ref_app_tank_level.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 #define SENSOR_ID 1U
25 #define SENSOR_TIMEOUT_MS 1000U
26 #define DEFAULT_UPDATE_RATE 1.0f
27 
28 // Settings for a small tank
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
41 
42 // Settings for a medium tank
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
55 
56 // Settings for a large tank
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
69 
70 /** \example ref_app_tank_level.c
71  * @brief This is a reference application for measuring liquid level in tanks
72  * @n
73  * This reference application executes as follows:
74  * - Retrieve HAL integration
75  * - Initialize application resources:
76  * + Create application configuration
77  * + Create distance detector configuration
78  * + Update configuration settings
79  * + Create distance detector handle
80  * + Create buffer for detector calibration data
81  * + Create buffer for sensor data
82  * - Create and calibrate the sensor
83  * - Calibrate the detector
84  * - Measure distances with the detector (loop):
85  * + Prepare sensor with the detector
86  * + Measure and wait until a read can be done
87  * + Process sensor measurement and get distance detector result
88  * + Process distance detector result and print the result
89  * + Handle "sensor_calibration_needed" indication
90  * - Cleanup:
91  * + Destroy detector configuration
92  * + Destroy detector handle
93  * + Destroy sensor data buffer
94  * + Destroy detector calibration data buffer
95  */
96 
97 
98 typedef enum
99 {
105 
106 #define DEFAULT_PRESET_CONFIG TANK_LEVEL_PRESET_CONFIG_SMALL_TANK
107 
108 
109 typedef struct
110 {
117 
118 typedef struct
119 {
121  acc_sensor_t *sensor;
126  uint16_t median_counter;
127  uint16_t mean_counter;
131  void *buffer;
132  uint32_t buffer_size;
135 } app_context_t;
136 
137 typedef enum
138 {
143 } peak_status_t;
144 
145 typedef struct
146 {
149  float level;
151 } app_result_t;
152 
153 
154 static void cleanup(app_context_t *context);
155 
156 
157 static float get_detector_start_m(acc_ref_app_tank_level_config_t *app_config);
158 
159 
160 static float get_detector_end_m(acc_ref_app_tank_level_config_t *app_config);
161 
162 
164 
165 
166 static bool initialize_application_resources(app_context_t *context);
167 
168 
169 static bool sensor_calibration(acc_sensor_t *sensor,
170  acc_cal_result_t *cal_result,
171  void *buffer,
172  uint32_t buffer_size);
173 
174 
175 static bool full_detector_calibration(app_context_t *context,
176  const acc_cal_result_t *sensor_cal_result);
177 
178 
179 static bool detector_recalibration(app_context_t *context,
180  const acc_cal_result_t *sensor_cal_result);
181 
182 
183 static bool detector_get_next(app_context_t *context,
184  const acc_cal_result_t *sensor_cal_result,
185  acc_detector_distance_result_t *detector_result);
186 
187 
188 static void swap(float *array, uint16_t idx_a, uint16_t idx_b);
189 
190 
191 static void sort(float *array, uint16_t array_length);
192 
193 
194 static float median(float *array, uint16_t array_length);
195 
196 
197 static float nanmean(float *array, uint16_t array_length);
198 
199 
200 static void process_detector_result(const acc_detector_distance_result_t *distance_result, app_result_t *app_result,
201  app_context_t *context);
202 
203 
204 static void print_result(const app_result_t *app_result, const acc_ref_app_tank_level_config_t *app_config);
205 
206 
207 int acconeer_main(int argc, char *argv[]);
208 
209 
210 int acconeer_main(int argc, char *argv[])
211 {
212  (void)argc;
213  (void)argv;
214  app_context_t context = { 0 };
215  acc_ref_app_tank_level_config_t app_config = { 0 };
216  context.app_config = &app_config;
217  context.sensor = NULL;
218 
219  printf("Acconeer software version %s\n", acc_version_get());
220 
222 
223  if (!acc_rss_hal_register(hal))
224  {
225  return EXIT_FAILURE;
226  }
227 
228  context.app_config->distance_config = acc_detector_distance_config_create();
229  if (context.app_config->distance_config == NULL)
230  {
231  printf("acc_detector_distance_config_create() failed\n");
232  cleanup(&context);
233  return EXIT_FAILURE;
234  }
235 
236  set_config(&app_config, DEFAULT_PRESET_CONFIG);
237 
238  uint32_t sleep_time_ms = (uint32_t)(1000.0f / DEFAULT_UPDATE_RATE);
239 
241 
242  if (!initialize_application_resources(&context))
243  {
244  printf("Initializing detector context failed\n");
245  cleanup(&context);
246  return EXIT_FAILURE;
247  }
248 
249  /* Turn the sensor on */
252 
254  if (context.sensor == NULL)
