example_detector_distance_with_iq_data_print.c
Go to the documentation of this file.
1 // Copyright (c) Acconeer AB, 2023-2024
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 <math.h>
8 #include <stdbool.h>
9 #include <stdint.h>
10 #include <stdio.h>
11 #include <stdlib.h>
12
13 #include "acc_definitions_a121.h"
14 #include "acc_detector_distance.h"
15 #include "acc_hal_definitions_a121.h"
16 #include "acc_hal_integration_a121.h"
17 #include "acc_integration.h"
18 #include "acc_integration_log.h"
19 #include "acc_rss_a121.h"
20 #include "acc_sensor.h"
21 #include "acc_version.h"
22
23 /** \example example_detector_distance_with_iq_data_print.c
24 * @brief This is an example on how the Detector Distance API can be used
25 * @n
26 * This example executes as follows:
27 * - Retrieve HAL integration
28 * - Initialize distance detector resources:
29 * + Create distance detector configuration
30 * + Update configuration settings
31 * + Create Distance detector handle
32 * + Create buffer for detector calibration data
33 * + Create buffer for sensor data
34 * - Create and calibrate the sensor
35 * - Calibrate the detector
36 * - Measure distances with the detector (loop):
37 * + Prepare sensor with the detector
38 * + Measure and wait until a read can be done
39 * + Print IQ data amplitude
40 * + Process measurement and print the result
41 * + Handle "calibration_needed" indication
42 * - Cleanup:
43 * + Destroy detector configuration
44 * + Destroy detector handle
45 * + Destroy sensor data buffer
46 * + Destroy detector calibration data buffer
47 */
48
49 typedef enum
50 {
51 DISTANCE_PRESET_CONFIG_NONE = 0,
52 DISTANCE_PRESET_CONFIG_BALANCED,
53 DISTANCE_PRESET_CONFIG_HIGH_ACCURACY,
54 } distance_preset_config_t;
55
56 #define SENSOR_ID (1U)
57 // 2 seconds should be enough even for long ranges and high signal quality
58 #define SENSOR_TIMEOUT_MS (2000U)
59
60 typedef struct
61 {
62 acc_sensor_t *sensor;
63 acc_detector_distance_config_t *config;
64 acc_detector_distance_handle_t *handle;
65 void *buffer;
66 uint32_t buffer_size;
67 uint8_t *detector_cal_result_static;
68 uint32_t detector_cal_result_static_size;
69 acc_detector_cal_result_dynamic_t detector_cal_result_dynamic;
70 } distance_detector_resources_t;
71
72 static void cleanup(distance_detector_resources_t *resources);
73
74 static void set_config(acc_detector_distance_config_t *detector_config, distance_preset_config_t preset);
75
76 static bool initialize_detector_resources(distance_detector_resources_t *resources);
77
78 static bool do_sensor_calibration(acc_sensor_t *sensor, acc_cal_result_t *sensor_cal_result, void *buffer, uint32_t buffer_size);
79
80 static bool do_full_detector_calibration(distance_detector_resources_t *resources, const acc_cal_result_t *sensor_cal_result);
81
82 static bool do_detector_calibration_update(distance_detector_resources_t *resources, const acc_cal_result_t *sensor_cal_result);
83
84 static bool do_detector_get_next(distance_detector_resources_t *resources,
85 const acc_cal_result_t *sensor_cal_result,
86 acc_detector_distance_result_t *result);
87
88 static void print_distance_result(const acc_detector_distance_result_t *result);
89
90 static void print_iq_data(const acc_config_t *sensor_config,
91 acc_processing_result_t *processing_result,
92 acc_processing_metadata_t *processing_metadata);
93
94 int acconeer_main(int argc, char *argv[]);
95
96 int acconeer_main(int argc, char *argv[])
97 {
98 (void)argc;
99 (void)argv;
100 distance_detector_resources_t resources = {0};
101
102 printf("Acconeer software version %s\n", acc_version_get());
103
104 const acc_hal_a121_t *hal = acc_hal_rss_integration_get_implementation();
105
106 if (!acc_rss_hal_register(hal))
107 {
108 return EXIT_FAILURE;
109 }
110
111 resources.config = acc_detector_distance_config_create();
112 if (resources.config == NULL)
113 {
114 printf("acc_detector_distance_config_create() failed\n");
115 cleanup(&resources);
116 return EXIT_FAILURE;
117 }
118
