example_detector_distance_low_power_off.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 <stdbool.h>
8 #include <stdint.h>
9 #include <stdio.h>
10 #include <stdlib.h>
11 
12 
13 #include "acc_definitions_a121.h"
14 #include "acc_definitions_common.h"
15 #include "acc_detector_distance.h"
18 #include "acc_integration.h"
19 #include "acc_integration_log.h"
20 #include "acc_rss_a121.h"
21 #include "acc_sensor.h"
22 
23 #include "acc_version.h"
24 
25 
26 /** \example example_detector_distance_low_power_off.c
27  * @brief This is an example on how to disable the sensor and put the system in a low power state between measurements
28  * @n
29  * The example executes as follows:
30  * - Create a distance configuration
31  * - Create a sensor instance
32  * - Enable sensor
33  * - Create a detector instance
34  * - Calibrate the sensor
35  * - Calibrate the detector
36  * - Disable sensor
37  * - Loop forever:
38  * - Enable sensor
39  * - Prepare the detector
40  * - Perform a sensor measurement and read out the data
41  * - Disable sensor
42  * - Process the measurement and get detector result
43  * - Put the system in deep sleep for a specified amount of time
44  * - Destroy the configuration
45  * - Destroy the detector instance
46  * - Destroy the sensor instance
47  */
48 
49 #define SENSOR_ID (1U)
50 #define SENSOR_TIMEOUT_MS (1000U)
51 #define DEFAULT_UPDATE_RATE (1.0f)
52 
53 
54 static void print_result(acc_detector_distance_result_t *result);
55 
56 
57 static void cleanup(acc_detector_distance_handle_t *distance_handle,
58  acc_detector_distance_config_t *distance_config,
59  acc_sensor_t *sensor,
60  void *buffer,
61  void *calibration_buffer);
62 
63 
64 static void set_config(acc_detector_distance_config_t *distance_config);
65 
66 
67 int acconeer_main(int argc, char *argv[]);
68 
69 
70 int acconeer_main(int argc, char *argv[])
71 {
72  (void)argc;
73  (void)argv;
74  acc_detector_distance_config_t *distance_config = NULL;
75  acc_detector_distance_handle_t *distance_handle = NULL;
76  acc_sensor_t *sensor = NULL;
77  void *buffer = NULL;
78  void *calibration_buffer = NULL;
79  uint32_t buffer_size = 0U;
80  uint32_t calibration_buffer_size = 0U;
81 
82  printf("Acconeer software version %s\n", acc_version_get());
83 
85 
86  if (!acc_rss_hal_register(hal))
87  {
88  return EXIT_FAILURE;
89  }
90 
91  distance_config = acc_detector_distance_config_create();
92  if (distance_config == NULL)
93  {
94  printf("acc_detector_distance_config_create() failed\n");
95  cleanup(distance_handle, distance_config, sensor, buffer, calibration_buffer);
96  return EXIT_FAILURE;
97  }
98 
99  set_config(distance_config);
100 
101  uint32_t sleep_time_ms = (uint32_t)(1000.0f / DEFAULT_UPDATE_RATE);
102 
104 
105  distance_handle = acc_detector_distance_create(distance_config);
106  if (distance_handle == NULL)
107  {
108  printf("acc_detector_distance_create() failed\n");
109  cleanup(distance_handle, distance_config, sensor, buffer, calibration_buffer);
110  return EXIT_FAILURE;
111  }
112 
113  if (!acc_detector_distance_get_buffer_sizes(distance_handle, &buffer_size, &calibration_buffer_size))
114  {
115  printf("acc_detector_distance_get_buffer_size() failed\n");
116  cleanup(distance_handle, distance_config, sensor, buffer, calibration_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(distance_handle, distance_config, sensor, buffer, calibration_buffer);
125  return EXIT_FAILURE;
126  }
127 
128  calibration_buffer = acc_integration_mem_alloc(calibration_buffer_size);
129  if (calibration_buffer == NULL)
130  {
131  printf("buffer allocation failed\n");
132  cleanup(distance_handle, distance_config, sensor, buffer, calibration_buffer);
133  return EXIT_FAILURE;
134  }
135 
138 
139  sensor = acc_sensor_create(SENSOR_ID);
140  if (sensor == NULL)
141  {
142  printf("acc_sensor_create() failed\n");
143  cleanup(distance_handle, distance_config, sensor, buffer, calibration_buffer);
144  return EXIT_FAILURE;
145  }
146 
147  // Calibrate sensor
148  bool status;
149  bool cal_complete = false;
150  acc_cal_result_t sensor_cal_result;
151 
152  do
153  {
154  status = acc_sensor_calibrate(sensor, &cal_complete, &sensor_cal_result, buffer, buffer_size);
155 
156  if (status && !cal_complete)
157  {
159  }
160  } while (status && !cal_complete);
161 
162  if (!status)
163  {
164  printf("acc_sensor_calibrate() failed\n");
165  cleanup(distance_handle, distance_config, sensor, buffer, calibration_buffer);
166  return EXIT_FAILURE;
167  }
168 
169  /* Reset sensor after calibration by disabling/enabling it */
172 
173  // Calibrate detector
174  bool done = false;
175 
176  do
177  {
178  status = acc_detector_distance_calibrate(sensor,
179  distance_handle,
180  &sensor_cal_result,
181  buffer,
182  buffer_size,
183  calibration_buffer,
184  calibration_buffer_size,
185  &done);
187 
188  if (!status)
189  {
190  printf("acc_detector_distance_calibrate() failed\n");
191  cleanup(distance_handle, distance_config, sensor, buffer, calibration_buffer);
192  return EXIT_FAILURE;
193  }
194 
196 
197  while (true)
198  {
200 
202 
203  bool result_available = false;
204 
205  do
206  {
207  if (!acc_detector_distance_prepare(distance_handle, distance_config, sensor, &sensor_cal_result, buffer,
208  buffer_size))
209  {
210  printf("acc_detector_distance_prepare() failed\n");
