#include <math.h>
#include <stdbool.h>
#include <stdint.h>
#include <stdio.h>
#include <string.h>
#include "acc_algorithm.h"
#include "acc_config.h"
#include "acc_definitions_a121.h"
#include "acc_definitions_common.h"
#include "acc_hal_integration_a121.h"
#include "acc_integration.h"
#include "acc_integration_log.h"
#include "acc_processing.h"
#include "acc_rss_a121.h"
#include "acc_sensor.h"
#include "ref_app_parking.h"

Data Structures
struct	signature_t

struct	ref_app_parking_handle

Macros
#define	CAL_ITERATIONS (3U)

#define	MAX_AMPLITUDE (46341.0f)

Functions
static void	set_sensor_config (ref_app_parking_handle_t *handle)
	Set sensor config using already set parking config. More...

static void	log_config (ref_app_parking_handle_t *handle)
	Log config. More...

static bool	allocate_application_resources (ref_app_parking_handle_t *handle)
	Allocate resources for application. More...

static void	initialize_application_resources (ref_app_parking_handle_t *handle)
	Initialize resources for application using already set parking config. More...

static uint32_t	get_measure_timeout_ms (float update_rate_hz)
	Get timeout value, in ms, for specified update rate. More...

static float	noise_process (acc_int16_complex_t noise_data, float noise_magnitudes, uint16_t noise_data_length)
	Calculate noise level from noise data. More...

static float	obstruction_noise (acc_int16_complex_t *obs_noise_data, uint16_t obs_noise_data_length)
	Calculate noise mean from obstruction noise data. More...

static void	obstruction_signature (acc_int16_complex_t subsweep, float magnitudes, float distances, uint16_t length, float noise_level, signature_t signature)
	Calculate obstruction signature from obstruction data. More...

static void	car_signature (const float magnitudes, const float distances, uint16_t length, signature_t *signature)
	Calculate car signature from car data. More...

static bool	objects_present (const ref_app_parking_handle_t *handle)
	Determine if there are any objects present using signature history and thresholds. More...

static bool	same_objects (ref_app_parking_handle_t *handle)
	Determine if multiple signatures relates to same object. More...

static int	compare_signature (const void a, const void b)
	Function used to compare two signatures for use in qsort. More...

static bool	enter_hibernate (ref_app_parking_handle_t *handle)
	Make sensor enter hibernate. More...

static bool	exit_hibernate (ref_app_parking_handle_t *handle)
	Make sensor exit hibernate. More...

void	ref_app_parking_set_config (ref_app_parking_parking_preset_t preset, ref_app_parking_config_t *parking_config)
	Set parking config according to specified preset. More...

ref_app_parking_handle_t *	ref_app_parking_handle_create (ref_app_parking_config_t *parking_config, acc_sensor_id_t sensor_id)
	Create parking handle. More...

void	ref_app_parking_handle_destroy (ref_app_parking_handle_t *handle)
	Destroy parking handle. More...

bool	ref_app_parking_sensor_calibration (ref_app_parking_handle_t *handle)
	Sensor calibration. More...

bool	ref_app_parking_noise_calibration (ref_app_parking_handle_t *handle)
	Noise calibration. More...

bool	ref_app_parking_obstruction_calibration (ref_app_parking_handle_t *handle)
	Obstruction calibration. More...

bool	ref_app_parking_sensor_prepare (ref_app_parking_handle_t *handle)
	Prepare sensor for measurement. More...

bool	ref_app_parking_measure (ref_app_parking_handle_t *handle, bool hibernate)
	Perform a sensor measurement. More...

bool	ref_app_parking_handle_indications (ref_app_parking_handle_t handle, bool data_reliable)
	Handle indications from a measurement. More...

void	ref_app_parking_obstruction_process (ref_app_parking_handle_t handle, bool obstruction_detected)
	Do obstruction processing. More...

void	ref_app_parking_process (ref_app_parking_handle_t handle, bool car_detected)
	Do parking processing. More...

Macro Definition Documentation

◆ CAL_ITERATIONS

#define CAL_ITERATIONS (3U)

Definition at line 25 of file ref_app_parking.c.

◆ MAX_AMPLITUDE

#define MAX_AMPLITUDE (46341.0f)

Definition at line 26 of file ref_app_parking.c.

Function Documentation

◆ allocate_application_resources()

static bool allocate_application_resources ( ref_app_parking_handle_t * handle )

static

Allocate resources for application.

Parameters

[in] handle The parking handle

Definition at line 883 of file ref_app_parking.c.

◆ car_signature()

static void car_signature	(	const float *	magnitudes,
		const float *	distances,
		uint16_t	length,
		signature_t *	signature
	)

static

Calculate car signature from car data.