255  {
256  printf("acc_sensor_create() failed\n");
257  cleanup(&context);
258  return EXIT_FAILURE;
259  }
260 
261  acc_cal_result_t cal_result;
262 
263  if (!sensor_calibration(context.sensor, &cal_result, context.buffer, context.buffer_size))
264  {
265  printf("Sensor calibration failed\n");
266  cleanup(&context);
267  return EXIT_FAILURE;
268  }
269 
270  if (!full_detector_calibration(&context, &cal_result))
271  {
272  printf("Detector calibration failed\n");
273  cleanup(&context);
274  return EXIT_FAILURE;
275  }
276 
277  while (true)
278  {
279  acc_detector_distance_result_t detector_result = { 0 };
280  app_result_t app_result = { 0 };
281 
282  if (!detector_get_next(&context, &cal_result, &detector_result))
283  {
284  printf("Could not get next result\n");
285  cleanup(&context);
286  return EXIT_FAILURE;
287  }
288 
289  process_detector_result(&detector_result, &app_result, &context);
290 
291  /* If "sensor calibration needed" is indicated, the sensor and detector needs to be recalibrated */
292  if (detector_result.sensor_calibration_needed)
293  {
294  printf("Sensor- and detector recalibration needed ... \n");
295 
296  if (!sensor_calibration(context.sensor, &cal_result, context.buffer, context.buffer_size))
297  {
298  printf("Sensor calibration failed\n");
299  cleanup(&context);
300  return EXIT_FAILURE;
301  }
302 
303  /* Once the sensor is recalibrated, the detector should be recalibrated and measuring can continue. */
304  if (!detector_recalibration(&context, &cal_result))
305  {
306  printf("Detector recalibration failed\n");
307  cleanup(&context);
308  return EXIT_FAILURE;
309  }
310 
311  printf("Sensor- and detector recalibration done!\n");
312  }
313 
314  if (app_result.result_ready)
315  {
317 
318  print_result(&app_result, context.app_config);
319 
321 
323  }
324  }
325 
326  cleanup(&context);
327 
328  printf("Application finished OK\n");
329 
330  return EXIT_SUCCESS;
331 }
332 
333 
334 static void cleanup(app_context_t *context)
335 {
338 
339  acc_detector_distance_config_destroy(context->app_config->distance_config);
341 
346 
347  if (context->sensor != NULL)
348  {
349  acc_sensor_destroy(context->sensor);
350  }
351 }
352 
353 
355 {
356  // Decrease start point by 15 mm to make sure that start of the tank is fully covered
357  return app_config->tank_range_start_m - 0.015f;
358 }
359 
360 
362 {
363  // Increase end point by 5% to make sure that the bottom of the tank is fully covered
364  return app_config->tank_range_end_m * 1.05f;
365 }
366 
367 
369 {
370  switch (preset)
371  {
373  break;
379 
391  break;
397 
409  break;
415 
427  break;
428  }
429 }
430 
431 
433 {
434  context->detector_handle = acc_detector_distance_create(context->app_config->distance_config);
435  if (context->detector_handle == NULL)
436  {
437  printf("acc_detector_distance_create() failed\n");
438  return false;
439  }
440 
442  {
443  printf("acc_detector_distance_get_buffer_sizes() failed\n");
444  return false;
445  }
446 
447  context->buffer = acc_integration_mem_alloc(context->buffer_size);
448  if (context->buffer == NULL)
449  {
450  printf("sensor buffer allocation failed\n");
451  return false;
452  }
453 
455  if (context->calibration_buffer == NULL)
456  {
457  printf("calibration buffer allocation failed\n");
458  return false;
459  }
460 
461  context->level_history_length = context->app_config->median_filter_length;
462 
463  context->level_history = acc_integration_mem_alloc(context->level_history_length * sizeof(*context->level_history));
464  if (context->level_history == NULL)
465  {
466  printf("level history buffer allocation failed\n");
467  return false;
468  }
469 
470  context->median_vector_length = context->app_config->num_medians_to_average;
471 
472  context->median_vector = acc_integration_mem_alloc(context->median_vector_length * sizeof(*context->median_vector));
473  if (context->median_vector == NULL)
474  {
475  printf("median vector allocation failed\n");
476  return false;
477  }
478 
479  context->median_counter = 0U;
480  context->mean_counter = 0U;
481  context->median_edge_status_count = 0U;
482  context->mean_edge_status_count = 0U;
483 
484  return true;
485 }
486 
487 
488 static bool sensor_calibration(acc_sensor_t *sensor,
489  acc_cal_result_t *sensor_cal_result,
490  void *buffer,
491  uint32_t buffer_size)
492 {
493  bool status = false;
494  bool cal_complete = false;
495  const uint16_t calibration_retries = 1U;
496 
497  // Random disturbances may cause the calibration to fail. At failure, retry at least once.
