#include <stdbool.h>
#include <stddef.h>
#include "acc_config.h"
#include "acc_detector_distance.h"
#include "acc_detector_presence.h"
#include "acc_integration.h"
#include "acc_integration_log.h"
#include "acc_sensor.h"
#include "example_cargo.h"

Data Structures
struct	cargo_handle
	Cargo handle. More...

Macros
#define	MODULE "example_cargo"

#define	CARGO_CONFIG_MAGIC 0xACC0CA60

#define	CARGO_PRESENCE_RUN_TIME_S 5.0f

#define	CARGO_PRESENCE_MIN_UPDATE_RATE 1.0f

#define	CARGO_PRESENCE_MIN_SWEEPS_PER_FRAME 4U

Functions
static bool	validate_cargo_config (const cargo_config_t *cargo_config)

static bool	populate_handle_with_distance_resources (const cargo_config_t cargo_config, cargo_handle_t cargo_handle)

static bool	populate_handle_with_presence_resources (const cargo_config_t cargo_config, cargo_handle_t cargo_handle)

static bool	translate_cargo_config_to_distance_config (const cargo_config_t cargo_config, acc_detector_distance_config_t distance_config)

static bool	translate_cargo_config_to_presence_config (const cargo_config_t cargo_config, acc_detector_presence_config_t presence_config)

static uint16_t	presence_calc_num_frames_per_burst (const cargo_config_t *cargo_config)

static float	float_clip (float value, float min, float max)

void	cargo_config_initialize (cargo_config_t *cargo_config, cargo_preset_t preset)
	Initialize cargo config struct with a preset. More...

void	cargo_config_log (const cargo_config_t *cargo_config)
	Log cargo config to debug uart. More...

cargo_handle_t *	cargo_handle_create (const cargo_config_t *cargo_config)
	Create a cargo handle. More...

void	cargo_handle_destroy (cargo_handle_t *handle)
	Destroy a cargo handle. More...

bool	cargo_get_buffer_size (const cargo_handle_t handle, uint32_t buffer_size)
	Get the required buffer sensor data buffer size. More...

bool	cargo_get_distance_cal_result_static_size (const cargo_handle_t handle, uint32_t distance_cal_result_static_size)
	Get the required buffer for static distance detector calibration. More...

bool	cargo_calibrate (cargo_handle_t handle, acc_sensor_t sensor, const acc_cal_result_t sensor_cal_result, void buffer, uint32_t buffer_size, uint8_t distance_cal_result_static, uint32_t distance_cal_result_static_size, acc_detector_cal_result_dynamic_t distance_cal_result_dynamic, bool *calibration_complete)
	Calibrate Cargo. More...

bool	cargo_update_calibration (cargo_handle_t handle, acc_sensor_t sensor, const acc_cal_result_t sensor_cal_result, void buffer, uint32_t buffer_size, acc_detector_cal_result_dynamic_t distance_cal_result_dynamic, bool calibration_complete)
	Update Cargo calibration. More...

bool	cargo_prepare_utilization (cargo_handle_t handle, acc_sensor_t sensor, const acc_cal_result_t sensor_cal_result, void buffer, uint32_t buffer_size)
	Prepare Cargo utilization for measurements. More...

bool	cargo_prepare_presence (cargo_handle_t handle, acc_sensor_t sensor, const acc_cal_result_t sensor_cal_result, void buffer, uint32_t buffer_size)
	Prepare Cargo presence for measurements. More...

bool	cargo_process_utilization (cargo_handle_t handle, uint8_t distance_cal_result_static, acc_detector_cal_result_dynamic_t distance_cal_result_dynamic, void buffer, cargo_result_t cargo_result, bool result_available, acc_detector_distance_result_t *nullable_distance_result)
	Process Sparse IQ data into a Cargo result. More...

bool	cargo_process_presence (cargo_handle_t handle, void buffer, cargo_result_t cargo_result, acc_detector_presence_result_t nullable_presence_result)
	Process Sparse IQ data into a Cargo result. More...

cargo_mode_t	cargo_current_mode_get (const cargo_handle_t *handle)
	Get current mode of the cargo handle. More...

bool	cargo_presence_metadata_get (cargo_handle_t handle, acc_detector_presence_metadata_t presence_metadata)
	Get presence detector metadata. More...

