ref_app_tank_level.c

This is a reference application for measuring liquid level in tanks
This reference application executes as follows:

- Retrieve HAL integration
- Initialize application resources:
  - Create application configuration
  - 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
  - Process sensor measurement and get distance detector result
  - Process distance detector result 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, 2023-2025
// 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_algorithm.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"
#define SENSOR_ID 1U
#define SENSOR_TIMEOUT_MS 1000U
#define DEFAULT_UPDATE_RATE 1.0f
#define CLOSE_RANGE_START 0.07f
// Settings for a small tank
#define SMALL_TANK_MEDIAN_FILTER_LENGTH 3U
#define SMALL_TANK_NUM_MEDIANS_TO_AVERAGE 2U
#define SMALL_TANK_RANGE_START_M 0.03f
#define SMALL_TANK_RANGE_END_M 0.5f
#define SMALL_TANK_MAX_STEP_LENGTH 12U
#define SMALL_TANK_MAX_PROFILE ACC_CONFIG_PROFILE_3
#define SMALL_TANK_NUM_FRAMES_REC 50U
#define SMALL_TANK_PEAK_SORTING ACC_DETECTOR_DISTANCE_PEAK_SORTING_CLOSEST
#define SMALL_TANK_REFLECTOR_SHAPE ACC_DETECTOR_DISTANCE_REFLECTOR_SHAPE_PLANAR
#define SMALL_TANK_THRESHOLD_METHOD ACC_DETECTOR_DISTANCE_THRESHOLD_METHOD_CFAR
#define SMALL_TANK_FIXED_AMPLITUDE_THRESHOLD 100.0f
#define SMALL_TANK_FIXED_STRENGTH_THRESHOLD 0.0f
#define SMALL_TANK_THRESHOLD_SENSITIVITY 0.0f
#define SMALL_TANK_SIGNAL_QUALITY 3.0f
#define SMALL_TANK_CLOSE_RANGE_LEAKAGE_CANCELLATION false
// Settings for a medium tank
#define MEDIUM_TANK_MEDIAN_FILTER_LENGTH 3U
#define MEDIUM_TANK_NUM_MEDIANS_TO_AVERAGE 1U
#define MEDIUM_TANK_RANGE_START_M 0.05f
#define MEDIUM_TANK_RANGE_END_M 6.0f
#define MEDIUM_TANK_MAX_STEP_LENGTH 0U // 0 means no limit
#define MEDIUM_TANK_MAX_PROFILE ACC_CONFIG_PROFILE_5
#define MEDIUM_TANK_NUM_FRAMES_REC 50U
#define MEDIUM_TANK_PEAK_SORTING ACC_DETECTOR_DISTANCE_PEAK_SORTING_STRONGEST
#define MEDIUM_TANK_REFLECTOR_SHAPE ACC_DETECTOR_DISTANCE_REFLECTOR_SHAPE_PLANAR
#define MEDIUM_TANK_THRESHOLD_METHOD ACC_DETECTOR_DISTANCE_THRESHOLD_METHOD_CFAR
#define MEDIUM_TANK_FIXED_AMPLITUDE_THRESHOLD 100.0f
#define MEDIUM_TANK_FIXED_STRENGTH_THRESHOLD 3.0f
#define MEDIUM_TANK_THRESHOLD_SENSITIVITY 0.0f
#define MEDIUM_TANK_SIGNAL_QUALITY 19.0f
#define MEDIUM_TANK_CLOSE_RANGE_LEAKAGE_CANCELLATION false
// Settings for a large tank
#define LARGE_TANK_MEDIAN_FILTER_LENGTH 1U
#define LARGE_TANK_NUM_MEDIANS_TO_AVERAGE 1U
#define LARGE_TANK_RANGE_START_M 0.1f
#define LARGE_TANK_RANGE_END_M 15.0f
#define LARGE_TANK_MAX_STEP_LENGTH 0U // 0 means no limit
#define LARGE_TANK_MAX_PROFILE ACC_CONFIG_PROFILE_5
#define LARGE_TANK_NUM_FRAMES_REC 50U
#define LARGE_TANK_PEAK_SORTING ACC_DETECTOR_DISTANCE_PEAK_SORTING_STRONGEST
#define LARGE_TANK_REFLECTOR_SHAPE ACC_DETECTOR_DISTANCE_REFLECTOR_SHAPE_PLANAR
#define LARGE_TANK_THRESHOLD_METHOD ACC_DETECTOR_DISTANCE_THRESHOLD_METHOD_CFAR
#define LARGE_TANK_FIXED_AMPLITUDE_THRESHOLD 100.0f
#define LARGE_TANK_FIXED_STRENGTH_THRESHOLD 5.0f
#define LARGE_TANK_THRESHOLD_SENSITIVITY 0.0f
#define LARGE_TANK_SIGNAL_QUALITY 20.0f
#define LARGE_TANK_CLOSE_RANGE_LEAKAGE_CANCELLATION false
/** \example ref_app_tank_level.c
* @brief This is a reference application for measuring liquid level in tanks
* @n
* This reference application executes as follows:
* - Retrieve HAL integration
* - Initialize application resources:
* + Create application configuration
* + 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
* + Process sensor measurement and get distance detector result
* + Process distance detector result 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
{
TANK_LEVEL_PRESET_CONFIG_NONE = 0,
TANK_LEVEL_PRESET_CONFIG_SMALL_TANK,
TANK_LEVEL_PRESET_CONFIG_MEDIUM_TANK,
TANK_LEVEL_PRESET_CONFIG_LARGE_TANK,
} tank_level_preset_config_t;
#define DEFAULT_PRESET_CONFIG TANK_LEVEL_PRESET_CONFIG_SMALL_TANK
typedef struct
{
float tank_range_start_m;
float tank_range_end_m;
uint16_t median_filter_length;
uint16_t num_medians_to_average;
acc_detector_distance_config_t *distance_config;
} acc_ref_app_tank_level_config_t;
typedef struct
{
acc_ref_app_tank_level_config_t *app_config;
acc_sensor_t *sensor;
float *level_history;
uint16_t level_history_length;
float *median_vector;
uint16_t median_vector_length;
uint16_t median_counter;
uint16_t mean_counter;
uint16_t median_edge_status_count;
uint16_t mean_edge_status_count;
acc_detector_distance_handle_t *detector_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;
} app_context_t;
typedef enum
{
PEAK_STATUS_IN_RANGE,
PEAK_STATUS_NO_DETECTION,
PEAK_STATUS_OVERFLOW,
PEAK_STATUS_OUT_OF_RANGE
} peak_status_t;
typedef struct
{
