example_detector_distance_with_iq_data_print.c
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1 // Copyright (c) Acconeer AB, 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 <math.h>
8 #include <stdbool.h>
9 #include <stdint.h>
10 #include <stdio.h>
11 #include <stdlib.h>
12 
13 #include "acc_definitions_a121.h"
14 #include "acc_detector_distance.h"
17 #include "acc_integration.h"
18 #include "acc_integration_log.h"
19 #include "acc_rss_a121.h"
20 #include "acc_sensor.h"
21 #include "acc_version.h"
22 
23 
24 /** \example example_detector_distance_with_iq_data_print.c
25  * @brief This is an example on how the Detector Distance API can be used
26  * @n
27  * This example executes as follows:
28  * - Retrieve HAL integration
29  * - Initialize distance detector resources:
30  * + Create distance detector configuration
31  * + Update configuration settings
32  * + Create Distance detector handle
33  * + Create buffer for detector calibration data
34  * + Create buffer for sensor data
35  * - Create and calibrate the sensor
36  * - Calibrate the detector
37  * - Measure distances with the detector (loop):
38  * + Prepare sensor with the detector
39  * + Measure and wait until a read can be done
40  * + Print IQ data amplitude
41  * + Process measurement and print the result
42  * + Handle "sensor_calibration_needed" indication
43  * - Cleanup:
44  * + Destroy detector configuration
45  * + Destroy detector handle
46  * + Destroy sensor data buffer
47  * + Destroy detector calibration data buffer
48  */
49 
50 
51 typedef enum
52 {
57 
58 
59 #define SENSOR_ID (1U)
60 // 2 seconds should be enough even for long ranges and high signal quality
61 #define SENSOR_TIMEOUT_MS (2000U)
62 
63 
64 typedef struct
65 {
66  acc_sensor_t *sensor;
69  void *buffer;
70  uint32_t buffer_size;
71  void *calibration_buffer;
72  uint32_t calibration_buffer_size;
74 
75 
76 static void cleanup(distance_detector_resources_t *resources);
77 
78 
79 static void set_config(acc_detector_distance_config_t *detector_config, distance_preset_config_t preset);
80 
81 
83 
84 
85 static bool do_sensor_calibration(acc_sensor_t *sensor,
86  acc_cal_result_t *sensor_cal_result,
87  void *buffer,
88  uint32_t buffer_size);
89 
90 
92  const acc_cal_result_t *sensor_cal_result);
93 
94 
96  const acc_cal_result_t *sensor_cal_result);
97 
98 
100  const acc_cal_result_t *sensor_cal_result,
102 
103 
104 static void print_distance_result(const acc_detector_distance_result_t *result);
105 
106 
107 static void print_iq_data(const acc_config_t *sensor_config,
108  acc_processing_result_t *processing_result,
109  acc_processing_metadata_t *processing_metadata);
110 
111 
112 int acconeer_main(int argc, char *argv[]);
113 
114 
115 int acconeer_main(int argc, char *argv[])
116 {
117  (void)argc;
118  (void)argv;
119  distance_detector_resources_t resources = { 0 };
120 
121  printf("Acconeer software version %s\n", acc_version_get());
122 
124 
125  if (!acc_rss_hal_register(hal))
126  {
127  return EXIT_FAILURE;
128  }
129 
131  if (resources.config == NULL)
132  {
133  printf("acc_detector_distance_config_create() failed\n");
134  cleanup(&resources);
135  return EXIT_FAILURE;
136  }
137 
139 
140  if (!initialize_detector_resources(&resources))
141  {
142  printf("Initializing detector resources failed\n");
143  cleanup(&resources);
144  return EXIT_FAILURE;
145  }
146 
147  // Print the configuration
148  acc_detector_distance_config_log(resources.handle, resources.config);
149 
150  /* Turn the sensor on */
153 
154  resources.sensor = acc_sensor_create(SENSOR_ID);
155  if (resources.sensor == NULL)
156  {
157  printf("acc_sensor_create() failed\n");
158  cleanup(&resources);
159  return EXIT_FAILURE;
160  }
161 
162  acc_cal_result_t sensor_cal_result;
163 
164  if (!do_sensor_calibration(resources.sensor, &sensor_cal_result, resources.buffer, resources.buffer_size))
165  {
166  printf("Sensor calibration failed\n");
167  cleanup(&resources);
168  return EXIT_FAILURE;
169  }
170 
171  if (!do_full_detector_calibration(&resources, &sensor_cal_result))
172  {
173  printf("Detector calibration failed\n");
174  cleanup(&resources);
175  return EXIT_FAILURE;
176  }
177 
178  while (true)
179  {
180  acc_detector_distance_result_t result = { 0 };
181 
182  if (!do_detector_get_next(&resources, &sensor_cal_result, &result))
183  {
184  printf("Could not get next result\n");
185  cleanup(&resources);
186  return EXIT_FAILURE;
187  }
188 
189  print_distance_result(&result);
190 
191  /* If "sensor calibration needed" is indicated, the sensor and detector needs to be recalibrated.