498  for (uint16_t i = 0; !status && (i <= calibration_retries); i++)
499  {
500  // Reset sensor before calibration by disabling/enabling it
503 
504  do
505  {
506  status = acc_sensor_calibrate(sensor, &cal_complete, sensor_cal_result, buffer, buffer_size);
507 
508  if (status && !cal_complete)
509  {
511  }
512  } while (status && !cal_complete);
513  }
514 
515  if (status)
516  {
517  /* Reset sensor after calibration by disabling/enabling it */
520  }
521  else
522  {
523  printf("acc_sensor_calibrate() failed\n");
524  acc_sensor_status(sensor);
525  }
526 
527  return status;
528 }
529 
530 
532  const acc_cal_result_t *sensor_cal_result)
533 {
534  bool done = false;
535  bool status;
536 
537  do
538  {
539  status = acc_detector_distance_calibrate(context->sensor,
540  context->detector_handle,
541  sensor_cal_result,
542  context->buffer,
543  context->buffer_size,
544  context->calibration_buffer,
545  context->calibration_buffer_size,
546  &done);
548 
549  return status;
550 }
551 
552 
554  const acc_cal_result_t *sensor_cal_result)
555 {
556  bool done = false;
557  bool status;
558 
559  do
560  {
561  status = acc_detector_distance_recalibrate(context->sensor,
562  context->detector_handle,
563  sensor_cal_result,
564  context->buffer,
565  context->buffer_size,
566  context->calibration_buffer,
567  context->calibration_buffer_size,
568  &done);
570 
571  return status;
572 }
573 
574 
575 static bool detector_get_next(app_context_t *context,
576  const acc_cal_result_t *sensor_cal_result,
577  acc_detector_distance_result_t *detector_result)
578 {
579  bool result_available = false;
580 
581  do
582  {
583  if (!acc_detector_distance_prepare(context->detector_handle, context->app_config->distance_config, context->sensor, sensor_cal_result,
584  context->buffer,
585  context->buffer_size))
586  {
587  printf("acc_detector_distance_prepare() failed\n");
588  return false;
589  }
590 
591  if (!acc_sensor_measure(context->sensor))
592  {
593  printf("acc_sensor_measure() failed\n");
594  return false;
595  }
596 
598  {
599  printf("Sensor interrupt timeout\n");
600  return false;
601  }
602 
603  if (!acc_sensor_read(context->sensor, context->buffer, context->buffer_size))
604  {
605  printf("acc_sensor_read() failed\n");
606  return false;
607  }
608 
609  if (!acc_detector_distance_process(context->detector_handle, context->buffer, context->calibration_buffer, &result_available,
610  detector_result))
611  {
612  printf("acc_detector_distance_process() failed\n");
613  return false;
614  }
615  } while (!result_available);
616 
617  return true;
618 }
619 
620 
621 static void swap(float *array, uint16_t idx_a, uint16_t idx_b)
622 {
623  float tmp = array[idx_a];
624 
625  array[idx_a] = array[idx_b];
626  array[idx_b] = tmp;
627 }
628 
629 
630 static void sort(float *array, uint16_t array_length)
631 {
632  for (uint16_t i = 0; i < array_length - 1; i++)
633  {
634  for (uint16_t j = 0; j < array_length - i - 1; j++)
635  {
636  if (array[j] > array[j + 1])
637  {
638  swap(array, j, j + 1);
639  }
640  }
641  }
642 }
643 
644 
645 static float median(float *array, uint16_t array_length)
646 {
647  bool status = true;
648  float result = 0.0f;
649 
650  for (uint16_t i = 0U; i < array_length && status; i++)
651  {
652  if (isnan(array[i]))
653  {