bool peak_detected;
peak_status_t peak_status;
float level;
bool result_ready;
} app_result_t;
static void cleanup(app_context_t *context);
static float get_detector_start_m(acc_ref_app_tank_level_config_t *app_config);
static float get_detector_end_m(acc_ref_app_tank_level_config_t *app_config);
static void set_config(acc_ref_app_tank_level_config_t *app_config, tank_level_preset_config_t preset);
static bool initialize_application_resources(app_context_t *context);
static bool sensor_calibration(acc_sensor_t *sensor, acc_cal_result_t *cal_result, void *buffer, uint32_t buffer_size);
static bool full_detector_calibration(app_context_t *context, const acc_cal_result_t *sensor_cal_result);
static bool update_detector_calibration(app_context_t *context, const acc_cal_result_t *sensor_cal_result);
static bool detector_get_next(app_context_t *context, const acc_cal_result_t *sensor_cal_result, acc_detector_distance_result_t *detector_result);
static float median(float *array, uint16_t array_length);
static float nanmean(float *array, uint16_t array_length);
static void process_detector_result(const acc_detector_distance_result_t *distance_result, app_result_t *app_result, app_context_t *context);
static void print_result(const app_result_t *app_result, const acc_ref_app_tank_level_config_t *app_config);
int acconeer_main(int argc, char *argv[]);
int acconeer_main(int argc, char *argv[])
{
(void)argc;
(void)argv;
app_context_t context = {0};
acc_ref_app_tank_level_config_t app_config = {0};
context.app_config = &app_config;
context.sensor = NULL;
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;
}
context.app_config->distance_config = acc_detector_distance_config_create();
if (context.app_config->distance_config == NULL)
{
printf("acc_detector_distance_config_create() failed\n");
cleanup(&context);
return EXIT_FAILURE;
}
set_config(&app_config, DEFAULT_PRESET_CONFIG);
uint32_t sleep_time_ms = (uint32_t)(1000.0f / DEFAULT_UPDATE_RATE);
acc_integration_set_periodic_wakeup(sleep_time_ms);
if (!initialize_application_resources(&context))
{
printf("Initializing detector context failed\n");
cleanup(&context);
return EXIT_FAILURE;
}
/* Turn the sensor on */
acc_hal_integration_sensor_supply_on(SENSOR_ID);
acc_hal_integration_sensor_enable(SENSOR_ID);
context.sensor = acc_sensor_create(SENSOR_ID);
if (context.sensor == NULL)
{
printf("acc_sensor_create() failed\n");
cleanup(&context);
return EXIT_FAILURE;
}
acc_cal_result_t cal_result;
if (!sensor_calibration(context.sensor, &cal_result, context.buffer, context.buffer_size))
{
printf("Sensor calibration failed\n");
cleanup(&context);
return EXIT_FAILURE;
}
if (!full_detector_calibration(&context, &cal_result))
{
printf("Detector calibration failed\n");
cleanup(&context);
return EXIT_FAILURE;
}
while (true)
{
acc_detector_distance_result_t detector_result = {0};
app_result_t app_result = {0};
if (!detector_get_next(&context, &cal_result, &detector_result))
{
printf("Could not get next result\n");
cleanup(&context);
return EXIT_FAILURE;
}
process_detector_result(&detector_result, &app_result, &context);
/* If "calibration needed" is indicated, the sensor needs to be recalibrated and the detector calibration updated */
if (detector_result.calibration_needed)
{
printf("Sensor recalibration and detector calibration update needed ... \n");
if (!sensor_calibration(context.sensor, &cal_result, context.buffer, context.buffer_size))
{
printf("Sensor calibration failed\n");
cleanup(&context);
return EXIT_FAILURE;
}
/* Once the sensor is recalibrated, the detector calibration should be updated and measuring can continue. */
if (!update_detector_calibration(&context, &cal_result))
{
printf("Detector calibration update failed\n");
cleanup(&context);
return EXIT_FAILURE;
}
printf("Sensor recalibration and detector calibration update done!\n");
}
if (app_result.result_ready)
{
acc_hal_integration_sensor_disable(SENSOR_ID);
print_result(&app_result, context.app_config);
acc_integration_sleep_until_periodic_wakeup();
acc_hal_integration_sensor_enable(SENSOR_ID);
}
}
cleanup(&context);
printf("Application finished OK\n");
return EXIT_SUCCESS;
}
static void cleanup(app_context_t *context)
{
acc_hal_integration_sensor_disable(SENSOR_ID);
acc_hal_integration_sensor_supply_off(SENSOR_ID);
acc_detector_distance_config_destroy(context->app_config->distance_config);
acc_detector_distance_destroy(context->detector_handle);
acc_integration_mem_free(context->buffer);
acc_integration_mem_free(context->detector_cal_result_static);
acc_integration_mem_free(context->level_history);
acc_integration_mem_free(context->median_vector);
if (context->sensor != NULL)
{
acc_sensor_destroy(context->sensor);
