the sensor and put the system in a low power state between measurements
* @n
* The example executes as follows:
* - Create a distance configuration
* - Create a sensor instance
* - Enable sensor
* - Create a detector instance
* - Calibrate the sensor
* - Calibrate the detector
* - Disable sensor
* - Loop forever:
* - Enable sensor
* - Prepare the detector
* - Perform a sensor measurement and read out the data
* - Disable sensor
* - Process the measurement and get detector result
* - Put the system in deep sleep for a specified amount of time
* - Destroy the configuration
* - Destroy the detector instance
* - Destroy the sensor instance
*/
typedef enum
{
DISTANCE_PRESET_CONFIG_NONE = 0,
DISTANCE_PRESET_CONFIG_BALANCED,
DISTANCE_PRESET_CONFIG_HIGH_ACCURACY,
} distance_preset_config_t;
#define SENSOR_ID (1U)
#define SENSOR_TIMEOUT_MS (1000U)
#define DEFAULT_UPDATE_RATE (1.0f)
static void print_result(acc_detector_distance_result_t *result);
static void cleanup(acc_detector_distance_handle_t *distance_handle,
acc_detector_distance_config_t *distance_config,
acc_sensor_t *sensor,
void *buffer,
uint8_t *detector_cal_result_static);
static void set_config(acc_detector_distance_config_t *detector_config, distance_preset_config_t preset);
int acconeer_main(int argc, char *argv[]);
int acconeer_main(int argc, char *argv[])
{
(void)argc;
(void)argv;
acc_detector_distance_config_t *distance_config = NULL;
acc_detector_distance_handle_t *distance_handle = NULL;
acc_sensor_t *sensor = NULL;
void *buffer = NULL;
uint8_t *detector_cal_result_static = NULL;
uint32_t buffer_size = 0U;
uint32_t detector_cal_result_static_size = 0U;
acc_detector_cal_result_dynamic_t detector_cal_result_dynamic = {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;
}
distance_config = acc_detector_distance_config_create();
if (distance_config == NULL)
{
printf("acc_detector_distance_config_create() failed\n");
cleanup(distance_handle, distance_config, sensor, buffer, detector_cal_result_static);
return EXIT_FAILURE;
}
set_config(distance_config, DISTANCE_PRESET_CONFIG_BALANCED);
uint32_t sleep_time_ms = (uint32_t)(1000.0f / DEFAULT_UPDATE_RATE);
acc_integration_set_periodic_wakeup(sleep_time_ms);
distance_handle = acc_detector_distance_create(distance_config);
if (distance_handle == NULL)
{
printf("acc_detector_distance_create() failed\n");
cleanup(distance_handle, distance_config, sensor, buffer, detector_cal_result_static);
return EXIT_FAILURE;
}
if (!acc_detector_distance_get_sizes(distance_handle, &buffer_size, &detector_cal_result_static_size))
{
printf("acc_detector_distance_get_buffer_size() failed\n");
cleanup(distance_handle, distance_config, sensor, buffer, detector_cal_result_static);
return EXIT_FAILURE;
}
buffer = acc_integration_mem_alloc(buffer_size);
if (buffer == NULL)
{
printf("buffer allocation failed\n");
cleanup(distance_handle, distance_config, sensor, buffer, detector_cal_result_static);
return EXIT_FAILURE;
}
detector_cal_result_static = acc_integration_mem_alloc(detector_cal_result_static_size);
if (detector_cal_result_static == NULL)
{
printf("buffer allocation failed\n");
cleanup(distance_handle, distance_config, sensor, buffer, detector_cal_result_static);
return EXIT_FAILURE;
}
acc_hal_integration_sensor_supply_on(SENSOR_ID);
acc_hal_integration_sensor_enable(SENSOR_ID);
sensor = acc_sensor_create(SENSOR_ID);
if (sensor == NULL)
{
printf("acc_sensor_create() failed\n");
cleanup(distance_handle, distance_config, sensor, buffer, detector_cal_result_static);
return EXIT_FAILURE;
}
// Calibrate sensor
bool status;
bool cal_complete = false;
acc_cal_result_t sensor_cal_result;
do
{
status = acc_sensor_calibrate(sensor, &cal_complete, &sensor_cal_result, buffer, buffer_size);
if (cal_complete)