654  result = (float)NAN;
655  status = false;
656  }
657  }
658 
659  if (status)
660  {
661  sort(array, array_length);
662 
663  if (array_length % 2U == 0U)
664  {
665  uint16_t n = array_length / 2U;
666  result = (array[n - 1] + array[n]) / 2.0f;
667  }
668  else
669  {
670  uint16_t n = array_length / 2;
671  result = array[n];
672  }
673  }
674 
675  return result;
676 }
677 
678 
679 static float nanmean(float *array, uint16_t array_length)
680 {
681  uint16_t samples = 0U;
682  float sum = 0.0f;
683 
684  for (uint16_t i = 0U; i < array_length; i++)
685  {
686  if (!isnan(array[i]))
687  {
688  samples++;
689  sum += array[i];
690  }
691  }
692 
693  return samples > 0U ? sum / (float)samples : (float)NAN;
694 }
695 
696 
697 static void process_detector_result(const acc_detector_distance_result_t *distance_result, app_result_t *app_result,
698  app_context_t *context)
699 {
700  app_result->peak_detected = false;
702  app_result->level = 0.0f;
703  app_result->result_ready = false;
704  float level = 0.0f;
705 
706  if (distance_result->num_distances > 0)
707  {
708  app_result->peak_detected = true;
709  level = context->app_config->tank_range_end_m - distance_result->distances[0];
710  }
711  else
712  {
713  level = (float)NAN;
714  }
715 
716  if (distance_result->near_start_edge_status)
717  {
718  context->median_edge_status_count++;
719  }
720 
721  context->level_history[context->median_counter++] = level;
722 
723  if (context->median_counter == context->level_history_length)
724  {
725  float med = median(context->level_history, context->level_history_length);
726 
727  context->median_vector[context->mean_counter++] = med;
728 
729  if (context->median_edge_status_count > context->level_history_length / 2)
730  {
731  context->mean_edge_status_count++;
732  }
733 
734  context->median_counter = 0U;
735  context->median_edge_status_count = 0U;
736  }
737 
738  if (context->mean_counter == context->median_vector_length)
739  {
740  level = nanmean(context->median_vector, context->median_vector_length);
741 
742  if (!isnan(level))
743  {
744  if (level < 0.0f)
745  {
747  }
748  else if (level > (context->app_config->tank_range_end_m - context->app_config->tank_range_start_m))
749  {
750  app_result->peak_status = PEAK_STATUS_OVERFLOW;
751  }
752  else
753  {
754  app_result->peak_status = PEAK_STATUS_IN_RANGE;
755  app_result->level = level;
756  }
757  }
758  else if (context->mean_edge_status_count > context->median_vector_length / 2)
759  {
760  app_result->peak_status = PEAK_STATUS_OVERFLOW;
761  }
762 
763  if (app_result->peak_status == PEAK_STATUS_OVERFLOW || app_result->peak_status == PEAK_STATUS_OUT_OF_RANGE)
764  {
765  app_result->level = (float)NAN;
766  }
767 
768  app_result->result_ready = true;
769  context->mean_counter = 0U;
770  context->mean_edge_status_count = 0U;
771  }
772 }
773 
774 
775 static void print_result(const app_result_t *app_result, const acc_ref_app_tank_level_config_t *app_config)
776 {
777  switch (app_result->peak_status)
778  {
780  printf("Level within range\n");
781  printf("Level: %" PRIfloat " cm, %" PRIfloat " %%\n", ACC_LOG_FLOAT_TO_INTEGER(
782  app_result->level * 100.0f),
783  ACC_LOG_FLOAT_TO_INTEGER((app_result->level /
784  (app_config->tank_range_end_m - app_config->tank_range_start_m) *
785  100.f)));