119 set_config(resources.config, DISTANCE_PRESET_CONFIG_BALANCED);
120
121 if (!initialize_detector_resources(&resources))
122 {
123 printf("Initializing detector resources failed\n");
124 cleanup(&resources);
125 return EXIT_FAILURE;
126 }
127
128 // Print the configuration
129 acc_detector_distance_config_log(resources.handle, resources.config);
130
131 /* Turn the sensor on */
132 acc_hal_integration_sensor_supply_on(SENSOR_ID);
133 acc_hal_integration_sensor_enable(SENSOR_ID);
134
135 resources.sensor = acc_sensor_create(SENSOR_ID);
136 if (resources.sensor == NULL)
137 {
138 printf("acc_sensor_create() failed\n");
139 cleanup(&resources);
140 return EXIT_FAILURE;
141 }
142
143 acc_cal_result_t sensor_cal_result;
144
145 if (!do_sensor_calibration(resources.sensor, &sensor_cal_result, resources.buffer, resources.buffer_size))
146 {
147 printf("Sensor calibration failed\n");
148 cleanup(&resources);
149 return EXIT_FAILURE;
150 }
151
152 if (!do_full_detector_calibration(&resources, &sensor_cal_result))
153 {
154 printf("Detector calibration failed\n");
155 cleanup(&resources);
156 return EXIT_FAILURE;
157 }
158
159 while (true)
160 {
161 acc_detector_distance_result_t result = {0};
162
163 if (!do_detector_get_next(&resources, &sensor_cal_result, &result))
164 {
165 printf("Could not get next result\n");
166 cleanup(&resources);
167 return EXIT_FAILURE;
168 }
169
170 /* If "calibration needed" is indicated, the sensor needs to be recalibrated and the detector calibration updated */
171 if (result.calibration_needed)
172 {
173 printf("Sensor recalibration and detector calibration update needed ... \n");
174
175 if (!do_sensor_calibration(resources.sensor, &sensor_cal_result, resources.buffer, resources.buffer_size))
176 {
177 printf("Sensor calibration failed\n");
178 cleanup(&resources);
179 return EXIT_FAILURE;
180 }
181
182 /* Once the sensor is recalibrated, the detector calibration should be updated and measuring can continue. */
183 if (!do_detector_calibration_update(&resources, &sensor_cal_result))
184 {
185 printf("Detector calibration update failed\n");
186 cleanup(&resources);
187 return EXIT_FAILURE;
188 }
189
190 printf("Sensor recalibration and detector calibration update done!\n");
191 }
192 else
193 {
194 print_distance_result(&result);
195 }
196 }
197
198 cleanup(&resources);
199
200 printf("Done!\n");
201
202 return EXIT_SUCCESS;
203 }
204
205 static void cleanup(distance_detector_resources_t *resources)
206 {
207 acc_hal_integration_sensor_disable(SENSOR_ID);
208 acc_hal_integration_sensor_supply_off(SENSOR_ID);
209
210 acc_detector_distance_config_destroy(resources->config);
211 acc_detector_distance_destroy(resources->handle);
212
213 acc_integration_mem_free(resources->buffer);
214 acc_integration_mem_free(resources->detector_cal_result_static);
215
216 if (resources->sensor != NULL)
217 {
218 acc_sensor_destroy(resources->sensor);
219 }
220 }
221
222 static void set_config(acc_detector_distance_config_t *detector_config, distance_preset_config_t preset)
223 {
224 // Add configuration of the detector here
225 switch (preset)
226 {
227 case DISTANCE_PRESET_CONFIG_NONE:
228 // Add configuration of the detector here
229 break;
230
231 case DISTANCE_PRESET_CONFIG_BALANCED:
232 acc_detector_distance_config_start_set(detector_config, 0.25f);
233 acc_detector_distance_config_end_set(detector_config, 3.0f);
234 acc_detector_distance_config_max_step_length_set(detector_config, 0U);
235 acc_detector_distance_config_max_profile_set(detector_config, ACC_CONFIG_PROFILE_5);
236 acc_detector_distance_config_reflector_shape_set(detector_config, ACC_DETECTOR_DISTANCE_REFLECTOR_SHAPE_GENERIC);
237 acc_detector_distance_config_peak_sorting_set(detector_config, ACC_DETECTOR_DISTANCE_PEAK_SORTING_STRONGEST);
238 acc_detector_distance_config_threshold_method_set(detector_config, ACC_DETECTOR_DISTANCE_THRESHOLD_METHOD_CFAR);
239 acc_detector_distance_config_threshold_sensitivity_set(detector_config, 0.5f);
