Go to the documentation of this file.
25 #define SENSOR_TIMEOUT_MS 1000U
26 #define DEFAULT_UPDATE_RATE 1.0f
29 #define SMALL_TANK_MEDIAN_FILTER_LENGTH 5U
30 #define SMALL_TANK_NUM_MEDIANS_TO_AVERAGE 5U
31 #define SMALL_TANK_RANGE_START_M 0.03f
32 #define SMALL_TANK_RANGE_END_M 0.5f
33 #define SMALL_TANK_MAX_STEP_LENGTH 2U
34 #define SMALL_TANK_MAX_PROFILE ACC_CONFIG_PROFILE_2
35 #define SMALL_TANK_NUM_FRAMES_REC 50U
36 #define SMALL_TANK_PEAK_SORTING ACC_DETECTOR_DISTANCE_PEAK_SORTING_CLOSEST
37 #define SMALL_TANK_REFLECTOR_SHAPE ACC_DETECTOR_DISTANCE_REFLECTOR_SHAPE_PLANAR
38 #define SMALL_TANK_THRESHOLD_SENSITIVITY 0.0f
39 #define SMALL_TANK_SIGNAL_QUALITY 20.0f
40 #define SMALL_TANK_CLOSE_RANGE_LEAKAGE_CANCELLATION true
43 #define MEDIUM_TANK_MEDIAN_FILTER_LENGTH 3U
44 #define MEDIUM_TANK_NUM_MEDIANS_TO_AVERAGE 3U
45 #define MEDIUM_TANK_RANGE_START_M 0.05f
46 #define MEDIUM_TANK_RANGE_END_M 6.0f
47 #define MEDIUM_TANK_MAX_STEP_LENGTH 0U // 0 means no limit
48 #define MEDIUM_TANK_MAX_PROFILE ACC_CONFIG_PROFILE_3
49 #define MEDIUM_TANK_NUM_FRAMES_REC 50U
50 #define MEDIUM_TANK_PEAK_SORTING ACC_DETECTOR_DISTANCE_PEAK_SORTING_STRONGEST
51 #define MEDIUM_TANK_REFLECTOR_SHAPE ACC_DETECTOR_DISTANCE_REFLECTOR_SHAPE_PLANAR
52 #define MEDIUM_TANK_THRESHOLD_SENSITIVITY 0.0f
53 #define MEDIUM_TANK_SIGNAL_QUALITY 20.0f
54 #define MEDIUM_TANK_CLOSE_RANGE_LEAKAGE_CANCELLATION true
57 #define LARGE_TANK_MEDIAN_FILTER_LENGTH 3U
58 #define LARGE_TANK_NUM_MEDIANS_TO_AVERAGE 1U
59 #define LARGE_TANK_RANGE_START_M 0.1f
60 #define LARGE_TANK_RANGE_END_M 10.0f
61 #define LARGE_TANK_MAX_STEP_LENGTH 0U // 0 means no limit
62 #define LARGE_TANK_MAX_PROFILE ACC_CONFIG_PROFILE_5
63 #define LARGE_TANK_NUM_FRAMES_REC 50U
64 #define LARGE_TANK_PEAK_SORTING ACC_DETECTOR_DISTANCE_PEAK_SORTING_STRONGEST
65 #define LARGE_TANK_REFLECTOR_SHAPE ACC_DETECTOR_DISTANCE_REFLECTOR_SHAPE_PLANAR
66 #define LARGE_TANK_THRESHOLD_SENSITIVITY 0.0f
67 #define LARGE_TANK_SIGNAL_QUALITY 20.0f
68 #define LARGE_TANK_CLOSE_RANGE_LEAKAGE_CANCELLATION true
106 #define DEFAULT_PRESET_CONFIG TANK_LEVEL_PRESET_CONFIG_SMALL_TANK
172 uint32_t buffer_size);
188 static void swap(
float *array, uint16_t idx_a, uint16_t idx_b);
191 static void sort(
float *array, uint16_t array_length);
194 static float median(
float *array, uint16_t array_length);
197 static float nanmean(
float *array, uint16_t array_length);
229 if (context.
app_config->distance_config == NULL)
231 printf(
"acc_detector_distance_config_create() failed\n");
244 printf(
"Initializing detector context failed\n");
254 if (context.