786  break;
788  printf("No detection\n");
789  break;
791  printf("Overflow!\n");
792  break;
794  printf("Out of range\n");
795  break;
796  default:
797  break;
798  }
799 }
app_result_t::level
float level
Definition: ref_app_tank_level.c:149
SMALL_TANK_RANGE_START_M
#define SMALL_TANK_RANGE_START_M
Definition: ref_app_tank_level.c:31
full_detector_calibration
static bool full_detector_calibration(app_context_t *context, const acc_cal_result_t *sensor_cal_result)
Definition: ref_app_tank_level.c:531
SMALL_TANK_SIGNAL_QUALITY
#define SMALL_TANK_SIGNAL_QUALITY
Definition: ref_app_tank_level.c:39
app_context_t::median_counter
uint16_t median_counter
Definition: ref_app_tank_level.c:126
app_context_t::buffer_size
uint32_t buffer_size
Definition: ref_app_tank_level.c:132
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
app_context_t::level_history_length
uint16_t level_history_length
Definition: ref_app_tank_level.c:123
acc_rss_a121.h
PEAK_STATUS_IN_RANGE
@ PEAK_STATUS_IN_RANGE
Definition: ref_app_tank_level.c:139
TANK_LEVEL_PRESET_CONFIG_MEDIUM_TANK
@ TANK_LEVEL_PRESET_CONFIG_MEDIUM_TANK
Definition: ref_app_tank_level.c:102
acc_ref_app_tank_level_config_t::median_filter_length
uint16_t median_filter_length
Definition: ref_app_tank_level.c:113
app_context_t::app_config
acc_ref_app_smart_presence_config_t * app_config
Definition: ref_app_smart_presence.c:148
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.
app_result_t::peak_status
peak_status_t peak_status
Definition: ref_app_tank_level.c:148
app_context_t::mean_counter
uint16_t mean_counter
Definition: ref_app_tank_level.c:127
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
nanmean
static float nanmean(float *array, uint16_t array_length)
Definition: ref_app_tank_level.c:679
TANK_LEVEL_PRESET_CONFIG_SMALL_TANK
@ TANK_LEVEL_PRESET_CONFIG_SMALL_TANK
Definition: ref_app_tank_level.c:101
acc_sensor_read
bool acc_sensor_read(const acc_sensor_t *sensor, void *buffer, uint32_t buffer_size)
Read out radar data.
LARGE_TANK_SIGNAL_QUALITY
#define LARGE_TANK_SIGNAL_QUALITY
Definition: ref_app_tank_level.c:67
acc_version.h
acc_ref_app_tank_level_config_t::tank_range_end_m
float tank_range_end_m
Definition: ref_app_tank_level.c:112
SMALL_TANK_MAX_STEP_LENGTH
#define SMALL_TANK_MAX_STEP_LENGTH
Definition: ref_app_tank_level.c:33
app_context_t::buffer
void * buffer
Definition: ref_app_smart_presence.c:156
PEAK_STATUS_OVERFLOW
@ PEAK_STATUS_OVERFLOW
Definition: ref_app_tank_level.c:141
app_context_t
Definition: ref_app_smart_presence.c:146
app_result_t::peak_detected
bool peak_detected
Definition: ref_app_tank_level.c:147
process_detector_result
static void process_detector_result(const acc_detector_distance_result_t *distance_result, app_result_t *app_result, app_context_t *context)
Definition: ref_app_tank_level.c:697
SMALL_TANK_PEAK_SORTING
#define SMALL_TANK_PEAK_SORTING
Definition: ref_app_tank_level.c:36
acc_ref_app_tank_level_config_t::tank_range_start_m
float tank_range_start_m
Definition: ref_app_tank_level.c:111
set_config
static void set_config(acc_ref_app_tank_level_config_t *app_config, tank_level_preset_config_t preset)
Definition: ref_app_tank_level.c:368
MEDIUM_TANK_MAX_STEP_LENGTH
#define MEDIUM_TANK_MAX_STEP_LENGTH
Definition: ref_app_tank_level.c:47
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.