192  *
193  * Note that the detector result (printed above) is invalid if 'sensor_calibration_needed' is true.
194  */
195  if (result.sensor_calibration_needed)
196  {
197  printf("Sensor- and detector recalibration needed ... \n");
198 
199  if (!do_sensor_calibration(resources.sensor, &sensor_cal_result, resources.buffer, resources.buffer_size))
200  {
201  printf("Sensor calibration failed\n");
202  cleanup(&resources);
203  return EXIT_FAILURE;
204  }
205 
206  /* Once the sensor is recalibrated, the detector should be recalibrated and measuring can continue. */
207  if (!do_detector_recalibration(&resources, &sensor_cal_result))
208  {
209  printf("Detector recalibration failed\n");
210  cleanup(&resources);
211  return EXIT_FAILURE;
212  }
213 
214  printf("Sensor- and detector recalibration done!\n");
215  }
216  }
217 
218  cleanup(&resources);
219 
220  printf("Done!\n");
221 
222  return EXIT_SUCCESS;
223 }
224 
225 
226 static void cleanup(distance_detector_resources_t *resources)
227 {
230 
233 
234  acc_integration_mem_free(resources->buffer);
236 
237  if (resources->sensor != NULL)
238  {
239  acc_sensor_destroy(resources->sensor);
240  }
241 }
242 
243 
245 {
246  // Add configuration of the detector here
247  switch (preset)
248  {
250  // Add configuration of the detector here
251  break;
252 
254  acc_detector_distance_config_start_set(detector_config, 0.25f);
255  acc_detector_distance_config_end_set(detector_config, 3.0f);
263  acc_detector_distance_config_signal_quality_set(detector_config, 15.0f);
265  break;
266 
268  acc_detector_distance_config_start_set(detector_config, 0.25f);
269  acc_detector_distance_config_end_set(detector_config, 3.0f);
277  acc_detector_distance_config_signal_quality_set(detector_config, 20.0f);
279  break;
280  }
281 }
282 
283 
285 {
286  resources->handle = acc_detector_distance_create(resources->config);
287  if (resources->handle == NULL)
288  {
289  printf("acc_detector_distance_create() failed\n");
290  return false;
291  }
292 
293  if (!acc_detector_distance_get_buffer_sizes(resources->handle, &(resources->buffer_size), &(resources->calibration_buffer_size)))
294  {
295  printf("acc_detector_distance_get_buffer_sizes() failed\n");
296  return false;
297  }
298 
299  resources->buffer = acc_integration_mem_alloc(resources->buffer_size);
300  if (resources->buffer == NULL)
301  {
302  printf("sensor buffer allocation failed\n");
303  return false;
304  }
305 
307  if (resources->calibration_buffer == NULL)
308  {
309  printf("calibration buffer allocation failed\n");
310  return false;
311  }
312 
313  return true;
314 }
315 
316 
318  acc_cal_result_t *sensor_cal_result,
319  void *buffer,
320  uint32_t buffer_size)
321 {
322  bool status = false;
323  bool cal_complete = false;
324  const uint16_t calibration_retries = 1U;
325 
326  // Random disturbances may cause the calibration to fail. At failure, retry at least once.