{
break;
}
if (status)
{
status = acc_hal_integration_wait_for_sensor_interrupt(SENSOR_ID, SENSOR_TIMEOUT_MS);
}
} while (status);
if (!status)
{
printf("acc_sensor_calibrate() failed\n");
cleanup(distance_handle, distance_config, sensor, buffer, detector_cal_result_static);
return EXIT_FAILURE;
}
/* Reset sensor after calibration by disabling/enabling it */
acc_hal_integration_sensor_disable(SENSOR_ID);
acc_hal_integration_sensor_enable(SENSOR_ID);
// Calibrate detector
bool done = false;
do
{
status = acc_detector_distance_calibrate(sensor,
distance_handle,
&sensor_cal_result,
buffer,
buffer_size,
detector_cal_result_static,
detector_cal_result_static_size,
&detector_cal_result_dynamic,
&done);
if (done)
{
break;
}
if (status)
{
status = acc_hal_integration_wait_for_sensor_interrupt(SENSOR_ID, SENSOR_TIMEOUT_MS);
}
} while (status);
if (!status)
{
printf("acc_detector_distance_calibrate() failed\n");
cleanup(distance_handle, distance_config, sensor, buffer, detector_cal_result_static);
return EXIT_FAILURE;
}
acc_hal_integration_sensor_disable(SENSOR_ID);
while (true)
{
acc_detector_distance_result_t result;
acc_hal_integration_sensor_enable(SENSOR_ID);
bool result_available = false;
do
{
if (!acc_detector_distance_prepare(distance_handle, distance_config, sensor, &sensor_cal_result, buffer, buffer_size))
{
printf("acc_detector_distance_prepare() failed\n");
cleanup(distance_handle, distance_config, sensor, buffer, detector_cal_result_static);
return EXIT_FAILURE;
}
if (!acc_sensor_measure(sensor))
{
printf("acc_sensor_measure failed\n");
cleanup(distance_handle, distance_config, sensor, buffer, detector_cal_result_static);
return EXIT_FAILURE;
}
if (!acc_hal_integration_wait_for_sensor_interrupt(SENSOR_ID, SENSOR_TIMEOUT_MS))
{
printf("Sensor interrupt timeout\n");
cleanup(distance_handle, distance_config, sensor, buffer, detector_cal_result_static);
return EXIT_FAILURE;
}
if (!acc_sensor_read(sensor, buffer, buffer_size))
{
printf("acc_sensor_read failed\n");
cleanup(distance_handle, distance_config, sensor, buffer, detector_cal_result_static);
return EXIT_FAILURE;
}
if (!acc_detector_distance_process(distance_handle,
buffer,
detector_cal_result_static,
&detector_cal_result_dynamic,
&result_available,
&result))
{
printf("acc_detector_distance_process failed\n");
cleanup(distance_handle, distance_config, sensor, buffer, detector_cal_result_static);
return EXIT_FAILURE;
}
} while (!result_available);
acc_hal_integration_sensor_disable(SENSOR_ID);
print_result(&result);
acc_integration_sleep_until_periodic_wakeup();
}
cleanup(distance_handle, distance_config, sensor, buffer, detector_cal_result_static);
printf("Application finished OK\n");
return EXIT_SUCCESS;
}
static void cleanup(acc_detector_distance_handle_t *distance_handle,
acc_detector_distance_config_t *distance_config,
acc_sensor_t *sensor,
void *buffer,
uint8_t *detector_cal_result_static)
{
acc_hal_integration_sensor_disable(SENSOR_ID);
acc_hal_integration_sensor_supply_off(SENSOR_ID);
if (distance_config != NULL)
{
acc_detector_distance_config_destroy(distance_config);
}
if (distance_handle != NULL)
{
acc_detector_distance_destroy(distance_handle);
}
if (sensor != NULL)
{
acc_sensor_destroy(sensor);
}
if (buffer != NULL)
{
acc_integration_mem_free(buffer);
}
if (detector_cal_result_static != NULL)
{
acc_integration_mem_free(detector_cal_result_static);
}
}
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 void print_result(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");
}
DISTANCE_PRESET_CONFIG_HIGH_ACCURACY
@ DISTANCE_PRESET_CONFIG_HIGH_ACCURACY
Definition: example_detector_distance_low_power_off.c:51
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_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.