211  cleanup(distance_handle, distance_config, sensor, buffer, calibration_buffer);
212  return EXIT_FAILURE;
213  }
214 
215  if (!acc_sensor_measure(sensor))
216  {
217  printf("acc_sensor_measure failed\n");
218  cleanup(distance_handle, distance_config, sensor, buffer, calibration_buffer);
219  return EXIT_FAILURE;
220  }
221 
223  {
224  printf("Sensor interrupt timeout\n");
225  cleanup(distance_handle, distance_config, sensor, buffer, calibration_buffer);
226  return EXIT_FAILURE;
227  }
228 
229  if (!acc_sensor_read(sensor, buffer, buffer_size))
230  {
231  printf("acc_sensor_read failed\n");
232  cleanup(distance_handle, distance_config, sensor, buffer, calibration_buffer);
233  return EXIT_FAILURE;
234  }
235 
236  if (!acc_detector_distance_process(distance_handle, buffer, calibration_buffer, &result_available, &result))
237  {
238  printf("acc_detector_distance_process failed\n");
239  cleanup(distance_handle, distance_config, sensor, buffer, calibration_buffer);
240  return EXIT_FAILURE;
241  }
242  } while (!result_available);
243 
245 
246  print_result(&result);
247 
249  }
250 
251  cleanup(distance_handle, distance_config, sensor, buffer, calibration_buffer);
252 
253  printf("Application finished OK\n");
254 
255  return EXIT_SUCCESS;
256 }
257 
258 
259 static void cleanup(acc_detector_distance_handle_t *distance_handle,
260  acc_detector_distance_config_t *distance_config,
261  acc_sensor_t *sensor,
262  void *buffer,
263  void *calibration_buffer)
264 {
267 
268  if (distance_config != NULL)
269  {
270  acc_detector_distance_config_destroy(distance_config);
271  }
272 
273  if (distance_handle != NULL)
274  {
275  acc_detector_distance_destroy(distance_handle);
276  }
277 
278  if (sensor != NULL)
279  {
280  acc_sensor_destroy(sensor);
281  }
282 
283  if (buffer != NULL)
284  {
285  acc_integration_mem_free(buffer);
286  }
287 
288  if (calibration_buffer != NULL)
289  {
290  acc_integration_mem_free(calibration_buffer);
291  }
292 }
293 
294 
295 static void set_config(acc_detector_distance_config_t *distance_config)
296 {
297  // Add configuration of the detector here
298 
299  acc_detector_distance_config_start_set(distance_config, 0.25f);
300  acc_detector_distance_config_end_set(distance_config, 3.0f);
301 }
302 
303 
305 {
306  printf("%d detected distances", result->num_distances);
307  if (result->num_distances > 0)
308  {
309  printf(": ");
310 
311  for (uint8_t i = 0; i < result->num_distances; i++)
312  {
313  printf("%" PRIfloat "m ", ACC_LOG_FLOAT_TO_INTEGER(result->distances[i]));
314  }
315  }
316 
317  printf("\n");
318 }
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_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_sensor_read
bool acc_sensor_read(const acc_sensor_t *sensor, void *buffer, uint32_t buffer_size)
Read out radar data.
acc_version.h
SENSOR_TIMEOUT_MS
#define SENSOR_TIMEOUT_MS
Definition: example_detector_distance_low_power_off.c:50
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.
SENSOR_ID
#define SENSOR_ID
Definition: example_detector_distance_low_power_off.c:49
set_config
static void set_config(acc_detector_distance_config_t *distance_config)
Definition: example_detector_distance_low_power_off.c:295
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_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.
print_result
static void print_result(acc_detector_distance_result_t *result)
Definition: example_detector_distance_low_power_off.c:304
cleanup
static void cleanup(acc_detector_distance_handle_t *distance_handle, acc_detector_distance_config_t *distance_config, acc_sensor_t *sensor, void *buffer, void *calibration_buffer)
Definition: example_detector_distance_low_power_off.c:259
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
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_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_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_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
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_version_get
const char * acc_version_get(void)
Get the version of the Acconeer software.
printf
#define printf
Definition: printf.h:60
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
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_detector_distance_result_t
Distance detector result.
Definition: acc_detector_distance.h:49
acconeer_main
int acconeer_main(int argc, char *argv[])
Assembly test example.
Definition: example_detector_distance_low_power_off.c:70
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_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
acc_integration_mem_free
void acc_integration_mem_free(void *ptr)
Free dynamic memory.
Definition: acc_integration_stm32.c:644
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
acc_definitions_common.h
DEFAULT_UPDATE_RATE
#define DEFAULT_UPDATE_RATE
Definition: example_detector_distance_low_power_off.c:51
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
acc_detector_distance_config_t
struct acc_detector_distance_config acc_detector_distance_config_t
Definition: acc_detector_distance.h:43
acc_sensor_measure
bool acc_sensor_measure(acc_sensor_t *sensor)
Start a radar measurement with previously prepared configuration.
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_definitions_a121.h
acc_sensor_create
acc_sensor_t * acc_sensor_create(acc_sensor_id_t sensor_id)
Create a sensor instance.