MEDIUM_TANK_MAX_PROFILE
#define MEDIUM_TANK_MAX_PROFILE
Definition: ref_app_tank_level.c:48
SMALL_TANK_RANGE_END_M
#define SMALL_TANK_RANGE_END_M
Definition: ref_app_tank_level.c:32
MEDIUM_TANK_PEAK_SORTING
#define MEDIUM_TANK_PEAK_SORTING
Definition: ref_app_tank_level.c:50
app_context_t::app_config
acc_ref_app_tank_level_config_t * app_config
Definition: ref_app_tank_level.c:120
get_detector_end_m
static float get_detector_end_m(acc_ref_app_tank_level_config_t *app_config)
Definition: ref_app_tank_level.c:361
median
static float median(float *array, uint16_t array_length)
Definition: ref_app_tank_level.c:645
app_context_t::detector_handle
acc_detector_distance_handle_t * detector_handle
Definition: ref_app_tank_level.c:130
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.
app_context_t::calibration_buffer
void * calibration_buffer
Definition: ref_app_tank_level.c:133
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
swap
static void swap(float *array, uint16_t idx_a, uint16_t idx_b)
Definition: ref_app_tank_level.c:621
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.
LARGE_TANK_PEAK_SORTING
#define LARGE_TANK_PEAK_SORTING
Definition: ref_app_tank_level.c:64
acc_detector_distance_config_destroy
void acc_detector_distance_config_destroy(acc_detector_distance_config_t *config)
Destroy a configuration for a distance detector.
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
SMALL_TANK_NUM_FRAMES_REC
#define SMALL_TANK_NUM_FRAMES_REC
Definition: ref_app_tank_level.c:35
app_context_t::mean_edge_status_count
uint16_t mean_edge_status_count
Definition: ref_app_tank_level.c:129
MEDIUM_TANK_MEDIAN_FILTER_LENGTH
#define MEDIUM_TANK_MEDIAN_FILTER_LENGTH
Definition: ref_app_tank_level.c:43
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.
TANK_LEVEL_PRESET_CONFIG_LARGE_TANK
@ TANK_LEVEL_PRESET_CONFIG_LARGE_TANK
Definition: ref_app_tank_level.c:103
PEAK_STATUS_NO_DETECTION
@ PEAK_STATUS_NO_DETECTION
Definition: ref_app_tank_level.c:140
app_result_t::result_ready
bool result_ready
Definition: ref_app_tank_level.c:150
acc_integration_mem_alloc
void * acc_integration_mem_alloc(size_t size)
Allocate dynamic memory.
Definition: acc_integration_stm32.c:632
LARGE_TANK_RANGE_START_M
#define LARGE_TANK_RANGE_START_M
Definition: ref_app_tank_level.c:59
MEDIUM_TANK_THRESHOLD_SENSITIVITY
#define MEDIUM_TANK_THRESHOLD_SENSITIVITY
Definition: ref_app_tank_level.c:52
acc_ref_app_tank_level_config_t
Definition: ref_app_tank_level.c:109
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.
SMALL_TANK_NUM_MEDIANS_TO_AVERAGE
#define SMALL_TANK_NUM_MEDIANS_TO_AVERAGE
Definition: ref_app_tank_level.c:30
LARGE_TANK_MAX_PROFILE
#define LARGE_TANK_MAX_PROFILE
Definition: ref_app_tank_level.c:62
MEDIUM_TANK_SIGNAL_QUALITY
#define MEDIUM_TANK_SIGNAL_QUALITY
Definition: ref_app_tank_level.c:53
acc_rss_hal_register
bool acc_rss_hal_register(const acc_hal_a121_t *hal)
Register an integration.
acc_integration_set_periodic_wakeup
void acc_integration_set_periodic_wakeup(uint32_t time_msec)
Set up a periodic timer used to wake up the system from sleep.
Definition: acc_integration_stm32.c:531
acc_sensor.h
detector_get_next
static bool detector_get_next(app_context_t *context, const acc_cal_result_t *sensor_cal_result, acc_detector_distance_result_t *detector_result)
Definition: ref_app_tank_level.c:575
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.
acconeer_main
int acconeer_main(int argc, char *argv[])
Assembly test example.
