example_detector_distance.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_detector_distance.h"
14 #include "acc_hal_definitions_a121.h"
15 #include "acc_hal_integration_a121.h"
16 #include "acc_integration.h"
17 #include "acc_integration_log.h"
18 #include "acc_rss_a121.h"
19 #include "acc_sensor.h"
20 #include "acc_version.h"
21
22
23 /** \example example_detector_distance.c
24 * @brief This is an example on how the Detector Distance API can be used
25 * @n
26 * This example executes as follows:
27 * - Retrieve HAL integration
28 * - Initialize distance detector resources:
29 * + Create distance detector configuration
30 * + Update configuration settings
31 * + Create Distance detector handle
32 * + Create buffer for detector calibration data
33 * + Create buffer for sensor data
34 * - Create and calibrate the sensor
35 * - Calibrate the detector
36 * - Measure distances with the detector (loop):
37 * + Prepare sensor with the detector
38 * + Measure and wait until a read can be done
39 * + Process measurement and print the result
40 * + Handle "sensor_calibration_needed" indication
41 * - Cleanup:
42 * + Destroy detector configuration
43 * + Destroy detector handle
44 * + Destroy sensor data buffer
45 * + Destroy detector calibration data buffer
46 */
47
48
49 typedef enum
50 {
51 DISTANCE_PRESET_CONFIG_NONE = 0,
52 DISTANCE_PRESET_CONFIG_BALANCED,
53 DISTANCE_PRESET_CONFIG_HIGH_ACCURACY,
54 } distance_preset_config_t;
55
56
57 #define SENSOR_ID (1U)
58 // 2 seconds should be enough even for long ranges and high signal quality
59 #define SENSOR_TIMEOUT_MS (2000U)
60
61
62 typedef struct
63 {
64 acc_sensor_t *sensor;
65 acc_detector_distance_config_t *config;
66 acc_detector_distance_handle_t *handle;
67 void *buffer;
68 uint32_t buffer_size;
69 void *calibration_buffer;
70 uint32_t calibration_buffer_size;
71 } distance_detector_resources_t;
72
73
74 static void cleanup(distance_detector_resources_t *resources);
75
76
77 static void set_config(acc_detector_distance_config_t *detector_config, distance_preset_config_t preset);
78
79
80 static bool initialize_detector_resources(distance_detector_resources_t *resources);
81
82
83 static bool do_sensor_calibration(acc_sensor_t *sensor,
84 acc_cal_result_t *sensor_cal_result,
85 void *buffer,
86 uint32_t buffer_size);
87
88
89 static bool do_full_detector_calibration(distance_detector_resources_t *resources,
90 const acc_cal_result_t *sensor_cal_result);
91
92
93 static bool do_detector_recalibration(distance_detector_resources_t *resources,
94 const acc_cal_result_t *sensor_cal_result);
95
96
97 static bool do_detector_get_next(distance_detector_resources_t *resources,
98 const acc_cal_result_t *sensor_cal_result,
99 acc_detector_distance_result_t *result);
100
101
102 static void print_distance_result(const acc_detector_distance_result_t *result);
103
104
105 int acconeer_main(int argc, char *argv[]);
106
107
108 int acconeer_main(int argc, char *argv[])
109 {
110 (void)argc;
111 (void)argv;
112 distance_detector_resources_t resources = { 0 };
113
114 printf("Acconeer software version %s\n", acc_version_get());
115
116 const acc_hal_a121_t *hal = acc_hal_rss_integration_get_implementation();
117
118 if (!acc_rss_hal_register(hal))
119 {
120 return EXIT_FAILURE;
121 }
122
123 resources.config = acc_detector_distance_config_create();
124 if (resources.config == NULL)
125 {
126 printf("acc_detector_distance_config_create() failed\n");
127 cleanup(&resources);
128 return EXIT_FAILURE;
129 }
130
131 set_config(resources.config, DISTANCE_PRESET_CONFIG_BALANCED);
132
133 if (!initialize_detector_resources(&resources))
134 {
135 printf("Initializing detector resources failed\n");
136 cleanup(&resources);
137 return EXIT_FAILURE;
138 }
139
140 // Print the configuration
141 acc_detector_distance_config_log(resources.handle, resources.config);
142
143 /* Turn the sensor on */
144 acc_hal_integration_sensor_supply_on(SENSOR_ID);
145 acc_hal_integration_sensor_enable(SENSOR_ID);
146
147 resources.sensor = acc_sensor_create(SENSOR_ID);
148 if (resources.sensor == NULL)
149 {
150 printf("acc_sensor_create() failed\n");
151 cleanup(&resources);
152 return EXIT_FAILURE;
153 }
154
155 acc_cal_result_t sensor_cal_result;
156
157 if (!do_sensor_calibration(resources.sensor, &sensor_cal_result, resources.buffer, resources.buffer_size))
158 {
159 printf("Sensor calibration failed\n");
160 cleanup(&resources);
161 return EXIT_FAILURE;
162 }
163
164 if (!do_full_detector_calibration(&resources, &sensor_cal_result))
165 {
166 printf("Detector calibration failed\n");
167 cleanup(&resources);
168 return EXIT_FAILURE;
169 }
170
171 while (true)
172 {
173 acc_detector_distance_result_t result = { 0 };
174
175 if (!do_detector_get_next(&resources, &sensor_cal_result, &result))
176 {
177 printf("Could not get next result\n");
178 cleanup(&resources);
179 return EXIT_FAILURE;
180 }
181
182 print_distance_result(&result);
183
184 /* If "sensor calibration needed" is indicated, the sensor and detector needs to be recalibrated.
