example_service_subsweeps.c

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// Copyright (c) Acconeer AB, 2021-2025
// 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 <stdbool.h>
#include <stdint.h>
#include <stdio.h>
#include <stdlib.h>
 
#include "acc_config.h"
#include "acc_config_subsweep.h"
#include "acc_definitions_a121.h"
#include "acc_definitions_common.h"
#include "acc_hal_definitions_a121.h"
#include "acc_hal_integration_a121.h"
#include "acc_integration.h"
#include "acc_processing.h"
#include "acc_rss_a121.h"
#include "acc_sensor.h"
 
#include "acc_version.h"
 
/** \example example_service_subsweeps.c
 * @brief This is an example on how to use subsweeps with the Service API
 * @n
 * The example executes as follows:
 *   - Create a configuration
 *   - Configure multiple subsweeps
 *   - Create a processing instance using the previously created configuration
 *   - Create a sensor instance
 *   - Prepare a sensor
 *   - Perform a sensor measurement and read out the data
 *   - Process the measurement subsweeps
 *   - Destroy the sensor instance
 *   - Destroy the processing instance
 *   - Destroy the configuration
 */
 
#define SENSOR_ID          (1U)
#define SENSOR_TIMEOUT_MS  (1000U)
#define MAX_DATA_ENTRY_LEN 15 // "-32000+-32000i" + zero termination
 
static void print_data(acc_int16_complex_t *data, uint16_t data_length);
 
static void cleanup(acc_config_t *config, acc_processing_t *processing, acc_sensor_t *sensor, void *buffer);
 
int acconeer_main(int argc, char *argv[]);
 
int acconeer_main(int argc, char *argv[])
{
        (void)argc;
        (void)argv;
        acc_config_t             *config      = NULL;
        acc_processing_t         *processing  = NULL;
        acc_sensor_t             *sensor      = NULL;
        void                     *buffer      = NULL;
        uint32_t                  buffer_size = 0;
        acc_processing_metadata_t proc_meta;
        acc_processing_result_t   proc_result;
 
        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;
        }
 
        config = acc_config_create();
        if (config == NULL)
        {
                printf("acc_config_create() failed\n");
                cleanup(config, processing, sensor, buffer);
                return EXIT_FAILURE;
        }
 
        // Collect 16 sweeps per frame, applicable for all subsweeps
        acc_config_sweeps_per_frame_set(config, 16);
 
        // Setup 3 subsweeps with different gains, start points and number of points
        acc_config_num_subsweeps_set(config, 3);
 
        acc_config_subsweep_receiver_gain_set(config, 5, 0);
        acc_config_subsweep_start_point_set(config, 100, 0);
        acc_config_subsweep_num_points_set(config, 5, 0);
 
        acc_config_subsweep_receiver_gain_set(config, 15, 1);
        acc_config_subsweep_start_point_set(config, 300, 1);
        acc_config_subsweep_num_points_set(config, 20, 1);
 
        acc_config_subsweep_receiver_gain_set(config, 23, 2);
        acc_config_subsweep_start_point_set(config, 500, 2);
        acc_config_subsweep_num_points_set(config, 10, 2);
 
        // Print the configuration
        acc_config_log(config);
 
        processing = acc_processing_create(config, &proc_meta);
        if (processing == NULL)
        {
                printf("acc_processing_create() failed\n");
                cleanup(config, processing, sensor, buffer);
                return EXIT_FAILURE;
        }
 
        if (!acc_rss_get_buffer_size(config, &buffer_size))
        {
                printf("acc_rss_get_buffer_size() failed\n");
                cleanup(config, processing, sensor, buffer);
                return EXIT_FAILURE;
        }
 
        buffer = acc_integration_mem_alloc(buffer_size);
        if (buffer == NULL)
        {
                printf("buffer allocation failed\n");
                cleanup(config, processing, sensor, buffer);
                return EXIT_FAILURE;
        }
 
        acc_hal_integration_sensor_supply_on(SENSOR_ID);
        acc_hal_integration_sensor_enable(SENSOR_ID);
 
        sensor = acc_sensor_create(SENSOR_ID);
        if (sensor == NULL)
        {
                printf("acc_sensor_create() failed\n");
                cleanup(config, processing, sensor, buffer);
                return EXIT_FAILURE;
        }
 
        bool             status;
        bool             cal_complete = false;
        acc_cal_result_t cal_result;
 
        do
        {
                status = acc_sensor_calibrate(sensor, &cal_complete, &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)
        {
                printf("acc_sensor_calibrate() failed\n");
                acc_sensor_status(sensor);
                cleanup(config, processing, sensor, buffer);
                return EXIT_FAILURE;
        }
 
