example_detector_presence.c
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1 // Copyright (c) Acconeer AB, 2022-2023
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 <stdbool.h>
8 #include <stdint.h>
9 #include <stdio.h>
10 #include <stdlib.h>
11 
12 #include "acc_definitions_a121.h"
13 #include "acc_definitions_common.h"
14 #include "acc_detector_presence.h"
17 #include "acc_integration.h"
18 #include "acc_rss_a121.h"
19 #include "acc_sensor.h"
20 
21 #include "acc_version.h"
22 
23 /** \example example_detector_presence.c
24  * @brief This is an example on how the Detector Presence API can be used
25  * @n
26  * The example executes as follows:
27  * - Create a presence configuration
28  * - Create a sensor instance
29  * - Create a detector instance
30  * - Calibrate the sensor
31  * - Prepare the detector
32  * - Perform a sensor measurement and read out the data
33  * - Process the measurement and get detector result
34  * - Destroy the configuration
35  * - Destroy the detector instance
36  * - Destroy the sensor instance
37  */
38 
39 
40 typedef enum
41 {
47 
48 
49 #define SENSOR_ID (1U)
50 #define SENSOR_TIMEOUT_MS (1000U)
51 
52 #define DEFAULT_PRESET_CONFIG PRESENCE_PRESET_CONFIG_MEDIUM_RANGE
53 
54 static bool do_sensor_calibration(acc_sensor_t *sensor, acc_cal_result_t *cal_result, void *buffer, uint32_t buffer_size);
55 
56 
58 
59 
60 static void cleanup(acc_detector_presence_handle_t *presence_handle,
61  acc_detector_presence_config_t *presence_config,
62  acc_sensor_t *sensor,
63  void *buffer);
64 
65 
66 static void set_config(acc_detector_presence_config_t *presence_config, presence_preset_config_t preset);
67 
68 
69 int acconeer_main(int argc, char *argv[]);
70 
71 
72 int acconeer_main(int argc, char *argv[])
73 {
74  (void)argc;
75  (void)argv;
76  acc_detector_presence_config_t *presence_config = NULL;
77  acc_detector_presence_handle_t *presence_handle = NULL;
79  acc_sensor_t *sensor = NULL;
80  void *buffer = NULL;
81  uint32_t buffer_size = 0U;
82 
83  printf("Acconeer software version %s\n", acc_version_get());
84 
86 
87  if (!acc_rss_hal_register(hal))
88  {
89  return EXIT_FAILURE;
90  }
91 
92  presence_config = acc_detector_presence_config_create();
93  if (presence_config == NULL)
94  {
95  printf("acc_detector_presence_config_create() failed\n");
96  cleanup(presence_handle, presence_config, sensor, buffer);
97  return EXIT_FAILURE;
98  }
99 
100  set_config(presence_config, DEFAULT_PRESET_CONFIG);
101 
102  // Print the configuration
103  acc_detector_presence_config_log(presence_config);
104 
105  presence_handle = acc_detector_presence_create(presence_config, &metadata);
106  if (presence_handle == NULL)
107  {
108  printf("acc_detector_presence_create() failed\n");
109  cleanup(presence_handle, presence_config, sensor, buffer);
110  return EXIT_FAILURE;
111  }
112 
113  if (!acc_detector_presence_get_buffer_size(presence_handle, &buffer_size))
114  {
115  printf("acc_detector_presence_get_buffer_size() failed\n");
116  cleanup(presence_handle, presence_config, sensor, buffer);
117  return EXIT_FAILURE;
118  }
119 
120  buffer = acc_integration_mem_alloc(buffer_size);
121  if (buffer == NULL)
122  {
123  printf("buffer allocation failed\n");
124  cleanup(presence_handle, presence_config, sensor, buffer);
125  return EXIT_FAILURE;
126  }
127 
130 
131  sensor = acc_sensor_create(SENSOR_ID);
132  if (sensor == NULL)
133  {
134  printf("acc_sensor_create() failed\n");
135  cleanup(presence_handle, presence_config, sensor, buffer);
136  return EXIT_FAILURE;
137  }
138 