240 acc_detector_distance_config_signal_quality_set(detector_config, 15.0f);
241 acc_detector_distance_config_close_range_leakage_cancellation_set(detector_config, false);
242 break;
243
244 case DISTANCE_PRESET_CONFIG_HIGH_ACCURACY:
245 acc_detector_distance_config_start_set(detector_config, 0.25f);
246 acc_detector_distance_config_end_set(detector_config, 3.0f);
247 acc_detector_distance_config_max_step_length_set(detector_config, 2U);
248 acc_detector_distance_config_max_profile_set(detector_config, ACC_CONFIG_PROFILE_3);
249 acc_detector_distance_config_reflector_shape_set(detector_config, ACC_DETECTOR_DISTANCE_REFLECTOR_SHAPE_GENERIC);
250 acc_detector_distance_config_peak_sorting_set(detector_config, ACC_DETECTOR_DISTANCE_PEAK_SORTING_STRONGEST);
251 acc_detector_distance_config_threshold_method_set(detector_config, ACC_DETECTOR_DISTANCE_THRESHOLD_METHOD_CFAR);
252 acc_detector_distance_config_threshold_sensitivity_set(detector_config, 0.5f);
253 acc_detector_distance_config_signal_quality_set(detector_config, 20.0f);
254 acc_detector_distance_config_close_range_leakage_cancellation_set(detector_config, false);
255 break;
256 }
257 }
258
259 static bool initialize_detector_resources(distance_detector_resources_t *resources)
260 {
261 resources->handle = acc_detector_distance_create(resources->config);
262 if (resources->handle == NULL)
263 {
264 printf("acc_detector_distance_create() failed\n");
265 return false;
266 }
267
268 if (!acc_detector_distance_get_sizes(resources->handle, &(resources->buffer_size), &(resources->detector_cal_result_static_size)))
269 {
270 printf("acc_detector_distance_get_sizes() failed\n");
271 return false;
272 }
273
274 resources->buffer = acc_integration_mem_alloc(resources->buffer_size);
275 if (resources->buffer == NULL)
276 {
277 printf("sensor buffer allocation failed\n");
278 return false;
279 }
280
281 resources->detector_cal_result_static = acc_integration_mem_alloc(resources->detector_cal_result_static_size);
282 if (resources->detector_cal_result_static == NULL)
283 {
284 printf("calibration buffer allocation failed\n");
285 return false;
286 }
287
288 return true;
289 }
290
291 static bool do_sensor_calibration(acc_sensor_t *sensor, acc_cal_result_t *sensor_cal_result, void *buffer, uint32_t buffer_size)
292 {
293 bool status = false;
294 bool cal_complete = false;
295 const uint16_t calibration_retries = 1U;
296
297 // Random disturbances may cause the calibration to fail. At failure, retry at least once.
298 for (uint16_t i = 0; !status && (i <= calibration_retries); i++)
299 {
300 // Reset sensor before calibration by disabling/enabling it
301 acc_hal_integration_sensor_disable(SENSOR_ID);
302 acc_hal_integration_sensor_enable(SENSOR_ID);
303
304 do
305 {
306 status = acc_sensor_calibrate(sensor, &cal_complete, sensor_cal_result, buffer, buffer_size);
307
308 if (status && !cal_complete)
309 {
310 status = acc_hal_integration_wait_for_sensor_interrupt(SENSOR_ID, SENSOR_TIMEOUT_MS);
311 }
312 } while (status && !cal_complete);
313 }
314
315 if (status)
316 {
317 /* Reset sensor after calibration by disabling/enabling it */
318 acc_hal_integration_sensor_disable(SENSOR_ID);
319 acc_hal_integration_sensor_enable(SENSOR_ID);
320 }
321
322 return status;
323 }
324
325 static bool do_full_detector_calibration(distance_detector_resources_t *resources, const acc_cal_result_t *sensor_cal_result)
326 {
327 bool done = false;
328 bool status;
329
330 do
331 {
332 status = acc_detector_distance_calibrate(resources->sensor,
333 resources->handle,
334 sensor_cal_result,
335 resources->buffer,
336 resources->buffer_size,
337 resources->detector_cal_result_static,
338 resources->detector_cal_result_static_size,
339 &resources->detector_cal_result_dynamic,
340 &done);
341
342 if (status && !done)
343 {
344 status = acc_hal_integration_wait_for_sensor_interrupt(SENSOR_ID, SENSOR_TIMEOUT_MS);
345 }
346 } while (status && !done);
347
348 return status;
349 }
350