sensor == NULL)
256 printf(
"acc_sensor_create() failed\n");
265 printf(
"Sensor calibration failed\n");
272 printf(
"Detector calibration failed\n");
284 printf(
"Could not get next result\n");
294 printf(
"Sensor- and detector recalibration needed ... \n");
298 printf(
"Sensor calibration failed\n");
306 printf(
"Detector recalibration failed\n");
311 printf(
"Sensor- and detector recalibration done!\n");
328 printf(
"Application finished OK\n");
347 if (context->
sensor != NULL)
437 printf(
"acc_detector_distance_create() failed\n");
443 printf(
"acc_detector_distance_get_buffer_sizes() failed\n");
448 if (context->
buffer == NULL)
450 printf(
"sensor buffer allocation failed\n");
457 printf(
"calibration buffer allocation failed\n");
466 printf(
"level history buffer allocation failed\n");
475 printf(
"median vector allocation failed\n");
491 uint32_t buffer_size)
494 bool cal_complete =
false;
495 const uint16_t calibration_retries = 1U;
498 for (uint16_t i = 0; !status && (i <= calibration_retries); i++)
508 if (status && !cal_complete)
512 }
while (status && !cal_complete);
523 printf(
"acc_sensor_calibrate() failed\n");
579 bool result_available =
false;
587 printf(
"acc_detector_distance_prepare() failed\n");
593 printf(
"acc_sensor_measure() failed\n");
599 printf(
"Sensor interrupt timeout\n");
605 printf(
"acc_sensor_read() failed\n");
612 printf(
"acc_detector_distance_process() failed\n");
615 }
while (!result_available);
621 static void swap(
float *array, uint16_t idx_a, uint16_t idx_b)
623 float tmp = array[idx_a];
625 array[idx_a] = array[idx_b];
630 static void sort(
float *array, uint16_t array_length)
632 for (uint16_t i = 0; i < array_length - 1; i++)
634 for (uint16_t j = 0; j < array_length - i - 1; j++)
636 if (array[j] > array[j + 1])
638 swap(array, j, j + 1);
645 static float median(
float *array, uint16_t array_length)
650 for (uint16_t i = 0U; i < array_length && status; i++)
661 sort(array, array_length);
663 if (array_length % 2U == 0U)
665 uint16_t n = array_length / 2U;
666 result = (array[n - 1] + array[n]) / 2.0f;
670 uint16_t n = array_length / 2;
679 static float nanmean(
float *array, uint16_t array_length)
681 uint16_t samples = 0U;
684 for (uint16_t i = 0U; i < array_length; i++)
686 if (!isnan(array[i]))
693 return samples > 0U ? sum / (float)samples : (
float)NAN;
702 app_result->
level = 0.0f;
748 else if (level > (context->
app_config->tank_range_end_m - context->
app_config->tank_range_start_m))
755 app_result->
level = level;
765 app_result->
level = (float)NAN;
780 printf(
"Level within range\n");
782 app_result->
level * 100.0f),
#define SMALL_TANK_RANGE_START_M
static bool full_detector_calibration(app_context_t *context, const acc_cal_result_t *sensor_cal_result)
#define SMALL_TANK_SIGNAL_QUALITY
void acc_hal_integration_sensor_supply_off(acc_sensor_id_t sensor_id)
Power off sensor supply.
uint16_t level_history_length
@ TANK_LEVEL_PRESET_CONFIG_MEDIUM_TANK
uint16_t median_filter_length
acc_ref_app_smart_presence_config_t * app_config
void acc_detector_distance_config_peak_sorting_set(acc_detector_distance_config_t *config, acc_detector_distance_peak_sorting_t peak_sorting)
Set the peak sorting method.
peak_status_t peak_status
void acc_hal_integration_sensor_supply_on(acc_sensor_id_t sensor_id)
Power on sensor supply.
static float nanmean(float *array, uint16_t array_length)
@ TANK_LEVEL_PRESET_CONFIG_SMALL_TANK
bool acc_sensor_read(const acc_sensor_t *sensor, void *buffer, uint32_t buffer_size)
Read out radar data.