}
}
static float get_detector_start_m(acc_ref_app_tank_level_config_t *app_config)
{
// Decrease start point by 15 mm to make sure that start of the tank is fully covered
return app_config->tank_range_start_m - 0.015f;
}
static float get_detector_end_m(acc_ref_app_tank_level_config_t *app_config)
{
// Increase end point by 5% to make sure that the bottom of the tank is fully covered
return fminf(app_config->tank_range_end_m * 1.05f, 23.0f);
}
static void set_config(acc_ref_app_tank_level_config_t *app_config, tank_level_preset_config_t preset)
{
switch (preset)
{
case TANK_LEVEL_PRESET_CONFIG_NONE:
break;
case TANK_LEVEL_PRESET_CONFIG_SMALL_TANK:
app_config->tank_range_start_m = SMALL_TANK_RANGE_START_M;
app_config->tank_range_end_m = SMALL_TANK_RANGE_END_M;
app_config->median_filter_length = SMALL_TANK_MEDIAN_FILTER_LENGTH;
app_config->num_medians_to_average = SMALL_TANK_NUM_MEDIANS_TO_AVERAGE;
acc_detector_distance_config_start_set(app_config->distance_config, get_detector_start_m(app_config));
acc_detector_distance_config_end_set(app_config->distance_config, get_detector_end_m(app_config));
acc_detector_distance_config_max_step_length_set(app_config->distance_config, SMALL_TANK_MAX_STEP_LENGTH);
acc_detector_distance_config_max_profile_set(app_config->distance_config, SMALL_TANK_MAX_PROFILE);
acc_detector_distance_config_num_frames_recorded_threshold_set(app_config->distance_config, SMALL_TANK_NUM_FRAMES_REC);
acc_detector_distance_config_peak_sorting_set(app_config->distance_config, SMALL_TANK_PEAK_SORTING);
acc_detector_distance_config_reflector_shape_set(app_config->distance_config, SMALL_TANK_REFLECTOR_SHAPE);
acc_detector_distance_config_threshold_method_set(app_config->distance_config, SMALL_TANK_THRESHOLD_METHOD);
acc_detector_distance_config_fixed_amplitude_threshold_value_set(app_config->distance_config, SMALL_TANK_FIXED_AMPLITUDE_THRESHOLD);
acc_detector_distance_config_fixed_strength_threshold_value_set(app_config->distance_config, SMALL_TANK_FIXED_STRENGTH_THRESHOLD);
acc_detector_distance_config_threshold_sensitivity_set(app_config->distance_config, SMALL_TANK_THRESHOLD_SENSITIVITY);
acc_detector_distance_config_signal_quality_set(app_config->distance_config, SMALL_TANK_SIGNAL_QUALITY);
acc_detector_distance_config_close_range_leakage_cancellation_set(app_config->distance_config,
SMALL_TANK_CLOSE_RANGE_LEAKAGE_CANCELLATION);
break;
case TANK_LEVEL_PRESET_CONFIG_MEDIUM_TANK:
app_config->tank_range_start_m = MEDIUM_TANK_RANGE_START_M;
app_config->tank_range_end_m = MEDIUM_TANK_RANGE_END_M;
app_config->median_filter_length = MEDIUM_TANK_MEDIAN_FILTER_LENGTH;
app_config->num_medians_to_average = MEDIUM_TANK_NUM_MEDIANS_TO_AVERAGE;
acc_detector_distance_config_start_set(app_config->distance_config, get_detector_start_m(app_config));
acc_detector_distance_config_end_set(app_config->distance_config, get_detector_end_m(app_config));
acc_detector_distance_config_max_step_length_set(app_config->distance_config, MEDIUM_TANK_MAX_STEP_LENGTH);
acc_detector_distance_config_max_profile_set(app_config->distance_config, MEDIUM_TANK_MAX_PROFILE);
acc_detector_distance_config_num_frames_recorded_threshold_set(app_config->distance_config, MEDIUM_TANK_NUM_FRAMES_REC);
acc_detector_distance_config_peak_sorting_set(app_config->distance_config, MEDIUM_TANK_PEAK_SORTING);
acc_detector_distance_config_reflector_shape_set(app_config->distance_config, MEDIUM_TANK_REFLECTOR_SHAPE);
acc_detector_distance_config_threshold_method_set(app_config->distance_config, MEDIUM_TANK_THRESHOLD_METHOD);
acc_detector_distance_config_fixed_amplitude_threshold_value_set(app_config->distance_config, MEDIUM_TANK_FIXED_AMPLITUDE_THRESHOLD);
acc_detector_distance_config_fixed_strength_threshold_value_set(app_config->distance_config, MEDIUM_TANK_FIXED_STRENGTH_THRESHOLD);
acc_detector_distance_config_threshold_sensitivity_set(app_config->distance_config, MEDIUM_TANK_THRESHOLD_SENSITIVITY);
acc_detector_distance_config_signal_quality_set(app_config->distance_config, MEDIUM_TANK_SIGNAL_QUALITY);
acc_detector_distance_config_close_range_leakage_cancellation_set(app_config->distance_config,
MEDIUM_TANK_CLOSE_RANGE_LEAKAGE_CANCELLATION);
break;
case TANK_LEVEL_PRESET_CONFIG_LARGE_TANK:
app_config->tank_range_start_m = LARGE_TANK_RANGE_START_M;
app_config->tank_range_end_m = LARGE_TANK_RANGE_END_M;
app_config->median_filter_length = LARGE_TANK_MEDIAN_FILTER_LENGTH;
app_config->num_medians_to_average = LARGE_TANK_NUM_MEDIANS_TO_AVERAGE;
acc_detector_distance_config_start_set(app_config->distance_config, get_detector_start_m(app_config));
acc_detector_distance_config_end_set(app_config->distance_config, get_detector_end_m(app_config));