351 static bool do_detector_calibration_update(distance_detector_resources_t *resources, const acc_cal_result_t *sensor_cal_result)
352 {
353 bool done = false;
354 bool status;
355
356 do
357 {
358 status = acc_detector_distance_update_calibration(resources->sensor,
359 resources->handle,
360 sensor_cal_result,
361 resources->buffer,
362 resources->buffer_size,
363 &resources->detector_cal_result_dynamic,
364 &done);
365
366 if (status && !done)
367 {
368 status = acc_hal_integration_wait_for_sensor_interrupt(SENSOR_ID, SENSOR_TIMEOUT_MS);
369 }
370 } while (status && !done);
371
372 return status;
373 }
374
375 static bool do_detector_get_next(distance_detector_resources_t *resources,
376 const acc_cal_result_t *sensor_cal_result,
377 acc_detector_distance_result_t *result)
378 {
379 bool result_available = false;
380
381 do
382 {
383 if (!acc_detector_distance_prepare(resources->handle,
384 resources->config,
385 resources->sensor,
386 sensor_cal_result,
387 resources->buffer,
388 resources->buffer_size))
389 {
390 printf("acc_detector_distance_prepare() failed\n");
391 return false;
392 }
393
394 if (!acc_sensor_measure(resources->sensor))
395 {
396 printf("acc_sensor_measure() failed\n");
397 return false;
398 }
399
400 if (!acc_hal_integration_wait_for_sensor_interrupt(SENSOR_ID, SENSOR_TIMEOUT_MS))
401 {
402 printf("Sensor interrupt timeout\n");
403 return false;
404 }
405
406 if (!acc_sensor_read(resources->sensor, resources->buffer, resources->buffer_size))
407 {
408 printf("acc_sensor_read() failed\n");
409 return false;
410 }
411
412 if (!acc_detector_distance_process(resources->handle,
413 resources->buffer,
414 resources->detector_cal_result_static,
415 &resources->detector_cal_result_dynamic,
416 &result_available,
417 result))
418 {
419 printf("acc_detector_distance_process() failed\n");
420 return false;
421 }
422
423 /**
424 * The function for printing the IQ data must be called every time
425 * the acc_detector_distance_process has been called.
426 */
427 print_iq_data(result->sensor_config, result->processing_result, result->processing_metadata);
428 } while (!result_available);
429
430 return true;
431 }
432
433 static void print_iq_data(const acc_config_t *sensor_config,
434 acc_processing_result_t *processing_result,
435 acc_processing_metadata_t *processing_metadata)
436 {
437 /* Get the iq data frame from the processing result */
438 acc_int16_complex_t *frame = processing_result->frame;
439
440 /* Get information about the frame from the sensor config */
441 uint16_t sweeps_per_frame = acc_config_sweeps_per_frame_get(sensor_config);
442 uint8_t num_subsweeps = acc_config_num_subsweeps_get(sensor_config);
443 uint16_t sweep_length = processing_metadata->frame_data_length / sweeps_per_frame;
444
445 printf("BEGIN:Distance(m), [Frame], Amplitude\n");
446
447 /* Loop over all subsweeps */
448 for (uint8_t subsweep_idx = 0; subsweep_idx < num_subsweeps; subsweep_idx++)
449 {
450 /* Get information about the start point and step length from the sensor config */
451 int32_t start_point = acc_config_subsweep_start_point_get(sensor_config, subsweep_idx);
452 uint16_t step_length = acc_config_subsweep_step_length_get(sensor_config, subsweep_idx);
453
454 /* Get subsweep offset and length from the processing metadata */
455 uint16_t subsweep_offset = processing_metadata->subsweep_data_offset[subsweep_idx];
456 uint16_t subsweep_length = processing_metadata->subsweep_data_length[subsweep_idx];
457
458 /* Loop over all points in subsweep */
459 for (uint16_t point_idx = 0; point_idx < subsweep_length; point_idx++)
460 {
461 /* Print the point distance, in meters */
462 float distance = acc_processing_points_to_meter(start_point + point_idx * step_length);
463 printf("%" PRIfloat ", [", ACC_LOG_FLOAT_TO_INTEGER(distance));
464
465 /* Perform a coherent mean calculation for the point over sweeps per frame */
466 int32_t iq_point_real_acc = 0;
467 int32_t iq_point_imag_acc = 0;
468
469 /* Loop over all points in sweeps_per_frame */