#define LARGE_TANK_SIGNAL_QUALITY
#define SMALL_TANK_MAX_STEP_LENGTH
static void process_detector_result(const acc_detector_distance_result_t *distance_result, app_result_t *app_result, app_context_t *context)
#define SMALL_TANK_PEAK_SORTING
static void set_config(acc_ref_app_tank_level_config_t *app_config, tank_level_preset_config_t preset)
#define MEDIUM_TANK_MAX_STEP_LENGTH
void acc_detector_distance_config_start_set(acc_detector_distance_config_t *config, float start_m)
Set the start of measured interval in meters.
#define MEDIUM_TANK_MAX_PROFILE
#define SMALL_TANK_RANGE_END_M
#define MEDIUM_TANK_PEAK_SORTING
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 float median(float *array, uint16_t array_length)
acc_detector_distance_handle_t * detector_handle
bool acc_detector_distance_get_buffer_sizes(const acc_detector_distance_handle_t *handle, uint32_t *buffer_size, uint32_t *calibration_buffer_size)
Get the buffer sizes needed given the provided detector handle.
void * calibration_buffer
bool acc_detector_distance_recalibrate(acc_sensor_t *sensor, acc_detector_distance_handle_t *handle, const acc_cal_result_t *sensor_cal_result, void *buffer, uint32_t buffer_size, void *calibration_buffer, uint32_t calibration_buffer_size, bool *calibration_complete)
Do a detector recalibration.
static void swap(float *array, uint16_t idx_a, uint16_t idx_b)
acc_detector_distance_handle_t * acc_detector_distance_create(const acc_detector_distance_config_t *config)
Create a distance detector with the provided configuration.
#define LARGE_TANK_PEAK_SORTING
void acc_detector_distance_config_destroy(acc_detector_distance_config_t *config)
Destroy a configuration for a distance detector.
const acc_hal_a121_t * acc_hal_rss_integration_get_implementation(void)
Get hal implementation reference.
#define SMALL_TANK_NUM_FRAMES_REC
uint16_t mean_edge_status_count
#define MEDIUM_TANK_MEDIAN_FILTER_LENGTH
bool acc_detector_distance_process(acc_detector_distance_handle_t *handle, void *buffer, void *calibration_buffer, bool *result_available, acc_detector_distance_result_t *result)
Process the data according to the configuration used in acc_detector_distance_config_create.
@ TANK_LEVEL_PRESET_CONFIG_LARGE_TANK
@ PEAK_STATUS_NO_DETECTION
void * acc_integration_mem_alloc(size_t size)
Allocate dynamic memory.
#define LARGE_TANK_RANGE_START_M
#define MEDIUM_TANK_THRESHOLD_SENSITIVITY
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, void *calibration_buffer, uint32_t calibration_buffer_size, bool *calibration_complete)
Do a detector calibration.
#define SMALL_TANK_NUM_MEDIANS_TO_AVERAGE
#define LARGE_TANK_MAX_PROFILE
#define MEDIUM_TANK_SIGNAL_QUALITY
void acc_integration_set_periodic_wakeup(uint32_t time_msec)
Set up a periodic timer used to wake up the system from sleep.
static bool detector_get_next(app_context_t *context, const acc_cal_result_t *sensor_cal_result, acc_detector_distance_result_t *detector_result)
void acc_detector_distance_config_close_range_leakage_cancellation_set(acc_detector_distance_config_t *config, bool enable)
Enable the close range leakage cancellation logic.
int acconeer_main(int argc, char *argv[])
Assembly test example.
#define LARGE_TANK_REFLECTOR_SHAPE
void acc_detector_distance_config_max_profile_set(acc_detector_distance_config_t *config, acc_config_profile_t max_profile)
Set the max profile.
void acc_detector_distance_destroy(acc_detector_distance_handle_t *handle)
Destroy the distance detector handle, freeing its resources.
bool acc_hal_integration_wait_for_sensor_interrupt(acc_sensor_id_t sensor_id, uint32_t timeout_ms)
Wait for a sensor interrupt.
void acc_detector_distance_config_signal_quality_set(acc_detector_distance_config_t *config, float signal_quality)
Set the signal quality.
const char * acc_version_get(void)
Get the version of the Acconeer software.
uint16_t median_vector_length
static bool sensor_calibration(acc_sensor_t *sensor, acc_cal_result_t *cal_result, void *buffer, uint32_t buffer_size)
void acc_hal_integration_sensor_enable(acc_sensor_id_t sensor_id)
Enable sensor.