139  acc_cal_result_t cal_result;
140 
141  if (!do_sensor_calibration(sensor, &cal_result, buffer, buffer_size))
142  {
143  printf("do_sensor_calibration() failed\n");
144  cleanup(presence_handle, presence_config, sensor, buffer);
145  return EXIT_FAILURE;
146  }
147 
148  if (!acc_detector_presence_prepare(presence_handle, presence_config, sensor, &cal_result,
149  buffer, buffer_size))
150  {
151  printf("acc_detector_presence_prepare() failed\n");
152  cleanup(presence_handle, presence_config, sensor, buffer);
153  return EXIT_FAILURE;
154  }
155 
156  while (true)
157  {
159 
160  if (!acc_sensor_measure(sensor))
161  {
162  printf("acc_sensor_measure failed\n");
163  cleanup(presence_handle, presence_config, sensor, buffer);
164  return EXIT_FAILURE;
165  }
166 
168  {
169  printf("Sensor interrupt timeout\n");
170  cleanup(presence_handle, presence_config, sensor, buffer);
171  return EXIT_FAILURE;
172  }
173 
174  if (!acc_sensor_read(sensor, buffer, buffer_size))
175  {
176  printf("acc_sensor_read failed\n");
177  cleanup(presence_handle, presence_config, sensor, buffer);
178  return EXIT_FAILURE;
179  }
180 
181  if (!acc_detector_presence_process(presence_handle, buffer, &result))
182  {
183  printf("acc_detector_presence_process failed\n");
184  cleanup(presence_handle, presence_config, sensor, buffer);
185  return EXIT_FAILURE;
186  }
187 
188  print_result(result);
189 
191  {
192  printf("Data saturated. The detector result is not reliable.\n");
193  }
194 
195  if (result.processing_result.frame_delayed)
196  {
197  printf("Frame delayed. Could not read data fast enough.\n");
198  printf("Try lowering the frame rate or call 'acc_sensor_read' more frequently.\n");
199  }
200 
201  /* If "calibration_needed" is indicated, the sensor needs to be recalibrated. */
203  {
204  printf("Sensor recalibration needed ... \n");
205 
206  if (!do_sensor_calibration(sensor, &cal_result, buffer, buffer_size))
207  {
208  printf("do_sensor_calibration() failed\n");
209  cleanup(presence_handle, presence_config, sensor, buffer);
210  return EXIT_FAILURE;
211  }
212 
213  printf("Sensor recalibration done!\n");
214 
215  /* Before measuring again, the sensor needs to be prepared through the detector. */
216  if (!acc_detector_presence_prepare(presence_handle, presence_config, sensor, &cal_result,
217  buffer, buffer_size))
218  {
219  printf("acc_detector_presence_prepare() failed\n");
220  cleanup(presence_handle, presence_config, sensor, buffer);
221  return EXIT_FAILURE;
222  }
223  }
224  }
225 
226  cleanup(presence_handle, presence_config, sensor, buffer);
227 
228  printf("Application finished OK\n");
229 
230  return EXIT_SUCCESS;
231 }
232 
233 
234 static void cleanup(acc_detector_presence_handle_t *presence_handle,
235  acc_detector_presence_config_t *presence_config,
236  acc_sensor_t *sensor,
237  void *buffer)
238 {
241 
242  if (presence_config != NULL)
243  {
244  acc_detector_presence_config_destroy(presence_config);
245  }
246 
247  if (presence_handle != NULL)
248  {
249  acc_detector_presence_destroy(presence_handle);
250  }
251 
252  if (sensor != NULL)
253  {
254  acc_sensor_destroy(sensor);
255  }
256 
257  if (buffer != NULL)
258  {
259  acc_integration_mem_free(buffer);
260  }
261 }
262 
263 
264 static bool do_sensor_calibration(acc_sensor_t *sensor, acc_cal_result_t *cal_result, void *buffer, uint32_t buffer_size)
265 {
266  bool status = false;
267  bool cal_complete = false;
268  const uint16_t calibration_retries = 1U;
269 
270  // Random disturbances may cause the calibration to fail. At failure, retry at least once.