Parameters

[in]	magnitudes	The car data
[in]	distances	Corresponding distance for each point in the car data
[in]	length	The length of magnitudes and distances
[out]	signature	The calculated signature

Definition at line 1083 of file ref_app_parking.c.

◆ compare_signature()

static int compare_signature	(	const void *	a,
		const void *	b
	)

static

Function used to compare two signatures for use in qsort.

Parameters

[in]	a	First signature
[in]	b	Second signature

Returns: -1 if a is closer to sensor than b 1 if b is closer to sensor than a 0 if a and b is at same distance from sensor

Definition at line 1167 of file ref_app_parking.c.

◆ enter_hibernate()

static bool enter_hibernate ( ref_app_parking_handle_t * handle )

static

Make sensor enter hibernate.

Parameters

[in] handle The parking handle

Definition at line 1186 of file ref_app_parking.c.

◆ exit_hibernate()

static bool exit_hibernate ( ref_app_parking_handle_t * handle )

static

Make sensor exit hibernate.

Parameters

[in] handle The parking handle

Definition at line 1201 of file ref_app_parking.c.

◆ get_measure_timeout_ms()

static uint32_t get_measure_timeout_ms ( float update_rate_hz )

static

Get timeout value, in ms, for specified update rate.

Parameters

[in] update_rate_hz The update rate, in Hz

Returns: The timeout value, in ms

Definition at line 1017 of file ref_app_parking.c.

◆ initialize_application_resources()

static void initialize_application_resources ( ref_app_parking_handle_t * handle )

static

Initialize resources for application using already set parking config.

Parameters

[in] handle The parking handle

Definition at line 970 of file ref_app_parking.c.

◆ log_config()

static void log_config ( ref_app_parking_handle_t * handle )

static

Log config.

Parameters

[in] handle The parking handle

Definition at line 834 of file ref_app_parking.c.

◆ noise_process()

static float noise_process	(	acc_int16_complex_t *	noise_data,
		float *	noise_magnitudes,
		uint16_t	noise_data_length
	)

static

Calculate noise level from noise data.

Parameters

[in]	noise_data	The noise data
[in]	noise_magnitudes	Intermediate step in processing will be stored here
[in]	noise_data_length	The length of noise data and magnitudes

Returns: The noise level

Definition at line 1022 of file ref_app_parking.c.

◆ objects_present()

static bool objects_present ( const ref_app_parking_handle_t * handle )

static

Determine if there are any objects present using signature history and thresholds.

Parameters

[in] handle The parking handle

Returns: true if objects present, false otherwise

Definition at line 1089 of file ref_app_parking.c.

◆ obstruction_noise()

static float obstruction_noise	(	acc_int16_complex_t *	obs_noise_data,
		uint16_t	obs_noise_data_length
	)

static

Calculate noise mean from obstruction noise data.

Parameters

[in]	obs_noise_data	The obstruction noise data
[in]	obs_noise_data_length	The length of obstruction noise data

Returns: The noise mean

Definition at line 1048 of file ref_app_parking.c.

◆ obstruction_signature()

static void obstruction_signature	(	acc_int16_complex_t *	subsweep,
		float *	magnitudes,
		float *	distances,
		uint16_t	length,
		float	noise_level,
		signature_t *	signature
	)

static

Calculate obstruction signature from obstruction data.

Parameters

[in]	subsweep	The obstruction data
[in]	magnitudes	Intermediate step in processing will be stored here
[in]	distances	Corresponding distance for each point in the obstruction data
[in]	length	The length of subsweep, magnitudes, and distances
[in]	noise_level	The current noise level to compensate for
[out]	signature	The calculated signature

Definition at line 1063 of file ref_app_parking.c.

◆ ref_app_parking_handle_create()

ref_app_parking_handle_t* ref_app_parking_handle_create	(	ref_app_parking_config_t *	parking_config,
		acc_sensor_id_t	sensor_id
	)

Create parking handle.

The handle is used for both control and processing

This function enables the sensor

Parameters

[in]	parking_config	The parking config used to create the parking handle
[in]	sensor_id	The sensor_id for the sensor to be used

Returns: A parking handle, or NULL if creation failed

Definition at line 252 of file ref_app_parking.c.

◆ ref_app_parking_handle_destroy()

void ref_app_parking_handle_destroy ( ref_app_parking_handle_t * handle )

Destroy parking handle.

This function disables the sensor

Parameters

[in] handle The handle to destroy

Definition at line 284 of file ref_app_parking.c.

◆ ref_app_parking_handle_indications()

bool ref_app_parking_handle_indications	(	ref_app_parking_handle_t *	handle,
		bool *	data_reliable
	)

Handle indications from a measurement.