470 for (uint16_t sweep_idx = 0; sweep_idx < sweeps_per_frame; sweep_idx++)
471 {
472 uint16_t point_offset = sweep_idx * sweep_length + subsweep_offset + point_idx;
473 iq_point_real_acc += frame[point_offset].real;
474 iq_point_imag_acc += frame[point_offset].imag;
475
476 /* Make sure to print correct sign for imaginary part*/
477 char sign[1] = "+";
478 int16_t imag = frame[point_offset].imag;
479
480 if (imag < 0)
481 {
482 sign[0] = '-';
483 imag = -imag;
484 }
485
486 /* Print IQ point*/
487 printf("%" PRIi16 "%s%" PRIi16 "i%s", frame[point_offset].real, sign, imag, ((sweep_idx + 1 == sweeps_per_frame) ? "" : ", "));
488 }
489
490 iq_point_real_acc = iq_point_real_acc / sweeps_per_frame;
491 iq_point_imag_acc = iq_point_imag_acc / sweeps_per_frame;
492
493 /* Calculate the absolute value of the IQ point */
494 uint32_t iq_point_abs = (uint32_t)sqrt(iq_point_real_acc * iq_point_real_acc + iq_point_imag_acc * iq_point_imag_acc);
495
496 /* Print the point absolute value */
497 printf("], %" PRIu32 "\n", iq_point_abs);
498 }
499 }
500
501 printf("END:Distance(m), [Frame], Amplitude\n");
502 }
503
504 static void print_distance_result(const acc_detector_distance_result_t *result)
505 {
506 printf("%d detected distances", result->num_distances);
507 if (result->num_distances > 0)
508 {
509 printf(": ");
510
511 for (uint8_t i = 0; i < result->num_distances; i++)
512 {
513 printf("%" PRIfloat " m ", ACC_LOG_FLOAT_TO_INTEGER(result->distances[i]));
514 }
515 }
516
517 printf("\n");
518 }
acc_hal_integration_sensor_supply_off
void acc_hal_integration_sensor_supply_off(acc_sensor_id_t sensor_id)
Power off sensor supply.
Definition: acc_hal_integration_stm32cube_xm.c:104
acc_rss_a121.h
acc_detector_distance_get_sizes
bool acc_detector_distance_get_sizes(const acc_detector_distance_handle_t *handle, uint32_t *buffer_size, uint32_t *detector_cal_result_static_size)
Get the memory size needed to use the Distance Detector API functions.
acc_processing_metadata_t::subsweep_data_offset
uint16_t subsweep_data_offset[(4U)]
Definition: acc_processing.h:43
cargo_result_t::calibration_needed
bool calibration_needed
Definition: example_cargo.h:112
acc_detector_distance_config_peak_sorting_set
void acc_detector_distance_config_peak_sorting_set(acc_detector_distance_config_t *config, acc_detector_distance_peak_sorting_t peak_sorting)
Set peak sorting method.
DISTANCE_PRESET_CONFIG_HIGH_ACCURACY
@ DISTANCE_PRESET_CONFIG_HIGH_ACCURACY
Definition: example_detector_distance_with_iq_data_print.c:53
acc_hal_integration_sensor_supply_on
void acc_hal_integration_sensor_supply_on(acc_sensor_id_t sensor_id)
Power on sensor supply.
Definition: acc_hal_integration_stm32cube_xm.c:99
acc_processing_result_t
Result provided by the processing module.
Definition: acc_processing.h:71
do_detector_get_next
static bool do_detector_get_next(distance_detector_resources_t *resources, const acc_cal_result_t *sensor_cal_result, acc_detector_distance_result_t *result)
Definition: example_detector_distance_with_iq_data_print.c:375
do_detector_calibration_update
static bool do_detector_calibration_update(distance_detector_resources_t *resources, const acc_cal_result_t *sensor_cal_result)
Definition: example_detector_distance_with_iq_data_print.c:351
distance_detector_resources_t::detector_cal_result_static_size
uint32_t detector_cal_result_static_size
Definition: i2c_distance_detector.c:39
acc_sensor_read
bool acc_sensor_read(const acc_sensor_t *sensor, void *buffer, uint32_t buffer_size)
Read out radar data.
buffer
void * buffer
Definition: i2c_example_cargo.c:40
acc_version.h
sensor_cal_result
acc_cal_result_t sensor_cal_result
Definition: i2c_example_cargo.c:36
acc_config_num_subsweeps_get
uint8_t acc_config_num_subsweeps_get(const acc_config_t *config)
Get the number of subsweeps to use.
cleanup
static void cleanup(distance_detector_resources_t *resources)
Definition: example_detector_distance_with_iq_data_print.c:205
acc_int16_complex_t
Data type for interger-based representation of complex numbers.