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_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
SENSOR_TIMEOUT_MS
#define SENSOR_TIMEOUT_MS
Definition: example_detector_distance_low_power_off.c:55
ACC_DETECTOR_DISTANCE_PEAK_SORTING_STRONGEST
@ ACC_DETECTOR_DISTANCE_PEAK_SORTING_STRONGEST
Definition: acc_detector_distance_definitions.h:36
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.
set_config
static void set_config(acc_detector_distance_config_t *detector_config, distance_preset_config_t preset)
Definition: example_detector_distance_low_power_off.c:314
distance_preset_config_t
distance_preset_config_t
Definition: example_detector_distance_low_power_hibernate.c:47
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)
SENSOR_ID
#define SENSOR_ID
Definition: example_detector_distance_low_power_off.c:54
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.
print_result
static void print_result(acc_detector_distance_result_t *result)
Definition: example_detector_distance_low_power_off.c:351
acc_detector_distance_config_destroy
void acc_detector_distance_config_destroy(acc_detector_distance_config_t *config)
Destroy Distance Detector configuration.
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_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.
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
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_integration_set_periodic_wakeup
void acc_integration_set_periodic_wakeup(uint32_t time_msec)
Set up a periodic timer used to wake up the system from sleep.
Definition: acc_integration_stm32.c:496
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
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
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.
cleanup
static void cleanup(acc_detector_distance_handle_t *distance_handle, acc_detector_distance_config_t *distance_config, acc_sensor_t *sensor, void *buffer, uint8_t *detector_cal_result_static)
Definition: example_detector_distance_low_power_off.c:279
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)
DISTANCE_PRESET_CONFIG_NONE
@ DISTANCE_PRESET_CONFIG_NONE
Definition: example_detector_distance_low_power_off.c:49
result
cargo_result_t result
Definition: i2c_example_cargo.c:43
acc_version_get
const char * acc_version_get(void)
Get the version of the Acconeer software.
printf
#define printf
Definition: printf.h:60
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
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.
acc_detector_distance_result_t
Distance Detector result returned from acc_detector_distance_process.
Definition: acc_detector_distance.h:48
acconeer_main
int acconeer_main(int argc, char *argv[])
Assembly test example.
Definition: example_detector_distance_low_power_off.c:70
ACC_DETECTOR_DISTANCE_THRESHOLD_METHOD_CFAR
@ ACC_DETECTOR_DISTANCE_THRESHOLD_METHOD_CFAR
Definition: acc_detector_distance_definitions.h:51
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
distance_preset_config_t
distance_preset_config_t
Definition: example_detector_distance_low_power_off.c:47
DISTANCE_PRESET_CONFIG_BALANCED
@ DISTANCE_PRESET_CONFIG_BALANCED
Definition: example_detector_distance_low_power_off.c:50
acc_integration_mem_free
void acc_integration_mem_free(void *ptr)
Free dynamic memory.
Definition: acc_integration_stm32.c:602
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.
acc_integration_sleep_until_periodic_wakeup
void acc_integration_sleep_until_periodic_wakeup(void)
Put the system in sleep until the periodic timer triggers.
Definition: acc_integration_stm32.c:552
acc_definitions_common.h
DEFAULT_UPDATE_RATE
#define DEFAULT_UPDATE_RATE
Definition: example_detector_distance_low_power_off.c:56
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
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.
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_definitions_a121.h
acc_sensor_create
acc_sensor_t * acc_sensor_create(acc_sensor_id_t sensor_id)
Create a sensor instance.