Definition: ref_app_tank_level.c:210
LARGE_TANK_REFLECTOR_SHAPE
#define LARGE_TANK_REFLECTOR_SHAPE
Definition: ref_app_tank_level.c:65
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_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_version_get
const char * acc_version_get(void)
Get the version of the Acconeer software.
app_context_t::median_vector_length
uint16_t median_vector_length
Definition: ref_app_tank_level.c:125
printf
#define printf
Definition: printf.h:60
sensor_calibration
static bool sensor_calibration(acc_sensor_t *sensor, acc_cal_result_t *cal_result, void *buffer, uint32_t buffer_size)
Definition: ref_app_tank_level.c:488
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
LARGE_TANK_NUM_FRAMES_REC
#define LARGE_TANK_NUM_FRAMES_REC
Definition: ref_app_tank_level.c:63
acc_hal_definitions_a121.h
SMALL_TANK_THRESHOLD_SENSITIVITY
#define SMALL_TANK_THRESHOLD_SENSITIVITY
Definition: ref_app_tank_level.c:38
acc_ref_app_tank_level_config_t::num_medians_to_average
uint16_t num_medians_to_average
Definition: ref_app_tank_level.c:114
TANK_LEVEL_PRESET_CONFIG_NONE
@ TANK_LEVEL_PRESET_CONFIG_NONE
Definition: ref_app_tank_level.c:100
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.
acc_ref_app_tank_level_config_t::distance_config
acc_detector_distance_config_t * distance_config
Definition: ref_app_tank_level.c:115
acc_detector_distance_result_t
Distance detector result.
Definition: acc_detector_distance.h:49
SMALL_TANK_MAX_PROFILE
#define SMALL_TANK_MAX_PROFILE
Definition: ref_app_tank_level.c:34
app_context_t::calibration_buffer_size
uint32_t calibration_buffer_size
Definition: ref_app_tank_level.c:134
MEDIUM_TANK_RANGE_END_M
#define MEDIUM_TANK_RANGE_END_M
Definition: ref_app_tank_level.c:46
MEDIUM_TANK_REFLECTOR_SHAPE
#define MEDIUM_TANK_REFLECTOR_SHAPE
Definition: ref_app_tank_level.c:51
MEDIUM_TANK_RANGE_START_M
#define MEDIUM_TANK_RANGE_START_M
Definition: ref_app_tank_level.c:45
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
sort
static void sort(float *array, uint16_t array_length)
Definition: ref_app_tank_level.c:630
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.
app_context_t::median_edge_status_count
uint16_t median_edge_status_count
Definition: ref_app_tank_level.c:128
acc_detector_distance_result_t::sensor_calibration_needed
bool sensor_calibration_needed
Definition: acc_detector_distance.h:74
DEFAULT_UPDATE_RATE
#define DEFAULT_UPDATE_RATE
Definition: ref_app_tank_level.c:26
initialize_application_resources
static bool initialize_application_resources(app_context_t *context)
Definition: ref_app_tank_level.c:432
cleanup
static void cleanup(app_context_t *context)
Definition: ref_app_tank_level.c:334
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
LARGE_TANK_NUM_MEDIANS_TO_AVERAGE
#define LARGE_TANK_NUM_MEDIANS_TO_AVERAGE
Definition: ref_app_tank_level.c:58
acc_detector_distance_handle_t
struct acc_detector_distance_handle acc_detector_distance_handle_t
Definition: acc_detector_distance.h:35
LARGE_TANK_CLOSE_RANGE_LEAKAGE_CANCELLATION
#define LARGE_TANK_CLOSE_RANGE_LEAKAGE_CANCELLATION
Definition: ref_app_tank_level.c:68
SMALL_TANK_CLOSE_RANGE_LEAKAGE_CANCELLATION
#define SMALL_TANK_CLOSE_RANGE_LEAKAGE_CANCELLATION
Definition: ref_app_tank_level.c:40
tank_level_preset_config_t
tank_level_preset_config_t
Definition: ref_app_tank_level.c:98
ACC_LOG_FLOAT_TO_INTEGER
#define ACC_LOG_FLOAT_TO_INTEGER(a)
Definition: acc_integration_log.h:26
SENSOR_ID
#define SENSOR_ID
Definition: ref_app_tank_level.c:24
LARGE_TANK_RANGE_END_M
#define LARGE_TANK_RANGE_END_M
Definition: ref_app_tank_level.c:60
acc_sensor_status
void acc_sensor_status(const acc_sensor_t *sensor)
Check the status of the sensor.
acc_detector_distance_result_t::near_start_edge_status
bool near_start_edge_status
Definition: acc_detector_distance.h:66
acc_integration_mem_free
void acc_integration_mem_free(void *ptr)
Free dynamic memory.