acc_detector_distance_config_max_step_length_set(app_config->distance_config, LARGE_TANK_MAX_STEP_LENGTH);
acc_detector_distance_config_max_profile_set(app_config->distance_config, LARGE_TANK_MAX_PROFILE);
acc_detector_distance_config_num_frames_recorded_threshold_set(app_config->distance_config, LARGE_TANK_NUM_FRAMES_REC);
acc_detector_distance_config_peak_sorting_set(app_config->distance_config, LARGE_TANK_PEAK_SORTING);
acc_detector_distance_config_reflector_shape_set(app_config->distance_config, LARGE_TANK_REFLECTOR_SHAPE);
acc_detector_distance_config_threshold_method_set(app_config->distance_config, LARGE_TANK_THRESHOLD_METHOD);
acc_detector_distance_config_fixed_amplitude_threshold_value_set(app_config->distance_config, LARGE_TANK_FIXED_AMPLITUDE_THRESHOLD);
acc_detector_distance_config_fixed_strength_threshold_value_set(app_config->distance_config, LARGE_TANK_FIXED_STRENGTH_THRESHOLD);
acc_detector_distance_config_threshold_sensitivity_set(app_config->distance_config, LARGE_TANK_THRESHOLD_SENSITIVITY);
acc_detector_distance_config_signal_quality_set(app_config->distance_config, LARGE_TANK_SIGNAL_QUALITY);
acc_detector_distance_config_close_range_leakage_cancellation_set(app_config->distance_config,
LARGE_TANK_CLOSE_RANGE_LEAKAGE_CANCELLATION);
break;
}
}
static bool initialize_application_resources(app_context_t *context)
{
context->detector_handle = acc_detector_distance_create(context->app_config->distance_config);
if (context->detector_handle == NULL)
{
printf("acc_detector_distance_create() failed\n");
return false;
}
if (!acc_detector_distance_get_sizes(context->detector_handle, &(context->buffer_size), &(context->detector_cal_result_static_size)))
{
printf("acc_detector_distance_get_sizes() failed\n");
return false;
}
context->buffer = acc_integration_mem_alloc(context->buffer_size);
if (context->buffer == NULL)
{
printf("sensor buffer allocation failed\n");
return false;
}
context->detector_cal_result_static = acc_integration_mem_alloc(context->detector_cal_result_static_size);
if (context->detector_cal_result_static == NULL)
{
printf("calibration buffer allocation failed\n");
return false;
}
context->level_history_length = context->app_config->median_filter_length;
context->level_history = acc_integration_mem_alloc(context->level_history_length * sizeof(*context->level_history));
if (context->level_history == NULL)
{
printf("level history buffer allocation failed\n");
return false;
}
context->median_vector_length = context->app_config->num_medians_to_average;
context->median_vector = acc_integration_mem_alloc(context->median_vector_length * sizeof(*context->median_vector));
if (context->median_vector == NULL)
{
printf("median vector allocation failed\n");
return false;
}
context->median_counter = 0U;
context->mean_counter = 0U;
context->median_edge_status_count = 0U;
context->mean_edge_status_count = 0U;
return true;
}
static bool 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);
}
else
{
printf("acc_sensor_calibrate() failed\n");
acc_sensor_status(sensor);
}
return status;
}
static bool full_detector_calibration(app_context_t *context, const acc_cal_result_t *sensor_cal_result)
{
bool done = false;
bool status;
do
{
status = acc_detector_distance_calibrate(context->sensor,
context->detector_handle,
sensor_cal_result,
context->buffer,
context->buffer_size,
context->detector_cal_result_static,
context->detector_cal_result_static_size,
&context->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);
return status;
}
static bool update_detector_calibration(app_context_t *context, const acc_cal_result_t *sensor_cal_result)
{
bool done = false;
bool status;
do
{
status = acc_detector_distance_update_calibration(context->sensor,
context->detector_handle,
sensor_cal_result,
context->buffer,
context->buffer_size,
&context->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);
return status;
}
static bool detector_get_next(app_context_t *context, const acc_cal_result_t *sensor_cal_result, acc_detector_distance_result_t *detector_result)
{
bool result_available = false;
do
{
if (!acc_detector_distance_prepare(context->detector_handle,
context->app_config->distance_config,
context->sensor,
sensor_cal_result,
context->buffer,
context->buffer_size))
{
printf("acc_detector_distance_prepare() failed\n");
return false;
}
if (!acc_sensor_measure(context->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(context->sensor, context->buffer, context->buffer_size))
{
printf("acc_sensor_read() failed\n");
return false;
}
if (!acc_detector_distance_process(context->detector_handle,
context->buffer,
context->detector_cal_result_static,
&context->detector_cal_result_dynamic,