        // Reset sensor after calibration by disabling it
        acc_hal_integration_sensor_disable(SENSOR_ID);
        acc_hal_integration_sensor_enable(SENSOR_ID);
 
        if (!acc_sensor_prepare(sensor, config, &cal_result, buffer, buffer_size))
        {
                printf("acc_sensor_prepare() failed\n");
                acc_sensor_status(sensor);
                cleanup(config, processing, sensor, buffer);
                return EXIT_FAILURE;
        }
 
        for (uint32_t i = 0U; i < 5U; i++)
        {
                if (!acc_sensor_measure(sensor))
                {
                        printf("acc_sensor_measure failed\n");
                        acc_sensor_status(sensor);
                        cleanup(config, processing, sensor, buffer);
                        return EXIT_FAILURE;
                }
 
                if (!acc_hal_integration_wait_for_sensor_interrupt(SENSOR_ID, SENSOR_TIMEOUT_MS))
                {
                        printf("Sensor interrupt timeout\n");
                        acc_sensor_status(sensor);
                        cleanup(config, processing, sensor, buffer);
                        return EXIT_FAILURE;
                }
 
                if (!acc_sensor_read(sensor, buffer, buffer_size))
                {
                        printf("acc_sensor_read failed\n");
                        acc_sensor_status(sensor);
                        cleanup(config, processing, sensor, buffer);
                        return EXIT_FAILURE;
                }
 
                acc_processing_execute(processing, buffer, &proc_result);
 
                // The number of sweeps can also be readout with acc_config_sweeps_per_frame_get()
                uint16_t sweeps_per_frame    = proc_meta.frame_data_length / proc_meta.sweep_data_length;
                uint8_t  number_of_subsweeps = acc_config_num_subsweeps_get(config);
 
                for (uint16_t sweep_index = 0; sweep_index < sweeps_per_frame; sweep_index++)
                {
                        for (uint8_t subsweep_index = 0; subsweep_index < number_of_subsweeps; subsweep_index++)
                        {
                                /* Each sweep is offsetted sweep_data_length into the frame,
                                   and within the sweep the specific subsweep is offsetted
                                   subsweep_data_offset. */
                                uint16_t             subsweep_offset = sweep_index * proc_meta.sweep_data_length + proc_meta.subsweep_data_offset[subsweep_index];
                                uint16_t             subsweep_length = proc_meta.subsweep_data_length[subsweep_index];
                                acc_int16_complex_t *subsweep_data   = &proc_result.frame[subsweep_offset];
 
                                printf("Subsweep: %" PRIu16 ", sweep: %" PRIu16 ", processed data:\n", subsweep_index, sweep_index);
                                print_data(subsweep_data, subsweep_length);
                        }
                }
        }
 
        cleanup(config, processing, sensor, buffer);
 
        printf("Application finished OK\n");
 
        return EXIT_SUCCESS;
}
 
static void cleanup(acc_config_t *config, acc_processing_t *processing, acc_sensor_t *sensor, void *buffer)
{
        acc_hal_integration_sensor_disable(SENSOR_ID);
        acc_hal_integration_sensor_supply_off(SENSOR_ID);
 
        if (sensor != NULL)
        {
                acc_sensor_destroy(sensor);
        }
 
        if (processing != NULL)
        {
                acc_processing_destroy(processing);
        }
 
        if (config != NULL)
        {
                acc_config_destroy(config);
        }
 
        if (buffer != NULL)
        {
                acc_integration_mem_free(buffer);
        }
}
 
static void print_data(acc_int16_complex_t *data, uint16_t data_length)
{
        char buffer[MAX_DATA_ENTRY_LEN];
 
        for (uint16_t i = 0; i < data_length; i++)
        {
                if ((i > 0) && ((i % 8) == 0))
                {
                        printf("\n");
                }
 
                snprintf(buffer, sizeof(buffer), "%" PRIi16 "+%" PRIi16 "i", data[i].real, data[i].imag);
 
                printf("%14s ", buffer);
        }
 
        printf("\n");
}