Macro Definition Documentation

◆ CARGO_CONFIG_MAGIC

#define CARGO_CONFIG_MAGIC 0xACC0CA60

Definition at line 19 of file example_cargo.c.

◆ CARGO_PRESENCE_MIN_SWEEPS_PER_FRAME

#define CARGO_PRESENCE_MIN_SWEEPS_PER_FRAME 4U

Definition at line 22 of file example_cargo.c.

◆ CARGO_PRESENCE_MIN_UPDATE_RATE

#define CARGO_PRESENCE_MIN_UPDATE_RATE 1.0f

Definition at line 21 of file example_cargo.c.

◆ CARGO_PRESENCE_RUN_TIME_S

#define CARGO_PRESENCE_RUN_TIME_S 5.0f

Definition at line 20 of file example_cargo.c.

◆ MODULE

#define MODULE "example_cargo"

Definition at line 18 of file example_cargo.c.

Function Documentation

◆ cargo_calibrate()

bool cargo_calibrate	(	cargo_handle_t *	handle,
		acc_sensor_t *	sensor,
		const acc_cal_result_t *	sensor_cal_result,
		void *	buffer,
		uint32_t	buffer_size,
		uint8_t *	distance_cal_result_static,
		uint32_t	distance_cal_result_static_size,
		acc_detector_cal_result_dynamic_t *	distance_cal_result_dynamic,
		bool *	calibration_complete
	)

Calibrate Cargo.

Calibrating Cargo's internal Detector is needed to ensure reliable Detector results.

See the calibration sections in the Distance Detector User Guide for more information.

Parameters

[in]	sensor	The sensor instance to use for calibration
[in]	handle	The Cargo handle
[in]	sensor_cal_result	Sensor calibration result
[in]	buffer	Working memory buffer needed by function
[in]	buffer_size	The size of buffer. Needs to be at least the result of cargo_get_buffer_size
[out]	distance_cal_result_static	Static result of calibration
[in]	distance_cal_result_static_size	The size of distance_cal_result_static. Needs to be at least the result of cargo_get_distance_cal_result_static_size
[out]	distance_cal_result_dynamic	Dynamic result of calibration
[out]	calibration_complete	Will be set to true when the calibration is complete. If false; at least one more call to this function is needed. Note that it's necessary to wait for interrupt between calls.

Returns: True if successful, false otherwise

Definition at line 318 of file example_cargo.c.

◆ cargo_config_initialize()

void cargo_config_initialize	(	cargo_config_t *	cargo_config,
		cargo_preset_t	preset
	)

Initialize cargo config struct with a preset.

Parameters

[out]	cargo_config	The cargo config to initialize
[in]	preset	A cargo_preset_t to initialize the config to

Definition at line 80 of file example_cargo.c.

◆ cargo_config_log()

void cargo_config_log ( const cargo_config_t * cargo_config )

Log cargo config to debug uart.

Parameters

[in] cargo_config The cargo config to log

Definition at line 135 of file example_cargo.c.

◆ cargo_current_mode_get()

cargo_mode_t cargo_current_mode_get ( const cargo_handle_t * handle )

Get current mode of the cargo handle.

Really only useful when doing both Presence- & Utilization level measurements.

Parameters

[in] handle The cargo handle

Returns: The current cargo mode. See cargo_mode_t

Definition at line 622 of file example_cargo.c.

◆ cargo_get_buffer_size()

bool cargo_get_buffer_size	(	const cargo_handle_t *	handle,
		uint32_t *	buffer_size
	)

Get the required buffer sensor data buffer size.

Parameters

[in]	handle	The cargo handle
[out]	buffer_size	The required buffer size

Returns: True if successful, false otherwise

Definition at line 272 of file example_cargo.c.

◆ cargo_get_distance_cal_result_static_size()

bool cargo_get_distance_cal_result_static_size	(	const cargo_handle_t *	handle,
		uint32_t *	distance_cal_result_static_size
	)

Get the required buffer for static distance detector calibration.