&result_available,
detector_result))
{
printf("acc_detector_distance_process() failed\n");
return false;
}
} while (!result_available);
return true;
}
static float median(float *array, uint16_t array_length)
{
bool status = true;
float result = 0.0f;
for (uint16_t i = 0U; i < array_length && status; i++)
{
if (isnan(array[i]))
{
result = (float)NAN;
status = false;
}
}
if (status)
{
result = acc_algorithm_median_f32(array, array_length);
}
return result;
}
static float nanmean(float *array, uint16_t array_length)
{
uint16_t samples = 0U;
float sum = 0.0f;
for (uint16_t i = 0U; i < array_length; i++)
{
if (!isnan(array[i]))
{
samples++;
sum += array[i];
}
}
return samples > 0U ? sum / (float)samples : (float)NAN;
}
static void process_detector_result(const acc_detector_distance_result_t *distance_result, app_result_t *app_result, app_context_t *context)
{
app_result->peak_detected = false;
app_result->peak_status = PEAK_STATUS_NO_DETECTION;
app_result->level = 0.0f;
app_result->result_ready = false;
float level = 0.0f;
if (distance_result->num_distances > 0)
{
app_result->peak_detected = true;
level = context->app_config->tank_range_end_m - distance_result->distances[0];
}
else
{
level = (float)NAN;
}
if (distance_result->near_start_edge_status)
{
context->median_edge_status_count++;
}
context->level_history[context->median_counter++] = level;
if (context->median_counter == context->level_history_length)
{
float med = median(context->level_history, context->level_history_length);
context->median_vector[context->mean_counter++] = med;
if (context->median_edge_status_count > context->level_history_length / 2)
{
context->mean_edge_status_count++;
}
context->median_counter = 0U;
context->median_edge_status_count = 0U;
}
if (context->mean_counter == context->median_vector_length)
{
level = nanmean(context->median_vector, context->median_vector_length);
if (!isnan(level))
{
if (level < 0.0f)
{
app_result->peak_status = PEAK_STATUS_OUT_OF_RANGE;
}
else if ((level > (context->app_config->tank_range_end_m - context->app_config->tank_range_start_m)) &&
(context->app_config->tank_range_start_m >= CLOSE_RANGE_START))
{
app_result->peak_status = PEAK_STATUS_OVERFLOW;
}
else
{
app_result->peak_status = PEAK_STATUS_IN_RANGE;
app_result->level = level;
}
}
else if ((context->mean_edge_status_count > context->median_vector_length / 2) &&
(context->app_config->tank_range_start_m >= CLOSE_RANGE_START))
{
app_result->peak_status = PEAK_STATUS_OVERFLOW;
}
if (app_result->peak_status == PEAK_STATUS_OVERFLOW || app_result->peak_status == PEAK_STATUS_OUT_OF_RANGE)
{
app_result->level = (float)NAN;
}
app_result->result_ready = true;
context->mean_counter = 0U;
context->mean_edge_status_count = 0U;
}
}
static void print_result(const app_result_t *app_result, const acc_ref_app_tank_level_config_t *app_config)
{
switch (app_result->peak_status)
{
case PEAK_STATUS_IN_RANGE:
printf("Level within range\n");
printf("Level: %" PRIfloat " cm, %" PRIfloat " %%\n",
ACC_LOG_FLOAT_TO_INTEGER(app_result->level * 100.0f),
ACC_LOG_FLOAT_TO_INTEGER((app_result->level / (app_config->tank_range_end_m - app_config->tank_range_start_m) * 100.f)));
break;
case PEAK_STATUS_NO_DETECTION:
printf("No detection\n");
break;
case PEAK_STATUS_OVERFLOW:
printf("Overflow!\n");
break;
case PEAK_STATUS_OUT_OF_RANGE:
printf("Out of range\n");
break;
default:
break;
}
}
app_result_t::level
float level
Definition: ref_app_tank_level.c:158
SMALL_TANK_FIXED_AMPLITUDE_THRESHOLD
#define SMALL_TANK_FIXED_AMPLITUDE_THRESHOLD
Definition: ref_app_tank_level.c:40
SMALL_TANK_RANGE_START_M
#define SMALL_TANK_RANGE_START_M
Definition: ref_app_tank_level.c:32
full_detector_calibration
static bool full_detector_calibration(app_context_t *context, const acc_cal_result_t *sensor_cal_result)
Definition: ref_app_tank_level.c:510
SMALL_TANK_SIGNAL_QUALITY
#define SMALL_TANK_SIGNAL_QUALITY
Definition: ref_app_tank_level.c:43
app_context_t::median_counter
uint16_t median_counter
Definition: ref_app_tank_level.c:134
app_context_t::buffer_size
uint32_t buffer_size
Definition: ref_app_tank_level.c:140
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
app_context_t::level_history_length
uint16_t level_history_length
Definition: ref_app_tank_level.c:131
acc_rss_a121.h
PEAK_STATUS_IN_RANGE
@ PEAK_STATUS_IN_RANGE
Definition: ref_app_tank_level.c:148
TANK_LEVEL_PRESET_CONFIG_MEDIUM_TANK
@ TANK_LEVEL_PRESET_CONFIG_MEDIUM_TANK
Definition: ref_app_tank_level.c:111
app_context_t::detector_cal_result_dynamic
acc_detector_cal_result_dynamic_t detector_cal_result_dynamic
Definition: ref_app_tank_level.c:143
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.