271  for (uint16_t i = 0; !status && (i <= calibration_retries); i++)
272  {
273  // Reset sensor before calibration by disabling/enabling it
276 
277  do
278  {
279  status = acc_sensor_calibrate(sensor, &cal_complete, cal_result, buffer, buffer_size);
280 
281  if (status && !cal_complete)
282  {
284  }
285  } while (status && !cal_complete);
286  }
287 
288  if (status)
289  {
290  /* Reset sensor after calibration by disabling/enabling it */
293  }
294 
295  return status;
296 }
297 
298 
300 {
301  if (result.presence_detected)
302  {
303  printf("Motion\n");
304  }
305  else
306  {
307  printf("No motion\n");
308  }
309 
310  // Score and distance are multiplied by 1000 to avoid printing floats
311  printf("Intra presence score: %d, Inter presence score: %d, Distance (mm): %d\n",
312  (int)(result.intra_presence_score * 1000.0f),
313  (int)(result.inter_presence_score * 1000.0f),
314  (int)(result.presence_distance * 1000.0f));
315 }
316 
317 
319 {
320  switch (preset)
321  {
323  // Add configuration of the detector here
324  break;
325 
327  acc_detector_presence_config_start_set(presence_config, 0.06f);
328  acc_detector_presence_config_end_set(presence_config, 1.0f);
330  acc_detector_presence_config_auto_profile_set(presence_config, true);
332  acc_detector_presence_config_hwaas_set(presence_config, 16);
334  acc_detector_presence_config_frame_rate_set(presence_config, 10.0f);
349 
350  break;
351 
353  acc_detector_presence_config_start_set(presence_config, 0.3f);
354  acc_detector_presence_config_end_set(presence_config, 2.5f);
356  acc_detector_presence_config_auto_profile_set(presence_config, true);
358  acc_detector_presence_config_hwaas_set(presence_config, 32);
360  acc_detector_presence_config_frame_rate_set(presence_config, 12.0f);
375 
376  break;
377 
379  acc_detector_presence_config_start_set(presence_config, 5.0f);
380  acc_detector_presence_config_end_set(presence_config, 7.5f);
382  acc_detector_presence_config_auto_profile_set(presence_config, true);
384  acc_detector_presence_config_hwaas_set(presence_config, 128);
386  acc_detector_presence_config_frame_rate_set(presence_config, 12.0f);
401 
402  break;
403  }
404 }
acc_detector_presence_result_t::inter_presence_score
float inter_presence_score
Definition: acc_detector_presence.h:63
set_config
static void set_config(acc_detector_presence_config_t *presence_config, presence_preset_config_t preset)
Definition: example_detector_presence.c:318
acc_detector_presence_config_inter_detection_set
void acc_detector_presence_config_inter_detection_set(acc_detector_presence_config_t *presence_config, bool enable)
Set inter-frame presence detection.
acc_detector_presence_config_sweeps_per_frame_set
void acc_detector_presence_config_sweeps_per_frame_set(acc_detector_presence_config_t *presence_config, uint16_t sweeps_per_frame)
Set the number of sweeps per frame.
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:113
acc_rss_a121.h
acc_detector_presence_prepare
bool acc_detector_presence_prepare(acc_detector_presence_handle_t *presence_handle, acc_detector_presence_config_t *presence_config, acc_sensor_t *sensor, const acc_cal_result_t *cal_result, void *buffer, uint32_t buffer_size)
Prepare the detector to do a measurement.
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:107
acc_detector_presence_destroy
void acc_detector_presence_destroy(acc_detector_presence_handle_t *presence_handle)
Destroy a presence detector identified with the provided handle.
acc_detector_presence_config_hwaas_set
void acc_detector_presence_config_hwaas_set(acc_detector_presence_config_t *presence_config, uint16_t hwaas)
Set the hardware accelerated average samples (HWAAS)
acc_detector_presence_config_log
void acc_detector_presence_config_log(const acc_detector_presence_config_t *presence_config)
Print a configuration to the log.
acc_sensor_read
bool acc_sensor_read(const acc_sensor_t *sensor, void *buffer, uint32_t buffer_size)
Read out radar data.
SENSOR_TIMEOUT_MS
#define SENSOR_TIMEOUT_MS
Definition: example_detector_presence.c:50
acc_detector_presence_config_inter_phase_boost_set
void acc_detector_presence_config_inter_phase_boost_set(acc_detector_presence_config_t *presence_config, bool enable)
Set inter-frame phase boost.
acc_version.h
acc_detector_presence_config_inter_frame_deviation_time_const_set
void acc_detector_presence_config_inter_frame_deviation_time_const_set(acc_detector_presence_config_t *presence_config, float inter_frame_deviation_time_const)
Set the time constant of the low pass filter for the inter-frame deviation between fast and slow.
acc_detector_presence_config_auto_profile_set
void acc_detector_presence_config_auto_profile_set(acc_detector_presence_config_t *presence_config, bool enable)
Enable automatic selection of profile based on start point of measurement.
acc_detector_presence_result_t::processing_result
acc_processing_result_t processing_result
Definition: acc_detector_presence.h:86
print_result
static void print_result(acc_detector_presence_result_t result)
Definition: example_detector_presence.c:299
acc_cal_result_t
Definition: acc_definitions_a121.h:19
acconeer_main
int acconeer_main(int argc, char *argv[])
Assembly test example.