Parameters

[in]	handle	The handle to do a sensor measurement for
[out]	data_reliable	Flag to determine if data from measurement is reliable. Se log for more details if false

Returns: true if successful, false otherwise

Definition at line 597 of file ref_app_parking.c.

◆ ref_app_parking_measure()

bool ref_app_parking_measure	(	ref_app_parking_handle_t *	handle,
		bool	hibernate
	)

Perform a sensor measurement.

Parameters

[in]	handle	The handle to do a sensor measurement for
[in]	hibernate	Hibernate sensor between measurements

Returns: true if successful, false otherwise

Definition at line 554 of file ref_app_parking.c.

◆ ref_app_parking_noise_calibration()

bool ref_app_parking_noise_calibration ( ref_app_parking_handle_t * handle )

Noise calibration.

Parameters

[in] handle The handle to calibrate noise for

Returns: true if successful, false otherwise

Definition at line 390 of file ref_app_parking.c.

◆ ref_app_parking_obstruction_calibration()

bool ref_app_parking_obstruction_calibration ( ref_app_parking_handle_t * handle )

Obstruction calibration.

Note that the sensor must be free from obstruction when calling this function.

Parameters

[in] handle The handle to calibrate obstruction for

Returns: true if successful, false otherwise

Definition at line 445 of file ref_app_parking.c.

◆ ref_app_parking_obstruction_process()

void ref_app_parking_obstruction_process	(	ref_app_parking_handle_t *	handle,
		bool *	obstruction_detected
	)

Do obstruction processing.

Parameters

[in]	handle	The handle to do obstruction processing for
[out]	obstruction_detected	true if obstruction detected, false otherwise

Definition at line 663 of file ref_app_parking.c.

◆ ref_app_parking_process()

void ref_app_parking_process	(	ref_app_parking_handle_t *	handle,
		bool *	car_detected
	)

Do parking processing.

Parameters

[in]	handle	The handle to do parking processing for
[out]	car_detected	true if car detected, false otherwise

Definition at line 711 of file ref_app_parking.c.

◆ ref_app_parking_sensor_calibration()

bool ref_app_parking_sensor_calibration ( ref_app_parking_handle_t * handle )

Sensor calibration.

Parameters

[in] handle The handle to calibrate sensor for

Returns: true if successful, false otherwise

Definition at line 355 of file ref_app_parking.c.

◆ ref_app_parking_sensor_prepare()

bool ref_app_parking_sensor_prepare ( ref_app_parking_handle_t * handle )

Prepare sensor for measurement.

Parameters

[in] handle The handle to prepare sensor for

Returns: true if successful, false otherwise

Definition at line 537 of file ref_app_parking.c.

◆ ref_app_parking_set_config()

void ref_app_parking_set_config	(	ref_app_parking_parking_preset_t	preset,
		ref_app_parking_config_t *	parking_config
	)

Set parking config according to specified preset.

Parameters

[in]	preset	The preset used to set parking config
[out]	parking_config	The parking config to be set

Definition at line 201 of file ref_app_parking.c.

◆ same_objects()

static bool same_objects ( ref_app_parking_handle_t * handle )

static

Determine if multiple signatures relates to same object.

Parameters

[in] handle The parking handle

Returns: true if multiple signatures relates to same object, false otherwise

Definition at line 1108 of file ref_app_parking.c.

◆ set_sensor_config()

static void set_sensor_config ( ref_app_parking_handle_t * handle )

static

Set sensor config using already set parking config.

Parameters

[in] handle The parking handle

Definition at line 764 of file ref_app_parking.c.

Data Structures

Macros

Functions

Macro Definition Documentation

◆ CAL_ITERATIONS

◆ MAX_AMPLITUDE

Function Documentation

◆ allocate_application_resources()

◆ car_signature()

◆ compare_signature()

◆ enter_hibernate()

◆ exit_hibernate()

◆ get_measure_timeout_ms()

◆ initialize_application_resources()

◆ log_config()

◆ noise_process()

◆ objects_present()

◆ obstruction_noise()

◆ obstruction_signature()

◆ ref_app_parking_handle_create()

◆ ref_app_parking_handle_destroy()

◆ ref_app_parking_handle_indications()

◆ ref_app_parking_measure()

◆ ref_app_parking_noise_calibration()

◆ ref_app_parking_obstruction_calibration()

◆ ref_app_parking_obstruction_process()

◆ ref_app_parking_process()

◆ ref_app_parking_sensor_calibration()

◆ ref_app_parking_sensor_prepare()

◆ ref_app_parking_set_config()

◆ same_objects()

◆ set_sensor_config()