MEDIUM_TANK_FIXED_STRENGTH_THRESHOLD
#define MEDIUM_TANK_FIXED_STRENGTH_THRESHOLD
Definition: ref_app_tank_level.c:58
acc_ref_app_tank_level_config_t::median_filter_length
uint16_t median_filter_length
Definition: ref_app_tank_level.c:121
app_context_t::app_config
acc_ref_app_smart_presence_config_t * app_config
Definition: ref_app_smart_presence.c:145
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.
app_result_t::peak_status
peak_status_t peak_status
Definition: ref_app_tank_level.c:157
app_context_t::mean_counter
uint16_t mean_counter
Definition: ref_app_tank_level.c:135
MEDIUM_TANK_THRESHOLD_METHOD
#define MEDIUM_TANK_THRESHOLD_METHOD
Definition: ref_app_tank_level.c:56
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
nanmean
static float nanmean(float *array, uint16_t array_length)
Definition: ref_app_tank_level.c:640
TANK_LEVEL_PRESET_CONFIG_SMALL_TANK
@ TANK_LEVEL_PRESET_CONFIG_SMALL_TANK
Definition: ref_app_tank_level.c:110
acc_sensor_read
bool acc_sensor_read(const acc_sensor_t *sensor, void *buffer, uint32_t buffer_size)
Read out radar data.
MEDIUM_TANK_FIXED_AMPLITUDE_THRESHOLD
#define MEDIUM_TANK_FIXED_AMPLITUDE_THRESHOLD
Definition: ref_app_tank_level.c:57
LARGE_TANK_SIGNAL_QUALITY
#define LARGE_TANK_SIGNAL_QUALITY
Definition: ref_app_tank_level.c:77
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_ref_app_tank_level_config_t::tank_range_end_m
float tank_range_end_m
Definition: ref_app_tank_level.c:120
SMALL_TANK_MAX_STEP_LENGTH
#define SMALL_TANK_MAX_STEP_LENGTH
Definition: ref_app_tank_level.c:34
app_context_t::buffer
void * buffer
Definition: ref_app_smart_presence.c:153
PEAK_STATUS_OVERFLOW
@ PEAK_STATUS_OVERFLOW
Definition: ref_app_tank_level.c:150
app_context_t
Definition: ref_app_smart_presence.c:143
result_ready
static bool result_ready
Definition: i2c_ref_app_breathing.c:44
app_result_t::peak_detected
bool peak_detected
Definition: ref_app_tank_level.c:156
process_detector_result
static void process_detector_result(const acc_detector_distance_result_t *distance_result, app_result_t *app_result, app_context_t *context)
Definition: ref_app_tank_level.c:657
SMALL_TANK_PEAK_SORTING
#define SMALL_TANK_PEAK_SORTING
Definition: ref_app_tank_level.c:37
acc_ref_app_tank_level_config_t::tank_range_start_m
float tank_range_start_m
Definition: ref_app_tank_level.c:119
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_ref_app_tank_level_config_t *app_config, tank_level_preset_config_t preset)
Definition: ref_app_tank_level.c:344
MEDIUM_TANK_MAX_STEP_LENGTH
#define MEDIUM_TANK_MAX_STEP_LENGTH
Definition: ref_app_tank_level.c:51
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)
MEDIUM_TANK_MAX_PROFILE
#define MEDIUM_TANK_MAX_PROFILE
Definition: ref_app_tank_level.c:52
acc_detector_distance_config_fixed_amplitude_threshold_value_set
void acc_detector_distance_config_fixed_amplitude_threshold_value_set(acc_detector_distance_config_t *config, float fixed_threshold_value)
Set fixed amplitude threshold value.
SMALL_TANK_RANGE_END_M
#define SMALL_TANK_RANGE_END_M
Definition: ref_app_tank_level.c:33
MEDIUM_TANK_PEAK_SORTING
#define MEDIUM_TANK_PEAK_SORTING
Definition: ref_app_tank_level.c:54
get_detector_end_m
static float get_detector_end_m(acc_ref_app_tank_level_config_t *app_config)
Definition: ref_app_tank_level.c:338
median
static float median(float *array, uint16_t array_length)
Definition: ref_app_tank_level.c:618
app_context_t::detector_handle
acc_detector_distance_handle_t * detector_handle
Definition: ref_app_tank_level.c:138
acc_integration.h
acc_detector_distance_result_t::num_distances
uint8_t num_distances
Definition: acc_detector_distance.h:70
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.
LARGE_TANK_PEAK_SORTING
#define LARGE_TANK_PEAK_SORTING
Definition: ref_app_tank_level.c:71
LARGE_TANK_FIXED_AMPLITUDE_THRESHOLD
#define LARGE_TANK_FIXED_AMPLITUDE_THRESHOLD
Definition: ref_app_tank_level.c:74
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
SMALL_TANK_NUM_FRAMES_REC
#define SMALL_TANK_NUM_FRAMES_REC
Definition: ref_app_tank_level.c:36
app_context_t::mean_edge_status_count
uint16_t mean_edge_status_count
Definition: ref_app_tank_level.c:137
MEDIUM_TANK_MEDIAN_FILTER_LENGTH
#define MEDIUM_TANK_MEDIAN_FILTER_LENGTH
Definition: ref_app_tank_level.c:47
SMALL_TANK_FIXED_STRENGTH_THRESHOLD
#define SMALL_TANK_FIXED_STRENGTH_THRESHOLD
Definition: ref_app_tank_level.c:41
TANK_LEVEL_PRESET_CONFIG_LARGE_TANK
@ TANK_LEVEL_PRESET_CONFIG_LARGE_TANK
Definition: ref_app_tank_level.c:112
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.