Definition: example_detector_presence.c:72
acc_detector_presence_config_frame_rate_set
void acc_detector_presence_config_frame_rate_set(acc_detector_presence_config_t *presence_config, float frame_rate)
Set the frame rate.
PRESENCE_PRESET_CONFIG_LONG_RANGE
@ PRESENCE_PRESET_CONFIG_LONG_RANGE
Definition: example_detector_presence.c:45
acc_integration.h
acc_detector_presence_get_buffer_size
bool acc_detector_presence_get_buffer_size(const acc_detector_presence_handle_t *presence_handle, uint32_t *buffer_size)
Get the buffer size needed for the provided presence detector handle.
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:166
acc_detector_presence_result_t::presence_detected
bool presence_detected
Definition: acc_detector_presence.h:55
acc_detector_presence_config_intra_detection_threshold_set
void acc_detector_presence_config_intra_detection_threshold_set(acc_detector_presence_config_t *presence_config, float intra_detection_threshold)
Set the detection threshold for the intra-frame presence detection.
acc_integration_mem_alloc
void * acc_integration_mem_alloc(size_t size)
Allocate dynamic memory.
Definition: acc_integration_stm32.c:632
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
acc_detector_presence_result_t
Presence detector results container.
Definition: acc_detector_presence.h:50
acc_detector_presence_config_inter_frame_presence_timeout_set
void acc_detector_presence_config_inter_frame_presence_timeout_set(acc_detector_presence_config_t *presence_config, uint16_t inter_frame_presence_timeout)
Set the inter-frame presence timeout in seconds.
DEFAULT_PRESET_CONFIG
#define DEFAULT_PRESET_CONFIG
Definition: example_detector_presence.c:52
acc_detector_presence_config_destroy
void acc_detector_presence_config_destroy(acc_detector_presence_config_t *presence_config)
Destroy a presence detector configuration.
acc_detector_presence_metadata_t
Definition: acc_detector_presence.h:93
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:142
acc_hal_integration_a121.h
acc_detector_presence_config_end_set
void acc_detector_presence_config_end_set(acc_detector_presence_config_t *presence_config, float end)
Set the end point of measurement interval in meters.
acc_detector_presence_config_intra_output_time_const_set
void acc_detector_presence_config_intra_output_time_const_set(acc_detector_presence_config_t *presence_config, float intra_output_time_const)
Set the time constant for the output in the intra-frame part.
acc_version_get
const char * acc_version_get(void)
Get the version of the Acconeer software.
PRESENCE_PRESET_CONFIG_SHORT_RANGE
@ PRESENCE_PRESET_CONFIG_SHORT_RANGE
Definition: example_detector_presence.c:43
printf
#define printf
Definition: printf.h:60
acc_detector_presence_result_t::intra_presence_score
float intra_presence_score
Definition: acc_detector_presence.h:59
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:119
acc_detector_presence_config_inter_frame_idle_state_set
void acc_detector_presence_config_inter_frame_idle_state_set(acc_detector_presence_config_t *presence_config, acc_config_idle_state_t idle_state)
Set inter frame idle state.
acc_hal_definitions_a121.h
acc_detector_presence_process
bool acc_detector_presence_process(acc_detector_presence_handle_t *presence_handle, void *buffer, acc_detector_presence_result_t *result)
Process the data according to the configuration used in acc_detector_presence_config_create.
acc_detector_presence_config_inter_output_time_const_set
void acc_detector_presence_config_inter_output_time_const_set(acc_detector_presence_config_t *presence_config, float inter_output_time_const)
Set the time constant for the output in the inter-frame part.
PRESENCE_PRESET_CONFIG_NONE
@ PRESENCE_PRESET_CONFIG_NONE
Definition: example_detector_presence.c:42
acc_detector_presence_config_reset_filters_on_prepare_set
void acc_detector_presence_config_reset_filters_on_prepare_set(acc_detector_presence_config_t *presence_config, bool enable)
Set if the presence filters should reset on prepare.