327  for (uint16_t i = 0; !status && (i <= calibration_retries); i++)
328  {
329  // Reset sensor before calibration by disabling/enabling it
332 
333  do
334  {
335  status = acc_sensor_calibrate(sensor, &cal_complete, sensor_cal_result, buffer, buffer_size);
336 
337  if (status && !cal_complete)
338  {
340  }
341  } while (status && !cal_complete);
342  }
343 
344  if (status)
345  {
346  /* Reset sensor after calibration by disabling/enabling it */
349  }
350 
351  return status;
352 }
353 
354 
356  const acc_cal_result_t *sensor_cal_result)
357 {
358  bool done = false;
359  bool status;
360 
361  do
362  {
363  status = acc_detector_distance_calibrate(resources->sensor,
364  resources->handle,
365  sensor_cal_result,
366  resources->buffer,
367  resources->buffer_size,
368  resources->calibration_buffer,
369  resources->calibration_buffer_size,
370  &done);
371 
372  if (status && !done)
373  {
375  }
376  } while (status && !done);
377 
378  return status;
379 }
380 
381 
383  const acc_cal_result_t *sensor_cal_result)
384 {
385  bool done = false;
386  bool status;
387 
388  do
389  {
390  status = acc_detector_distance_recalibrate(resources->sensor,
391  resources->handle,
392  sensor_cal_result,
393  resources->buffer,
394  resources->buffer_size,
395  resources->calibration_buffer,
396  resources->calibration_buffer_size,
397  &done);
398 
399  if (status && !done)
400  {
402  }
403  } while (status && !done);
404 
405  return status;
406 }
407 
408 
410  const acc_cal_result_t *sensor_cal_result,
412 {
413  bool result_available = false;
414 
415  do
416  {
417  if (!acc_detector_distance_prepare(resources->handle, resources->config, resources->sensor, sensor_cal_result, resources->buffer,
418  resources->buffer_size))
419  {
420  printf("acc_detector_distance_prepare() failed\n");
421  return false;
422  }
423 
424  if (!acc_sensor_measure(resources->sensor))
425  {
426  printf("acc_sensor_measure() failed\n");
427  return false;
428  }
429 
431  {
432  printf("Sensor interrupt timeout\n");
433  return false;
434  }
435 
436  if (!acc_sensor_read(resources->sensor, resources->buffer, resources->buffer_size))
437  {
438  printf("acc_sensor_read() failed\n");
439  return false;
440  }
441 
442  if (!acc_detector_distance_process(resources->handle, resources->buffer, resources->calibration_buffer, &result_available,
443  result))
444  {
445  printf("acc_detector_distance_process() failed\n");
446  return false;
447  }
448 
449  /**
450  * The function for printing the IQ data must be called every time
451  * the acc_detector_distance_process has been called.
452  */
454  } while (!result_available);
455 
456  return true;
457 }
458 
459 
460 static void print_iq_data(const acc_config_t *sensor_config,
461  acc_processing_result_t *processing_result,
462  acc_processing_metadata_t *processing_metadata)
463 {
464  /* Get the iq data frame from the processing result */
465  acc_int16_complex_t *frame = processing_result->frame;
466 
467  /* Get information about the frame from the sensor config */
468  uint16_t sweeps_per_frame = acc_config_sweeps_per_frame_get(sensor_config);
469  uint8_t num_subsweeps = acc_config_num_subsweeps_get(sensor_config);
470 
471  printf("BEGIN:Distance(m),Amplitude\n");
472 
473  /* Loop over all subsweeps */
474  for (uint8_t subsweep_idx = 0; subsweep_idx < num_subsweeps; subsweep_idx++)
475  {
476  /* Get information about the start point and step length from the sensor config */
477  int32_t start_point = acc_config_subsweep_start_point_get(sensor_config, subsweep_idx);
478  uint16_t step_length = acc_config_subsweep_step_length_get(sensor_config, subsweep_idx);
479 
480  /* Get subsweep offset and length from the processing metadata */
481  uint16_t subsweep_offset = processing_metadata->subsweep_data_offset[subsweep_idx];
482  uint16_t subsweep_length = processing_metadata->subsweep_data_length[subsweep_idx];
483 
484  /* Loop over all points in subsweep */
485  for (uint16_t point_idx = 0; point_idx < subsweep_length; point_idx++)