SMALL_TANK_THRESHOLD_METHOD
#define SMALL_TANK_THRESHOLD_METHOD
Definition: ref_app_tank_level.c:39
app_context_t::detector_cal_result_static
uint8_t * detector_cal_result_static
Definition: ref_app_tank_level.c:141
PEAK_STATUS_NO_DETECTION
@ PEAK_STATUS_NO_DETECTION
Definition: ref_app_tank_level.c:149
app_result_t::result_ready
bool result_ready
Definition: ref_app_tank_level.c:159
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
LARGE_TANK_RANGE_START_M
#define LARGE_TANK_RANGE_START_M
Definition: ref_app_tank_level.c:66
MEDIUM_TANK_THRESHOLD_SENSITIVITY
#define MEDIUM_TANK_THRESHOLD_SENSITIVITY
Definition: ref_app_tank_level.c:59
detector_cal_result_static
static uint8_t * detector_cal_result_static
Definition: example_detector_distance_calibration_caching.c:70
acc_ref_app_tank_level_config_t
Definition: ref_app_tank_level.c:117
acc_hal_a121_t
Definition: acc_hal_definitions_a121.h:82
update_detector_calibration
static bool update_detector_calibration(app_context_t *context, const acc_cal_result_t *sensor_cal_result)
Definition: ref_app_tank_level.c:540
SMALL_TANK_NUM_MEDIANS_TO_AVERAGE
#define SMALL_TANK_NUM_MEDIANS_TO_AVERAGE
Definition: ref_app_tank_level.c:31
LARGE_TANK_MAX_PROFILE
#define LARGE_TANK_MAX_PROFILE
Definition: ref_app_tank_level.c:69
MEDIUM_TANK_SIGNAL_QUALITY
#define MEDIUM_TANK_SIGNAL_QUALITY
Definition: ref_app_tank_level.c:60
CLOSE_RANGE_START
#define CLOSE_RANGE_START
Definition: ref_app_tank_level.c:27
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
detector_get_next
static bool detector_get_next(app_context_t *context, const acc_cal_result_t *sensor_cal_result, acc_detector_distance_result_t *detector_result)
Definition: ref_app_tank_level.c:568
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.
acconeer_main
int acconeer_main(int argc, char *argv[])
Assembly test example.
Definition: ref_app_tank_level.c:190
LARGE_TANK_REFLECTOR_SHAPE
#define LARGE_TANK_REFLECTOR_SHAPE
Definition: ref_app_tank_level.c:72
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.
app_context_t::detector_cal_result_static_size
uint32_t detector_cal_result_static_size
Definition: ref_app_tank_level.c:142
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
LARGE_TANK_THRESHOLD_METHOD
#define LARGE_TANK_THRESHOLD_METHOD
Definition: ref_app_tank_level.c:73
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)
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.
app_context_t::median_vector_length
uint16_t median_vector_length
Definition: ref_app_tank_level.c:133
printf
#define printf
Definition: printf.h:60
sensor_calibration
static bool sensor_calibration(acc_sensor_t *sensor, acc_cal_result_t *cal_result, void *buffer, uint32_t buffer_size)
Definition: ref_app_tank_level.c:471
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
LARGE_TANK_NUM_FRAMES_REC
#define LARGE_TANK_NUM_FRAMES_REC
Definition: ref_app_tank_level.c:70
acc_hal_definitions_a121.h
SMALL_TANK_THRESHOLD_SENSITIVITY
#define SMALL_TANK_THRESHOLD_SENSITIVITY
Definition: ref_app_tank_level.c:42
acc_ref_app_tank_level_config_t::num_medians_to_average
uint16_t num_medians_to_average
Definition: ref_app_tank_level.c:122
TANK_LEVEL_PRESET_CONFIG_NONE
@ TANK_LEVEL_PRESET_CONFIG_NONE
Definition: ref_app_tank_level.c:109
acc_detector_distance_result_t::calibration_needed
bool calibration_needed
Definition: acc_detector_distance.h:87
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_ref_app_tank_level_config_t::distance_config
acc_detector_distance_config_t * distance_config
Definition: ref_app_tank_level.c:123
acc_detector_distance_result_t
Distance Detector result returned from acc_detector_distance_process.
Definition: acc_detector_distance.h:48
SMALL_TANK_MAX_PROFILE
#define SMALL_TANK_MAX_PROFILE
Definition: ref_app_tank_level.c:35
MEDIUM_TANK_RANGE_END_M
#define MEDIUM_TANK_RANGE_END_M
Definition: ref_app_tank_level.c:50
MEDIUM_TANK_REFLECTOR_SHAPE
#define MEDIUM_TANK_REFLECTOR_SHAPE
Definition: ref_app_tank_level.c:55
MEDIUM_TANK_RANGE_START_M
#define MEDIUM_TANK_RANGE_START_M
Definition: ref_app_tank_level.c:49
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)
app_context_t::median_edge_status_count
uint16_t median_edge_status_count
Definition: ref_app_tank_level.c:136
DEFAULT_UPDATE_RATE
#define DEFAULT_UPDATE_RATE
Definition: ref_app_tank_level.c:26
initialize_application_resources
static bool initialize_application_resources(app_context_t *context)
Definition: ref_app_tank_level.c:416
cleanup
static void cleanup(app_context_t *context)
Definition: ref_app_tank_level.c:313
acc_detector_distance_config_num_frames_recorded_threshold_set
void acc_detector_distance_config_num_frames_recorded_threshold_set(acc_detector_distance_config_t *config, uint16_t num_frames)
Set number of frames to use for recorded threshold.
acc_integration_log.h
LARGE_TANK_NUM_MEDIANS_TO_AVERAGE
#define LARGE_TANK_NUM_MEDIANS_TO_AVERAGE
Definition: ref_app_tank_level.c:65
acc_detector_distance_handle_t
struct acc_detector_distance_handle acc_detector_distance_handle_t
Distance Detector handle.