#define LARGE_TANK_NUM_FRAMES_REC
#define SMALL_TANK_THRESHOLD_SENSITIVITY
uint16_t num_medians_to_average
@ TANK_LEVEL_PRESET_CONFIG_NONE
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_detector_distance_config_t * distance_config
Distance detector result.
#define SMALL_TANK_MAX_PROFILE
uint32_t calibration_buffer_size
#define MEDIUM_TANK_RANGE_END_M
#define MEDIUM_TANK_REFLECTOR_SHAPE
#define MEDIUM_TANK_RANGE_START_M
void acc_hal_integration_sensor_disable(acc_sensor_id_t sensor_id)
Disable sensor.
static void sort(float *array, uint16_t array_length)
void acc_detector_distance_config_end_set(acc_detector_distance_config_t *config, float end_m)
Set the end of measured interval in meters.
uint16_t median_edge_status_count
bool sensor_calibration_needed
#define DEFAULT_UPDATE_RATE
static bool initialize_application_resources(app_context_t *context)
static void cleanup(app_context_t *context)
void acc_detector_distance_config_num_frames_recorded_threshold_set(acc_detector_distance_config_t *config, uint16_t num_frames)
Set the number frames to use for recorded threshold.
#define LARGE_TANK_NUM_MEDIANS_TO_AVERAGE
struct acc_detector_distance_handle acc_detector_distance_handle_t
#define LARGE_TANK_CLOSE_RANGE_LEAKAGE_CANCELLATION
#define SMALL_TANK_CLOSE_RANGE_LEAKAGE_CANCELLATION
tank_level_preset_config_t
#define ACC_LOG_FLOAT_TO_INTEGER(a)
#define LARGE_TANK_RANGE_END_M
void acc_sensor_status(const acc_sensor_t *sensor)
Check the status of the sensor.
bool near_start_edge_status
void acc_integration_mem_free(void *ptr)
Free dynamic memory.
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.
#define MEDIUM_TANK_NUM_FRAMES_REC
void acc_integration_sleep_until_periodic_wakeup(void)
Put the system in sleep until the periodic timer triggers.
void acc_detector_distance_config_threshold_sensitivity_set(acc_detector_distance_config_t *config, float threshold_sensitivity)
Set threshold sensitivity.
acc_detector_distance_config_t * acc_detector_distance_config_create(void)
Create a configuration for a distance detector.
#define SMALL_TANK_MEDIAN_FILTER_LENGTH
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.
#define PRIfloat
Specifier for printing float type using integers.
#define SENSOR_TIMEOUT_MS
struct acc_detector_distance_config acc_detector_distance_config_t
#define LARGE_TANK_THRESHOLD_SENSITIVITY
#define LARGE_TANK_MEDIAN_FILTER_LENGTH
void acc_detector_distance_config_max_step_length_set(acc_detector_distance_config_t *config, uint16_t max_step_length)
Set the maximum step length.
static void print_result(const app_result_t *app_result, const acc_ref_app_tank_level_config_t *app_config)
bool acc_sensor_measure(acc_sensor_t *sensor)
Start a radar measurement with previously prepared configuration.
static float get_detector_start_m(acc_ref_app_tank_level_config_t *app_config)
static bool detector_recalibration(app_context_t *context, const acc_cal_result_t *sensor_cal_result)
@ PEAK_STATUS_OUT_OF_RANGE
#define MEDIUM_TANK_NUM_MEDIANS_TO_AVERAGE
struct acc_sensor acc_sensor_t
#define DEFAULT_PRESET_CONFIG
#define MEDIUM_TANK_CLOSE_RANGE_LEAKAGE_CANCELLATION
#define SMALL_TANK_REFLECTOR_SHAPE
void acc_sensor_destroy(acc_sensor_t *sensor)
Destroy a sensor instance freeing any resources allocated.
acc_sensor_t * acc_sensor_create(acc_sensor_id_t sensor_id)
Create a sensor instance.
#define LARGE_TANK_MAX_STEP_LENGTH