Parameters

[in]	handle	The cargo handle
[out]	distance_cal_result_static_size	The required buffer size. Will be 0U if activate_utilization_level is false.

Returns: True if successful, false otherwise

Definition at line 298 of file example_cargo.c.

◆ cargo_handle_create()

cargo_handle_t* cargo_handle_create ( const cargo_config_t * cargo_config )

Create a cargo handle.

Parameters

[in] cargo_config Cargo configuration

Returns: A cargo handle, or NULL if creation failed

Definition at line 164 of file example_cargo.c.

◆ cargo_handle_destroy()

void cargo_handle_destroy ( cargo_handle_t * handle )

Destroy a cargo handle.

Parameters

[in] handle The cargo handle to destroy

Definition at line 240 of file example_cargo.c.

◆ cargo_prepare_presence()

bool cargo_prepare_presence	(	cargo_handle_t *	handle,
		acc_sensor_t *	sensor,
		const acc_cal_result_t *	sensor_cal_result,
		void *	buffer,
		uint32_t	buffer_size
	)

Prepare Cargo presence for measurements.

Parameters

[in,out]	handle	The Cargo handle
[in]	sensor	The sensor instance
[in]	sensor_cal_result	The sensor calibration result
[in]	buffer	Memory used by the detector. Should be at least buffer_size bytes
[in]	buffer_size	The buffer size received by acc_detector_distance_get_sizes

Returns: True if successful, false otherwise

Definition at line 423 of file example_cargo.c.

◆ cargo_prepare_utilization()

bool cargo_prepare_utilization	(	cargo_handle_t *	handle,
		acc_sensor_t *	sensor,
		const acc_cal_result_t *	sensor_cal_result,
		void *	buffer,
		uint32_t	buffer_size
	)

Prepare Cargo utilization for measurements.

Parameters

[in,out]	handle	The Cargo handle
[in]	sensor	The sensor instance
[in]	sensor_cal_result	The sensor calibration result
[in]	buffer	Memory used by the detector. Should be at least buffer_size bytes
[in]	buffer_size	The buffer size received by acc_detector_distance_get_sizes

Returns: True if successful, false otherwise

Definition at line 384 of file example_cargo.c.

◆ cargo_presence_metadata_get()

bool cargo_presence_metadata_get	(	cargo_handle_t *	handle,
		acc_detector_presence_metadata_t *	presence_metadata
	)

Get presence detector metadata.

Parameters

[in]	handle	The cargo handle
[out]	presence_metadata	The Presence Detector metadata

Returns: True if handle is valid & configured with presence activated, false otherwise

Definition at line 634 of file example_cargo.c.

◆ cargo_process_presence()

bool cargo_process_presence	(	cargo_handle_t *	handle,
		void *	buffer,
		cargo_result_t *	cargo_result,
		acc_detector_presence_result_t *	nullable_presence_result
	)

Process Sparse IQ data into a Cargo result.

Parameters

[in]	handle	The Cargo handle
[in]	buffer	A reference to the buffer (populated by acc_sensor_read) containing the data to be processed.
[out]	cargo_result	Cargo result
[out]	nullable_presence_result	Pointer to auxilliary acc_detector_presence_result_t Can be NULL.

Returns: True if successful, false otherwise

Definition at line 558 of file example_cargo.c.

◆ cargo_process_utilization()

bool cargo_process_utilization	(	cargo_handle_t *	handle,
		uint8_t *	distance_cal_result_static,
		acc_detector_cal_result_dynamic_t *	distance_cal_result_dynamic,
		void *	buffer,
		cargo_result_t *	cargo_result,
		bool *	result_available,
		acc_detector_distance_result_t *	nullable_distance_result
	)

Process Sparse IQ data into a Cargo result.

Parameters

[in]	handle	The Cargo handle
[in]	distance_cal_result_static	The result from cargo_calibrate
[in]	distance_cal_result_dynamic	The result from cargo_calibrate
[in]	buffer	A reference to the buffer (populated by acc_sensor_read) containing the data to be processed.
[out]	cargo_result	Cargo result
[out]	result_available	True if the cargo_result is valid
[out]	nullable_distance_result	Pointer to auxilliary acc_detector_distance_result_t Can be NULL.