486  {
487  /* Perform a coherent mean calculation for the point over sweeps per frame */
488  uint32_t iq_point_real_acc = 0;
489  uint32_t iq_point_imag_acc = 0;
490 
491  /* Loop over all points in sweeps_per_frame */
492  for (uint16_t sweep_idx = 0; sweep_idx < sweeps_per_frame; sweep_idx++)
493  {
494  uint16_t point_offset = sweep_idx * subsweep_length + subsweep_offset + point_idx;
495  iq_point_real_acc += frame[point_offset].real;
496  iq_point_imag_acc += frame[point_offset].imag;
497  }
498 
499  iq_point_real_acc = iq_point_real_acc / sweeps_per_frame;
500  iq_point_imag_acc = iq_point_imag_acc / sweeps_per_frame;
501 
502  /* Calculate the absolute value of the IQ point */
503  uint32_t iq_point_abs = (uint32_t)sqrt(iq_point_real_acc * iq_point_real_acc + iq_point_imag_acc * iq_point_imag_acc);
504 
505  /* Print the point distance, in meters, and the point absolute value */
506  float distance = acc_processing_points_to_meter(start_point + point_idx*step_length);
507  printf("%" PRIfloat ",%" PRIu32 "\n", ACC_LOG_FLOAT_TO_INTEGER(distance), iq_point_abs);
508  }
509  }
510 
511  printf("END:Distance(m),Amplitude\n");
512 }
513 
514 
516 {
517  printf("%d detected distances", result->num_distances);
518  if (result->num_distances > 0)
519  {
520  printf(": ");
521 
522  for (uint8_t i = 0; i < result->num_distances; i++)
523  {
524  printf("%" PRIfloat " m ", ACC_LOG_FLOAT_TO_INTEGER(result->distances[i]));
525  }
526  }
527 
528  printf("\n");
529 }
ACC_DETECTOR_DISTANCE_REFLECTOR_SHAPE_GENERIC
@ ACC_DETECTOR_DISTANCE_REFLECTOR_SHAPE_GENERIC
Definition: acc_detector_distance_definitions.h:42
acc_detector_distance_result_t::processing_result
acc_processing_result_t * processing_result
Definition: acc_detector_distance.h:87
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_processing_metadata_t::subsweep_data_offset
uint16_t subsweep_data_offset[(4U)]
Definition: acc_processing.h:43
acc_detector_distance_config_peak_sorting_set
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.
DISTANCE_PRESET_CONFIG_HIGH_ACCURACY
@ DISTANCE_PRESET_CONFIG_HIGH_ACCURACY
Definition: example_detector_distance_with_iq_data_print.c:55
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_processing_result_t
Result provided by the processing module.
Definition: acc_processing.h:71
do_detector_get_next
static bool do_detector_get_next(distance_detector_resources_t *resources, const acc_cal_result_t *sensor_cal_result, acc_detector_distance_result_t *result)
Definition: example_detector_distance_with_iq_data_print.c:409
acc_sensor_read
bool acc_sensor_read(const acc_sensor_t *sensor, void *buffer, uint32_t buffer_size)
Read out radar data.
acc_version.h
ACC_DETECTOR_DISTANCE_PEAK_SORTING_STRONGEST
@ ACC_DETECTOR_DISTANCE_PEAK_SORTING_STRONGEST
Definition: acc_detector_distance_definitions.h:16
acc_config_num_subsweeps_get
uint8_t acc_config_num_subsweeps_get(const acc_config_t *config)
Get the number of subsweeps to use.
cleanup
static void cleanup(distance_detector_resources_t *resources)
Definition: example_detector_distance_with_iq_data_print.c:226
acc_int16_complex_t
Data type for interger-based representation of complex numbers.
Definition: acc_definitions_common.h:43
distance_detector_resources_t::buffer_size
uint32_t buffer_size
Definition: i2c_distance_detector.c:37
acc_detector_distance_config_threshold_method_set
void acc_detector_distance_config_threshold_method_set(acc_detector_distance_config_t *config, acc_detector_distance_threshold_method_t threshold_method)
Set the threshold method.
print_distance_result
static void print_distance_result(const acc_detector_distance_result_t *result)
Definition: example_detector_distance_with_iq_data_print.c:515
acc_cal_result_t
Definition: acc_definitions_a121.h:19
acc_detector_distance_config_start_set
void acc_detector_distance_config_start_set(acc_detector_distance_config_t *config, float start_m)
Set the start of measured interval in meters.
acconeer_main
int acconeer_main(int argc, char *argv[])
Assembly test example.