Definition: acc_detector_distance.h:36
LARGE_TANK_CLOSE_RANGE_LEAKAGE_CANCELLATION
#define LARGE_TANK_CLOSE_RANGE_LEAKAGE_CANCELLATION
Definition: ref_app_tank_level.c:78
SMALL_TANK_CLOSE_RANGE_LEAKAGE_CANCELLATION
#define SMALL_TANK_CLOSE_RANGE_LEAKAGE_CANCELLATION
Definition: ref_app_tank_level.c:44
tank_level_preset_config_t
tank_level_preset_config_t
Definition: ref_app_tank_level.c:107
ACC_LOG_FLOAT_TO_INTEGER
#define ACC_LOG_FLOAT_TO_INTEGER(a)
Definition: acc_integration_log.h:26
SENSOR_ID
#define SENSOR_ID
Definition: ref_app_tank_level.c:24
acc_algorithm_median_f32
float acc_algorithm_median_f32(float *data, uint16_t length)
Calculate median of input data.
Definition: acc_algorithm.c:1342
LARGE_TANK_RANGE_END_M
#define LARGE_TANK_RANGE_END_M
Definition: ref_app_tank_level.c:67
acc_sensor_status
void acc_sensor_status(const acc_sensor_t *sensor)
Check the status of the sensor.
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.
acc_detector_distance_result_t::near_start_edge_status
bool near_start_edge_status
Definition: acc_detector_distance.h:75
acc_algorithm.h
LARGE_TANK_FIXED_STRENGTH_THRESHOLD
#define LARGE_TANK_FIXED_STRENGTH_THRESHOLD
Definition: ref_app_tank_level.c:75
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.
MEDIUM_TANK_NUM_FRAMES_REC
#define MEDIUM_TANK_NUM_FRAMES_REC
Definition: ref_app_tank_level.c:53
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
app_context_t::sensor
acc_sensor_t * sensor
Definition: ref_app_smart_presence.c:152
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_config_fixed_strength_threshold_value_set
void acc_detector_distance_config_fixed_strength_threshold_value_set(acc_detector_distance_config_t *config, float fixed_threshold_value)
Set fixed strength threshold value.
SMALL_TANK_MEDIAN_FILTER_LENGTH
#define SMALL_TANK_MEDIAN_FILTER_LENGTH
Definition: ref_app_tank_level.c:30
app_context_t::level_history
float * level_history
Definition: ref_app_tank_level.c:130
acc_detector_distance_result_t::distances
float distances[(10U)]
Definition: acc_detector_distance.h:55
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
SENSOR_TIMEOUT_MS
#define SENSOR_TIMEOUT_MS
Definition: ref_app_tank_level.c:25
app_result_t
Definition: ref_app_tank_level.c:154
acc_detector_distance_config_t
struct acc_detector_distance_config acc_detector_distance_config_t
Distance Detector configuration.
Definition: acc_detector_distance.h:43
LARGE_TANK_THRESHOLD_SENSITIVITY
#define LARGE_TANK_THRESHOLD_SENSITIVITY
Definition: ref_app_tank_level.c:76
LARGE_TANK_MEDIAN_FILTER_LENGTH
#define LARGE_TANK_MEDIAN_FILTER_LENGTH
Definition: ref_app_tank_level.c:64
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.
print_result
static void print_result(const app_result_t *app_result, const acc_ref_app_tank_level_config_t *app_config)
Definition: ref_app_tank_level.c:735
peak_status_t
peak_status_t
Definition: ref_app_tank_level.c:146
acc_sensor_measure
bool acc_sensor_measure(acc_sensor_t *sensor)
Start a radar measurement with previously prepared configuration.
get_detector_start_m
static float get_detector_start_m(acc_ref_app_tank_level_config_t *app_config)
Definition: ref_app_tank_level.c:332
PEAK_STATUS_OUT_OF_RANGE
@ PEAK_STATUS_OUT_OF_RANGE
Definition: ref_app_tank_level.c:151
MEDIUM_TANK_NUM_MEDIANS_TO_AVERAGE
#define MEDIUM_TANK_NUM_MEDIANS_TO_AVERAGE
Definition: ref_app_tank_level.c:48
acc_sensor_t
struct acc_sensor acc_sensor_t
Definition: acc_sensor.h:31
DEFAULT_PRESET_CONFIG
#define DEFAULT_PRESET_CONFIG
Definition: ref_app_tank_level.c:115
app_context_t::median_vector
float * median_vector
Definition: ref_app_tank_level.c:132
MEDIUM_TANK_CLOSE_RANGE_LEAKAGE_CANCELLATION
#define MEDIUM_TANK_CLOSE_RANGE_LEAKAGE_CANCELLATION
Definition: ref_app_tank_level.c:61
SMALL_TANK_REFLECTOR_SHAPE
#define SMALL_TANK_REFLECTOR_SHAPE
Definition: ref_app_tank_level.c:38
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.
LARGE_TANK_MAX_STEP_LENGTH
#define LARGE_TANK_MAX_STEP_LENGTH
Definition: ref_app_tank_level.c:68