Returns: True if successful, false otherwise

Definition at line 462 of file example_cargo.c.

◆ cargo_update_calibration()

bool cargo_update_calibration	(	cargo_handle_t *	handle,
		acc_sensor_t *	sensor,
		const acc_cal_result_t *	sensor_cal_result,
		void *	buffer,
		uint32_t	buffer_size,
		acc_detector_cal_result_dynamic_t *	distance_cal_result_dynamic,
		bool *	calibration_complete
	)

Update Cargo calibration.

Updates Cargo's internal calibration.

If calibration_needed has been set to true, you should do the following:

Recalibrate sensor (see acc_sensor_calibrate)
Call this function in a loop until calibration_complete=true (and while true is returned)
Redo the Utilization- or Presence measurement

Parameters

[in]	sensor	The sensor instance to use for calibration
[in]	handle	The Cargo handle
[in]	sensor_cal_result	Sensor calibration result
[in]	buffer	Working memory buffer needed by function
[in]	buffer_size	The size of buffer. Needs to be at least the result of cargo_get_buffer_size
[out]	distance_cal_result_dynamic	Dynamic result of calibration
[out]	calibration_complete	Will be set to true when the calibration is complete. If false; at least one more call to this function is needed. Note that it's necessary to wait for interrupt between calls.

Returns: True if successful, false otherwise

Definition at line 353 of file example_cargo.c.

◆ float_clip()

static float float_clip	(	float	value,
		float	min,
		float	max
	)

static

Definition at line 837 of file example_cargo.c.

◆ populate_handle_with_distance_resources()

static bool populate_handle_with_distance_resources	(	const cargo_config_t *	cargo_config,
		cargo_handle_t *	cargo_handle
	)

static

Definition at line 696 of file example_cargo.c.

◆ populate_handle_with_presence_resources()

static bool populate_handle_with_presence_resources	(	const cargo_config_t *	cargo_config,
		cargo_handle_t *	cargo_handle
	)

static

Definition at line 720 of file example_cargo.c.

◆ presence_calc_num_frames_per_burst()

static uint16_t presence_calc_num_frames_per_burst ( const cargo_config_t * cargo_config )

static

Definition at line 830 of file example_cargo.c.

◆ translate_cargo_config_to_distance_config()

static bool translate_cargo_config_to_distance_config	(	const cargo_config_t *	cargo_config,
		acc_detector_distance_config_t *	distance_config
	)

static

Definition at line 744 of file example_cargo.c.

◆ translate_cargo_config_to_presence_config()

static bool translate_cargo_config_to_presence_config	(	const cargo_config_t *	cargo_config,
		acc_detector_presence_config_t *	presence_config
	)

static

Definition at line 780 of file example_cargo.c.

◆ validate_cargo_config()

static bool validate_cargo_config ( const cargo_config_t * cargo_config )

static

Definition at line 655 of file example_cargo.c.

Data Structures

Macros

Functions

Macro Definition Documentation

◆ CARGO_CONFIG_MAGIC

◆ CARGO_PRESENCE_MIN_SWEEPS_PER_FRAME

◆ CARGO_PRESENCE_MIN_UPDATE_RATE

◆ CARGO_PRESENCE_RUN_TIME_S

◆ MODULE

Function Documentation

◆ cargo_calibrate()

◆ cargo_config_initialize()

◆ cargo_config_log()

◆ cargo_current_mode_get()

◆ cargo_get_buffer_size()

◆ cargo_get_distance_cal_result_static_size()

◆ cargo_handle_create()

◆ cargo_handle_destroy()

◆ cargo_prepare_presence()

◆ cargo_prepare_utilization()

◆ cargo_presence_metadata_get()

◆ cargo_process_presence()

◆ cargo_process_utilization()

◆ cargo_update_calibration()

◆ float_clip()

◆ populate_handle_with_distance_resources()

◆ populate_handle_with_presence_resources()

◆ presence_calc_num_frames_per_burst()

◆ translate_cargo_config_to_distance_config()

◆ translate_cargo_config_to_presence_config()

◆ validate_cargo_config()