185 *
186 * Note that the detector result (printed above) is invalid if 'sensor_calibration_needed' is true.
187 */
188 if (result.sensor_calibration_needed)
189 {
190 printf("Sensor- and detector recalibration needed ... \n");
191
192 if (!do_sensor_calibration(resources.sensor, &sensor_cal_result, resources.buffer, resources.buffer_size))
193 {
194 printf("Sensor calibration failed\n");
195 cleanup(&resources);
196 return EXIT_FAILURE;
197 }
198
199 /* Once the sensor is recalibrated, the detector should be recalibrated and measuring can continue. */
200 if (!do_detector_recalibration(&resources, &sensor_cal_result))
201 {
202 printf("Detector recalibration failed\n");
203 cleanup(&resources);
204 return EXIT_FAILURE;
205 }
206
207 printf("Sensor- and detector recalibration done!\n");
208 }
209 }
210
211 cleanup(&resources);
212
213 printf("Done!\n");
214
215 return EXIT_SUCCESS;
216 }
217
218
219 static void cleanup(distance_detector_resources_t *resources)
220 {
221 acc_hal_integration_sensor_disable(SENSOR_ID);
222 acc_hal_integration_sensor_supply_off(SENSOR_ID);
223
224 acc_detector_distance_config_destroy(resources->config);
225 acc_detector_distance_destroy(resources->handle);
226
227 acc_integration_mem_free(resources->buffer);
228 acc_integration_mem_free(resources->calibration_buffer);
229
230 if (resources->sensor != NULL)
231 {
232 acc_sensor_destroy(resources->sensor);
233 }
234 }
235
236
237 static void set_config(acc_detector_distance_config_t *detector_config, distance_preset_config_t preset)
238 {
239 // Add configuration of the detector here
240 switch (preset)
241 {
242 case DISTANCE_PRESET_CONFIG_NONE:
243 // Add configuration of the detector here
244 break;
245
246 case DISTANCE_PRESET_CONFIG_BALANCED:
247 acc_detector_distance_config_start_set(detector_config, 0.25f);
248 acc_detector_distance_config_end_set(detector_config, 3.0f);
249 acc_detector_distance_config_max_step_length_set(detector_config, 0U);
250 acc_detector_distance_config_max_profile_set(detector_config, ACC_CONFIG_PROFILE_5);
251 acc_detector_distance_config_reflector_shape_set(detector_config, ACC_DETECTOR_DISTANCE_REFLECTOR_SHAPE_GENERIC);
252 acc_detector_distance_config_peak_sorting_set(detector_config, ACC_DETECTOR_DISTANCE_PEAK_SORTING_STRONGEST);
253 acc_detector_distance_config_threshold_method_set(detector_config, ACC_DETECTOR_DISTANCE_THRESHOLD_METHOD_CFAR);
254 acc_detector_distance_config_num_frames_recorded_threshold_set(detector_config, 100U);
255 acc_detector_distance_config_threshold_sensitivity_set(detector_config, 0.5f);
256 acc_detector_distance_config_signal_quality_set(detector_config, 15.0f);
257 acc_detector_distance_config_close_range_leakage_cancellation_set(detector_config, true);
258 break;
259
260 case DISTANCE_PRESET_CONFIG_HIGH_ACCURACY:
261 acc_detector_distance_config_start_set(detector_config, 0.25f);
262 acc_detector_distance_config_end_set(detector_config, 3.0f);
263 acc_detector_distance_config_max_step_length_set(detector_config, 2U);
264 acc_detector_distance_config_max_profile_set(detector_config, ACC_CONFIG_PROFILE_3);
265 acc_detector_distance_config_reflector_shape_set(detector_config, ACC_DETECTOR_DISTANCE_REFLECTOR_SHAPE_GENERIC);
266 acc_detector_distance_config_peak_sorting_set(detector_config, ACC_DETECTOR_DISTANCE_PEAK_SORTING_STRONGEST);
267 acc_detector_distance_config_threshold_method_set(detector_config, ACC_DETECTOR_DISTANCE_THRESHOLD_METHOD_CFAR);
268 acc_detector_distance_config_num_frames_recorded_threshold_set(detector_config, 100U);
269 acc_detector_distance_config_threshold_sensitivity_set(detector_config, 0.5f);
270 acc_detector_distance_config_signal_quality_set(detector_config, 20.0f);
271 acc_detector_distance_config_close_range_leakage_cancellation_set(detector_config, true);
272 break;
273 }
274 }
275
276
277 static bool initialize_detector_resources(distance_detector_resources_t *resources)
278 {
279 resources->handle = acc_detector_distance_create(resources->config);