Definition: acc_definitions_common.h:40
ACC_DETECTOR_DISTANCE_PEAK_SORTING_STRONGEST
@ ACC_DETECTOR_DISTANCE_PEAK_SORTING_STRONGEST
Definition: acc_detector_distance_definitions.h:36
distance_detector_resources_t::buffer_size
uint32_t buffer_size
Definition: i2c_distance_detector.c:37
acc_detector_distance_config_threshold_method_set
void acc_detector_distance_config_threshold_method_set(acc_detector_distance_config_t *config, acc_detector_distance_threshold_method_t threshold_method)
Set threshold method.
distance_preset_config_t
distance_preset_config_t
Definition: example_detector_distance_low_power_hibernate.c:47
print_distance_result
static void print_distance_result(const acc_detector_distance_result_t *result)
Definition: example_detector_distance_with_iq_data_print.c:504
acc_cal_result_t
The result from a completed calibration.
Definition: acc_definitions_a121.h:30
acc_detector_distance_config_start_set
void acc_detector_distance_config_start_set(acc_detector_distance_config_t *config, float start_m)
Set start of measured interval (m)
acconeer_main
int acconeer_main(int argc, char *argv[])
Assembly test example.
Definition: example_detector_distance_with_iq_data_print.c:96
ACC_CONFIG_PROFILE_5
@ ACC_CONFIG_PROFILE_5
Definition: acc_definitions_a121.h:57
acc_integration.h
acc_detector_distance_create
acc_detector_distance_handle_t * acc_detector_distance_create(const acc_detector_distance_config_t *config)
Create Distance Detector handle using the provided Distance Detector configuration.
do_sensor_calibration
static bool do_sensor_calibration(acc_sensor_t *sensor, acc_cal_result_t *sensor_cal_result, void *buffer, uint32_t buffer_size)
Definition: example_detector_distance_with_iq_data_print.c:291
acc_detector_distance_config_destroy
void acc_detector_distance_config_destroy(acc_detector_distance_config_t *config)
Destroy Distance Detector configuration.
DISTANCE_PRESET_CONFIG_BALANCED
@ DISTANCE_PRESET_CONFIG_BALANCED
Definition: example_detector_distance_with_iq_data_print.c:52
config
cargo_config_t config
Definition: i2c_example_cargo.c:34
acc_hal_rss_integration_get_implementation
const acc_hal_a121_t * acc_hal_rss_integration_get_implementation(void)
Get hal implementation reference.
Definition: acc_hal_integration_stm32cube_xm.c:152
DISTANCE_PRESET_CONFIG_NONE
@ DISTANCE_PRESET_CONFIG_NONE
Definition: example_detector_distance_with_iq_data_print.c:51
acc_detector_distance_calibrate
bool acc_detector_distance_calibrate(acc_sensor_t *sensor, acc_detector_distance_handle_t *handle, const acc_cal_result_t *sensor_cal_result, void *buffer, uint32_t buffer_size, uint8_t *detector_cal_result_static, uint32_t detector_cal_result_static_size, acc_detector_cal_result_dynamic_t *detector_cal_result_dynamic, bool *calibration_complete)
Calibrate detector.
distance_detector_resources_t::detector_cal_result_dynamic
acc_detector_cal_result_dynamic_t detector_cal_result_dynamic
Definition: i2c_distance_detector.c:40
acc_detector_distance_process
bool acc_detector_distance_process(acc_detector_distance_handle_t *handle, void *buffer, uint8_t *detector_cal_result_static, acc_detector_cal_result_dynamic_t *detector_cal_result_dynamic, bool *result_available, acc_detector_distance_result_t *result)
Process sensor data into a Detector result.
acc_integration_mem_alloc
void * acc_integration_mem_alloc(size_t size)
Allocate dynamic memory.
Definition: acc_integration_stm32.c:592
acc_processing_metadata_t
Metadata that will be populated by the processing module during creation.
Definition: acc_processing.h:36
detector_cal_result_static
static uint8_t * detector_cal_result_static
Definition: example_detector_distance_calibration_caching.c:70
acc_hal_a121_t
Definition: acc_hal_definitions_a121.h:82
acc_rss_hal_register
bool acc_rss_hal_register(const acc_hal_a121_t *hal)
Register an integration.
acc_sensor.h
buffer_size
uint32_t buffer_size
Definition: i2c_example_cargo.c:41
acc_detector_cal_result_dynamic_t
The result from a completed calibration update.