Definition: example_detector_distance_with_iq_data_print.c:115
acc_detector_distance_get_buffer_sizes
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.
acc_detector_distance_recalibrate
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.
acc_integration.h
acc_detector_distance_result_t::num_distances
uint8_t num_distances
Definition: acc_detector_distance.h:62
acc_detector_distance_create
acc_detector_distance_handle_t * acc_detector_distance_create(const acc_detector_distance_config_t *config)
Create a distance detector with the provided configuration.
do_sensor_calibration
static bool do_sensor_calibration(acc_sensor_t *sensor, acc_cal_result_t *sensor_cal_result, void *buffer, uint32_t buffer_size)
Definition: example_detector_distance_with_iq_data_print.c:317
ACC_DETECTOR_DISTANCE_THRESHOLD_METHOD_CFAR
@ ACC_DETECTOR_DISTANCE_THRESHOLD_METHOD_CFAR
Definition: acc_detector_distance_definitions.h:32
acc_detector_distance_config_destroy
void acc_detector_distance_config_destroy(acc_detector_distance_config_t *config)
Destroy a configuration for a distance detector.
DISTANCE_PRESET_CONFIG_BALANCED
@ DISTANCE_PRESET_CONFIG_BALANCED
Definition: example_detector_distance_with_iq_data_print.c:54
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
DISTANCE_PRESET_CONFIG_NONE
@ DISTANCE_PRESET_CONFIG_NONE
Definition: example_detector_distance_with_iq_data_print.c:53
acc_detector_distance_process
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.
acc_detector_distance_result_t::sensor_config
const acc_config_t * sensor_config
Definition: acc_detector_distance.h:101
acc_integration_mem_alloc
void * acc_integration_mem_alloc(size_t size)
Allocate dynamic memory.
Definition: acc_integration_stm32.c:632
acc_processing_metadata_t
Metadata that will be populated by the processing module during creation.
Definition: acc_processing.h:36
acc_hal_a121_t
Definition: acc_hal_definitions_a121.h:82
acc_detector_distance_calibrate
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.
acc_rss_hal_register
bool acc_rss_hal_register(const acc_hal_a121_t *hal)
Register an integration.
acc_sensor.h
acc_detector_distance_config_close_range_leakage_cancellation_set
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.
distance_detector_resources_t
Definition: i2c_distance_detector.c:29
acc_detector_distance_config_max_profile_set
void acc_detector_distance_config_max_profile_set(acc_detector_distance_config_t *config, acc_config_profile_t max_profile)
Set the max profile.
acc_config_sweeps_per_frame_get
uint16_t acc_config_sweeps_per_frame_get(const acc_config_t *config)
Get the number of sweeps per frame.
acc_detector_distance_destroy
void acc_detector_distance_destroy(acc_detector_distance_handle_t *handle)
Destroy the distance detector handle, freeing its resources.
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_distance_config_signal_quality_set
void acc_detector_distance_config_signal_quality_set(acc_detector_distance_config_t *config, float signal_quality)
Set the signal quality.
acc_int16_complex_t::real
int16_t real
Definition: acc_definitions_common.h:45
acc_version_get
const char * acc_version_get(void)
Get the version of the Acconeer software.
ACC_CONFIG_PROFILE_5
@ ACC_CONFIG_PROFILE_5
Definition: acc_definitions_a121.h:47
acc_config_t
struct acc_config acc_config_t
Definition: acc_config.h:26
printf
#define printf
Definition: printf.h:60
distance_detector_resources_t::calibration_buffer
void * calibration_buffer
Definition: i2c_distance_detector.c:38
acc_config_subsweep_step_length_get
uint16_t acc_config_subsweep_step_length_get(const acc_config_t *config, uint8_t index)
Get the step length in a sweep.
acc_processing_points_to_meter
float acc_processing_points_to_meter(int32_t points)
Convert a distance or step length in points to meter.
acc_detector_distance_result_t::processing_metadata
acc_processing_metadata_t * processing_metadata
Definition: acc_detector_distance.h:94
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_hal_definitions_a121.h
initialize_detector_resources
static bool initialize_detector_resources(distance_detector_resources_t *resources)
Definition: example_detector_distance_with_iq_data_print.c:284
set_config
static void set_config(acc_detector_distance_config_t *detector_config, distance_preset_config_t preset)
Definition: example_detector_distance_with_iq_data_print.c:244
acc_detector_distance_config_log
void acc_detector_distance_config_log(const acc_detector_distance_handle_t *handle, const acc_detector_distance_config_t *config)
Print a configuration to the log.
acc_detector_distance_prepare
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.
do_full_detector_calibration
static bool do_full_detector_calibration(distance_detector_resources_t *resources, const acc_cal_result_t *sensor_cal_result)
Definition: example_detector_distance_with_iq_data_print.c:355
acc_detector_distance_result_t
Distance detector result.