Definition: acc_integration_stm32.c:644
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.
MEDIUM_TANK_NUM_FRAMES_REC
#define MEDIUM_TANK_NUM_FRAMES_REC
Definition: ref_app_tank_level.c:49
acc_integration_sleep_until_periodic_wakeup
void acc_integration_sleep_until_periodic_wakeup(void)
Put the system in sleep until the periodic timer triggers.
Definition: acc_integration_stm32.c:590
app_context_t::sensor
acc_sensor_t * sensor
Definition: ref_app_smart_presence.c:155
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.
SMALL_TANK_MEDIAN_FILTER_LENGTH
#define SMALL_TANK_MEDIAN_FILTER_LENGTH
Definition: ref_app_tank_level.c:29
app_context_t::level_history
float * level_history
Definition: ref_app_tank_level.c:122
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
SENSOR_TIMEOUT_MS
#define SENSOR_TIMEOUT_MS
Definition: ref_app_tank_level.c:25
app_result_t
Definition: ref_app_tank_level.c:145
acc_detector_distance_config_t
struct acc_detector_distance_config acc_detector_distance_config_t
Definition: acc_detector_distance.h:43
LARGE_TANK_THRESHOLD_SENSITIVITY
#define LARGE_TANK_THRESHOLD_SENSITIVITY
Definition: ref_app_tank_level.c:66
LARGE_TANK_MEDIAN_FILTER_LENGTH
#define LARGE_TANK_MEDIAN_FILTER_LENGTH
Definition: ref_app_tank_level.c:57
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.
print_result
static void print_result(const app_result_t *app_result, const acc_ref_app_tank_level_config_t *app_config)
Definition: ref_app_tank_level.c:775
peak_status_t
peak_status_t
Definition: ref_app_tank_level.c:137
acc_sensor_measure
bool acc_sensor_measure(acc_sensor_t *sensor)
Start a radar measurement with previously prepared configuration.
get_detector_start_m
static float get_detector_start_m(acc_ref_app_tank_level_config_t *app_config)
Definition: ref_app_tank_level.c:354
detector_recalibration
static bool detector_recalibration(app_context_t *context, const acc_cal_result_t *sensor_cal_result)
Definition: ref_app_tank_level.c:553
PEAK_STATUS_OUT_OF_RANGE
@ PEAK_STATUS_OUT_OF_RANGE
Definition: ref_app_tank_level.c:142
MEDIUM_TANK_NUM_MEDIANS_TO_AVERAGE
#define MEDIUM_TANK_NUM_MEDIANS_TO_AVERAGE
Definition: ref_app_tank_level.c:44
acc_sensor_t
struct acc_sensor acc_sensor_t
Definition: acc_sensor.h:31
DEFAULT_PRESET_CONFIG
#define DEFAULT_PRESET_CONFIG
Definition: ref_app_tank_level.c:106
app_context_t::median_vector
float * median_vector
Definition: ref_app_tank_level.c:124
MEDIUM_TANK_CLOSE_RANGE_LEAKAGE_CANCELLATION
#define MEDIUM_TANK_CLOSE_RANGE_LEAKAGE_CANCELLATION
Definition: ref_app_tank_level.c:54
SMALL_TANK_REFLECTOR_SHAPE
#define SMALL_TANK_REFLECTOR_SHAPE
Definition: ref_app_tank_level.c:37
acc_sensor_destroy
void acc_sensor_destroy(acc_sensor_t *sensor)
Destroy a sensor instance freeing any resources allocated.
acc_definitions_a121.h
acc_sensor_create
acc_sensor_t * acc_sensor_create(acc_sensor_id_t sensor_id)
Create a sensor instance.
LARGE_TANK_MAX_STEP_LENGTH
#define LARGE_TANK_MAX_STEP_LENGTH
Definition: ref_app_tank_level.c:61