Definition: acc_detector_distance_definitions.h:23
distance_detector_resources_t::detector_cal_result_static
uint8_t * detector_cal_result_static
Definition: i2c_distance_detector.c:38
acc_detector_distance_config_close_range_leakage_cancellation_set
void acc_detector_distance_config_close_range_leakage_cancellation_set(acc_detector_distance_config_t *config, bool enable)
Enable close range leakage cancellation.
sensor
acc_sensor_t * sensor
Definition: i2c_example_cargo.c:33
distance_detector_resources_t
Definition: i2c_distance_detector.c:29
acc_detector_distance_config_max_profile_set
void acc_detector_distance_config_max_profile_set(acc_detector_distance_config_t *config, acc_config_profile_t max_profile)
Set maximum Profile.
acc_config_sweeps_per_frame_get
uint16_t acc_config_sweeps_per_frame_get(const acc_config_t *config)
Get the number of sweeps per frame.
acc_detector_distance_destroy
void acc_detector_distance_destroy(acc_detector_distance_handle_t *handle)
Destroy Distance Detector handle, freeing its resources.
acc_hal_integration_wait_for_sensor_interrupt
bool acc_hal_integration_wait_for_sensor_interrupt(acc_sensor_id_t sensor_id, uint32_t timeout_ms)
Wait for a sensor interrupt.
Definition: acc_hal_integration_stm32cube_xm.c:130
acc_hal_integration_a121.h
acc_detector_distance_config_signal_quality_set
void acc_detector_distance_config_signal_quality_set(acc_detector_distance_config_t *config, float signal_quality)
Set signal quality (dB)
handle
cargo_handle_t * handle
Definition: i2c_example_cargo.c:35
acc_processing_metadata_t::frame_data_length
uint16_t frame_data_length
Definition: acc_processing.h:39
result
cargo_result_t result
Definition: i2c_example_cargo.c:43
acc_int16_complex_t::real
int16_t real
Definition: acc_definitions_common.h:42
acc_version_get
const char * acc_version_get(void)
Get the version of the Acconeer software.
acc_config_t
struct acc_config acc_config_t
Definition: acc_config.h:24
printf
#define printf
Definition: printf.h:60
acc_config_subsweep_step_length_get
uint16_t acc_config_subsweep_step_length_get(const acc_config_t *config, uint8_t index)
Get the step length in a sweep.
acc_processing_points_to_meter
float acc_processing_points_to_meter(int32_t points)
Convert a distance or step length in points to meter.
detector_cal_result_static_size
static uint32_t detector_cal_result_static_size
Definition: example_detector_distance_calibration_caching.c:71
acc_hal_integration_sensor_enable
void acc_hal_integration_sensor_enable(acc_sensor_id_t sensor_id)
Enable sensor.
Definition: acc_hal_integration_stm32cube_xm.c:109
acc_hal_definitions_a121.h
initialize_detector_resources
static bool initialize_detector_resources(distance_detector_resources_t *resources)
Definition: example_detector_distance_with_iq_data_print.c:259
set_config
static void set_config(acc_detector_distance_config_t *detector_config, distance_preset_config_t preset)
Definition: example_detector_distance_with_iq_data_print.c:222
acc_detector_distance_config_log
void acc_detector_distance_config_log(const acc_detector_distance_handle_t *handle, const acc_detector_distance_config_t *config)
Log Distance configuration, typically through printf.
acc_detector_distance_prepare
bool acc_detector_distance_prepare(const acc_detector_distance_handle_t *handle, const acc_detector_distance_config_t *config, acc_sensor_t *sensor, const acc_cal_result_t *sensor_cal_result, void *buffer, uint32_t buffer_size)
Prepare the Detector for measurements.
ref_app_parking_handle::sensor_config
acc_config_t * sensor_config
Definition: ref_app_parking.c:38
do_full_detector_calibration
static bool do_full_detector_calibration(distance_detector_resources_t *resources, const acc_cal_result_t *sensor_cal_result)
Definition: example_detector_distance_with_iq_data_print.c:325
acc_detector_distance_result_t
Distance Detector result returned from acc_detector_distance_process.
Definition: acc_detector_distance.h:48
distance_preset_config_t
distance_preset_config_t
Definition: example_detector_distance_with_iq_data_print.c:49
ACC_DETECTOR_DISTANCE_THRESHOLD_METHOD_CFAR
@ ACC_DETECTOR_DISTANCE_THRESHOLD_METHOD_CFAR
Definition: acc_detector_distance_definitions.h:51
distance_detector_resources_t::config
acc_detector_distance_config_t * config
Definition: i2c_distance_detector.c:33
acc_processing_result_t::frame
acc_int16_complex_t * frame
Definition: acc_processing.h:91
acc_hal_integration_sensor_disable
void acc_hal_integration_sensor_disable(acc_sensor_id_t sensor_id)
Disable sensor.