Definition: acc_detector_distance.h:49
distance_detector_resources_t::calibration_buffer_size
uint32_t calibration_buffer_size
Definition: i2c_distance_detector.c:39
distance_preset_config_t
distance_preset_config_t
Definition: example_detector_distance_with_iq_data_print.c:51
distance_detector_resources_t::config
acc_detector_distance_config_t * config
Definition: i2c_distance_detector.c:33
acc_processing_result_t::frame
acc_int16_complex_t * frame
Definition: acc_processing.h:91
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_distance_config_end_set
void acc_detector_distance_config_end_set(acc_detector_distance_config_t *config, float end_m)
Set the end of measured interval in meters.
acc_detector_distance_result_t::sensor_calibration_needed
bool sensor_calibration_needed
Definition: acc_detector_distance.h:74
acc_detector_distance_config_num_frames_recorded_threshold_set
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.
acc_integration_log.h
acc_detector_distance_handle_t
struct acc_detector_distance_handle acc_detector_distance_handle_t
Definition: acc_detector_distance.h:35
ACC_LOG_FLOAT_TO_INTEGER
#define ACC_LOG_FLOAT_TO_INTEGER(a)
Definition: acc_integration_log.h:26
print_iq_data
static void print_iq_data(const acc_config_t *sensor_config, acc_processing_result_t *processing_result, acc_processing_metadata_t *processing_metadata)
Definition: example_detector_distance_with_iq_data_print.c:460
SENSOR_ID
#define SENSOR_ID
Definition: example_detector_distance_with_iq_data_print.c:59
do_detector_recalibration
static bool do_detector_recalibration(distance_detector_resources_t *resources, const acc_cal_result_t *sensor_cal_result)
Definition: example_detector_distance_with_iq_data_print.c:382
acc_integration_mem_free
void acc_integration_mem_free(void *ptr)
Free dynamic memory.
Definition: acc_integration_stm32.c:644
acc_int16_complex_t::imag
int16_t imag
Definition: acc_definitions_common.h:46
acc_detector_distance_config_reflector_shape_set
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.
distance_detector_resources_t::sensor
acc_sensor_t * sensor
Definition: i2c_distance_detector.c:31
acc_detector_distance_config_threshold_sensitivity_set
void acc_detector_distance_config_threshold_sensitivity_set(acc_detector_distance_config_t *config, float threshold_sensitivity)
Set threshold sensitivity.
acc_detector_distance_config_create
acc_detector_distance_config_t * acc_detector_distance_config_create(void)
Create a configuration for a distance detector.
acc_detector_distance_result_t::distances
float distances[(10U)]
Definition: acc_detector_distance.h:54
acc_detector_distance.h
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.
PRIfloat
#define PRIfloat
Specifier for printing float type using integers.
Definition: acc_integration_log.h:31
distance_detector_resources_t::handle
acc_detector_distance_handle_t * handle
Definition: i2c_distance_detector.c:34
distance_detector_resources_t::buffer
void * buffer
Definition: i2c_distance_detector.c:36
ACC_CONFIG_PROFILE_3
@ ACC_CONFIG_PROFILE_3
Definition: acc_definitions_a121.h:44
acc_detector_distance_config_t
struct acc_detector_distance_config acc_detector_distance_config_t
Definition: acc_detector_distance.h:43
acc_detector_distance_config_max_step_length_set
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.
acc_sensor_measure
bool acc_sensor_measure(acc_sensor_t *sensor)
Start a radar measurement with previously prepared configuration.
SENSOR_TIMEOUT_MS
#define SENSOR_TIMEOUT_MS
Definition: example_detector_distance_with_iq_data_print.c:61
acc_config_subsweep_start_point_get
int32_t acc_config_subsweep_start_point_get(const acc_config_t *config, uint8_t index)
Get the starting point of the sweep.
acc_sensor_t
struct acc_sensor acc_sensor_t
Definition: acc_sensor.h:31
acc_sensor_destroy
void acc_sensor_destroy(acc_sensor_t *sensor)
Destroy a sensor instance freeing any resources allocated.
acc_processing_metadata_t::subsweep_data_length
uint16_t subsweep_data_length[(4U)]
Definition: acc_processing.h:45
acc_definitions_a121.h
acc_sensor_create
acc_sensor_t * acc_sensor_create(acc_sensor_id_t sensor_id)
Create a sensor instance.