ACC_CONFIG_IDLE_STATE_DEEP_SLEEP
@ ACC_CONFIG_IDLE_STATE_DEEP_SLEEP
Definition: acc_definitions_a121.h:64
acc_detector_presence_config_intra_detection_set
void acc_detector_presence_config_intra_detection_set(acc_detector_presence_config_t *presence_config, bool enable)
Set intra-frame presence detection.
acc_processing_result_t::frame_delayed
bool frame_delayed
Definition: acc_processing.h:80
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:130
acc_detector_presence_config_t
struct acc_detector_presence_config acc_detector_presence_config_t
Definition: acc_detector_presence.h:44
do_sensor_calibration
static bool do_sensor_calibration(acc_sensor_t *sensor, acc_cal_result_t *cal_result, void *buffer, uint32_t buffer_size)
Definition: example_detector_presence.c:264
presence_preset_config_t
presence_preset_config_t
Definition: example_detector_presence_low_power_hibernate.c:48
acc_detector_presence_config_inter_frame_slow_cutoff_set
void acc_detector_presence_config_inter_frame_slow_cutoff_set(acc_detector_presence_config_t *presence_config, float inter_frame_slow_cutoff)
Set the cutoff frequency of the low pass filter for the slow filtered absolute sweep mean.
PRESENCE_PRESET_CONFIG_MEDIUM_RANGE
@ PRESENCE_PRESET_CONFIG_MEDIUM_RANGE
Definition: example_detector_presence.c:44
acc_detector_presence_result_t::presence_distance
float presence_distance
Definition: acc_detector_presence.h:67
acc_integration_mem_free
void acc_integration_mem_free(void *ptr)
Free dynamic memory.
Definition: acc_integration_stm32.c:644
acc_definitions_common.h
acc_detector_presence_create
acc_detector_presence_handle_t * acc_detector_presence_create(acc_detector_presence_config_t *presence_config, acc_detector_presence_metadata_t *metadata)
Create a presence detector with the provided configuration.
SENSOR_ID
#define SENSOR_ID
Definition: example_detector_presence.c:49
acc_processing_result_t::data_saturated
bool data_saturated
Definition: acc_processing.h:76
acc_detector_presence_handle_t
struct acc_detector_presence_handle acc_detector_presence_handle_t
Definition: acc_detector_presence.h:36
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.
acc_detector_presence_config_create
acc_detector_presence_config_t * acc_detector_presence_config_create(void)
Create a configuration for a presence detector.
acc_detector_presence_config_start_set
void acc_detector_presence_config_start_set(acc_detector_presence_config_t *presence_config, float start)
Set the start point of measurement interval in meters.
acc_processing_result_t::calibration_needed
bool calibration_needed
Definition: acc_processing.h:84
acc_detector_presence.h
acc_detector_presence_config_inter_detection_threshold_set
void acc_detector_presence_config_inter_detection_threshold_set(acc_detector_presence_config_t *presence_config, float inter_detection_threshold)
Set the detection threshold for the inter-frame presence detection.
acc_sensor_measure
bool acc_sensor_measure(acc_sensor_t *sensor)
Start a radar measurement with previously prepared configuration.
acc_detector_presence_config_auto_step_length_set
void acc_detector_presence_config_auto_step_length_set(acc_detector_presence_config_t *presence_config, bool enable)
Enable automatic selection of step length based on the profile.
acc_sensor_t
struct acc_sensor acc_sensor_t
Definition: acc_sensor.h:31
acc_detector_presence_config_intra_frame_time_const_set
void acc_detector_presence_config_intra_frame_time_const_set(acc_detector_presence_config_t *presence_config, float intra_frame_time_const)
Set the time constant for the depthwise filtering in the intra-frame part.
acc_sensor_destroy
void acc_sensor_destroy(acc_sensor_t *sensor)
Destroy a sensor instance freeing any resources allocated.
cleanup
static void cleanup(acc_detector_presence_handle_t *presence_handle, acc_detector_presence_config_t *presence_config, acc_sensor_t *sensor, void *buffer)
Definition: example_detector_presence.c:234
acc_definitions_a121.h
acc_detector_presence_config_frame_rate_app_driven_set
void acc_detector_presence_config_frame_rate_app_driven_set(acc_detector_presence_config_t *presence_config, bool enable)
Set if the application should maintain the requested frame rate.
acc_detector_presence_config_inter_frame_fast_cutoff_set
void acc_detector_presence_config_inter_frame_fast_cutoff_set(acc_detector_presence_config_t *presence_config, float inter_frame_fast_cutoff)
Set the cutoff frequency of the low pass filter for the fast filtered absolute sweep mean.
acc_sensor_create
acc_sensor_t * acc_sensor_create(acc_sensor_id_t sensor_id)
Create a sensor instance.
presence_preset_config_t
presence_preset_config_t
Definition: example_detector_presence.c:40