Definition: acc_hal_integration_stm32cube_xm.c:119
acc_detector_distance_config_end_set
void acc_detector_distance_config_end_set(acc_detector_distance_config_t *config, float end_m)
Set end of measured interval (m)
acc_integration_log.h
acc_detector_distance_handle_t
struct acc_detector_distance_handle acc_detector_distance_handle_t
Distance Detector handle.
Definition: acc_detector_distance.h:36
ACC_LOG_FLOAT_TO_INTEGER
#define ACC_LOG_FLOAT_TO_INTEGER(a)
Definition: acc_integration_log.h:26
acc_detector_distance_update_calibration
bool acc_detector_distance_update_calibration(acc_sensor_t *sensor, acc_detector_distance_handle_t *handle, const acc_cal_result_t *sensor_cal_result, void *buffer, uint32_t buffer_size, acc_detector_cal_result_dynamic_t *detector_cal_result_dynamic, bool *calibration_complete)
Perform a subset of the full Detector calibration.
print_iq_data
static void print_iq_data(const acc_config_t *sensor_config, acc_processing_result_t *processing_result, acc_processing_metadata_t *processing_metadata)
Definition: example_detector_distance_with_iq_data_print.c:433
SENSOR_ID
#define SENSOR_ID
Definition: example_detector_distance_with_iq_data_print.c:56
acc_integration_mem_free
void acc_integration_mem_free(void *ptr)
Free dynamic memory.
Definition: acc_integration_stm32.c:602
acc_int16_complex_t::imag
int16_t imag
Definition: acc_definitions_common.h:43
acc_detector_distance_config_reflector_shape_set
void acc_detector_distance_config_reflector_shape_set(acc_detector_distance_config_t *config, acc_detector_distance_reflector_shape_t reflector_shape)
Set reflector shape.
distance_detector_resources_t::sensor
acc_sensor_t * sensor
Definition: i2c_distance_detector.c:31
acc_detector_distance_config_threshold_sensitivity_set
void acc_detector_distance_config_threshold_sensitivity_set(acc_detector_distance_config_t *config, float threshold_sensitivity)
Set threshold sensitivity.
acc_detector_distance_config_create
acc_detector_distance_config_t * acc_detector_distance_config_create(void)
Create a Distance Detector configuration.
acc_detector_distance.h
acc_sensor_calibrate
bool acc_sensor_calibrate(acc_sensor_t *sensor, bool *cal_complete, acc_cal_result_t *cal_result, void *buffer, uint32_t buffer_size)
Calibrate a sensor.
PRIfloat
#define PRIfloat
Specifier for printing float type using integers.
Definition: acc_integration_log.h:31
distance_detector_resources_t::handle
acc_detector_distance_handle_t * handle
Definition: i2c_distance_detector.c:34
distance_detector_resources_t::buffer
void * buffer
Definition: i2c_distance_detector.c:36
acc_detector_distance_config_t
struct acc_detector_distance_config acc_detector_distance_config_t
Distance Detector configuration.
Definition: acc_detector_distance.h:43
ACC_DETECTOR_DISTANCE_REFLECTOR_SHAPE_GENERIC
@ ACC_DETECTOR_DISTANCE_REFLECTOR_SHAPE_GENERIC
Definition: acc_detector_distance_definitions.h:60
acc_detector_distance_config_max_step_length_set
void acc_detector_distance_config_max_step_length_set(acc_detector_distance_config_t *config, uint16_t max_step_length)
Set maximum step length.
acc_sensor_measure
bool acc_sensor_measure(acc_sensor_t *sensor)
Start a radar measurement with previously prepared configuration.
SENSOR_TIMEOUT_MS
#define SENSOR_TIMEOUT_MS
Definition: example_detector_distance_with_iq_data_print.c:58
acc_config_subsweep_start_point_get
int32_t acc_config_subsweep_start_point_get(const acc_config_t *config, uint8_t index)
Get the starting point of the sweep.
acc_sensor_t
struct acc_sensor acc_sensor_t
Definition: acc_sensor.h:31
ACC_CONFIG_PROFILE_3
@ ACC_CONFIG_PROFILE_3
Definition: acc_definitions_a121.h:54
acc_sensor_destroy
void acc_sensor_destroy(acc_sensor_t *sensor)
Destroy a sensor instance freeing any resources allocated.
acc_processing_metadata_t::subsweep_data_length
uint16_t subsweep_data_length[(4U)]
Definition: acc_processing.h:45
acc_definitions_a121.h
acc_sensor_create
acc_sensor_t * acc_sensor_create(acc_sensor_id_t sensor_id)
Create a sensor instance.