280 if (resources->handle == NULL)
281 {
282 printf("acc_detector_distance_create() failed\n");
283 return false;
284 }
285
286 if (!acc_detector_distance_get_buffer_sizes(resources->handle, &(resources->buffer_size), &(resources->calibration_buffer_size)))
287 {
288 printf("acc_detector_distance_get_buffer_sizes() failed\n");
289 return false;
290 }
291
292 resources->buffer = acc_integration_mem_alloc(resources->buffer_size);
293 if (resources->buffer == NULL)
294 {
295 printf("sensor buffer allocation failed\n");
296 return false;
297 }
298
299 resources->calibration_buffer = acc_integration_mem_alloc(resources->calibration_buffer_size);
300 if (resources->calibration_buffer == NULL)
301 {
302 printf("calibration buffer allocation failed\n");
303 return false;
304 }
305
306 return true;
307 }
308
309
310 static bool do_sensor_calibration(acc_sensor_t *sensor,
311 acc_cal_result_t *sensor_cal_result,
312 void *buffer,
313 uint32_t buffer_size)
314 {
315 bool status = false;
316 bool cal_complete = false;
317 const uint16_t calibration_retries = 1U;
318
319 // Random disturbances may cause the calibration to fail. At failure, retry at least once.
320 for (uint16_t i = 0; !status && (i <= calibration_retries); i++)
321 {
322 // Reset sensor before calibration by disabling/enabling it
323 acc_hal_integration_sensor_disable(SENSOR_ID);
324 acc_hal_integration_sensor_enable(SENSOR_ID);
325
326 do
327 {
328 status = acc_sensor_calibrate(sensor, &cal_complete, sensor_cal_result, buffer, buffer_size);
329
330 if (status && !cal_complete)
331 {
332 status = acc_hal_integration_wait_for_sensor_interrupt(SENSOR_ID, SENSOR_TIMEOUT_MS);
333 }
334 } while (status && !cal_complete);
335 }
336
337 if (status)
338 {
339 /* Reset sensor after calibration by disabling/enabling it */
340 acc_hal_integration_sensor_disable(SENSOR_ID);
341 acc_hal_integration_sensor_enable(SENSOR_ID);
342 }
343
344 return status;
345 }
346
347
348 static bool do_full_detector_calibration(distance_detector_resources_t *resources,
349 const acc_cal_result_t *sensor_cal_result)
350 {
351 bool done = false;
352 bool status;
353
354 do
355 {
356 status = acc_detector_distance_calibrate(resources->sensor,
357 resources->handle,
358 sensor_cal_result,
359 resources->buffer,
360 resources->buffer_size,
361 resources->calibration_buffer,
362 resources->calibration_buffer_size,
363 &done);
364
365 if (status && !done)
366 {
367 status = acc_hal_integration_wait_for_sensor_interrupt(SENSOR_ID, SENSOR_TIMEOUT_MS);
368 }
369 } while (status && !done);
370
371 return status;
372 }
373
374
375 static bool do_detector_recalibration(distance_detector_resources_t *resources,
376 const acc_cal_result_t *sensor_cal_result)
377 {
378 bool done = false;
379 bool status;
380
381 do
382 {
383 status = acc_detector_distance_recalibrate(resources->sensor,
384 resources->handle,
385 sensor_cal_result,
386 resources->buffer,
387 resources->buffer_size,
388 resources->calibration_buffer,
389 resources->calibration_buffer_size,
390 &done);
391
392 if (status && !done)
393 {
394 status = acc_hal_integration_wait_for_sensor_interrupt(SENSOR_ID, SENSOR_TIMEOUT_MS);
395 }
396 } while (status && !done);
397
398 return status;
399 }
400
401
402 static bool do_detector_get_next(distance_detector_resources_t *resources,
403 const acc_cal_result_t *sensor_cal_result,
404 acc_detector_distance_result_t *result)
405 {
406 bool result_available = false;
407
408 do
409 {
410 if (!acc_detector_distance_prepare(resources->handle, resources->config, resources->sensor, sensor_cal_result, resources->buffer,
411 resources->buffer_size))
412 {
413 printf("acc_detector_distance_prepare() failed\n");
414 return false;
415 }
416
417 if (!acc_sensor_measure(resources->sensor))
418 {
419 printf("acc_sensor_measure() failed\n");
420 return false;
421 }
422
423 if (!acc_hal_integration_wait_for_sensor_interrupt(SENSOR_ID, SENSOR_TIMEOUT_MS))
424 {
425 printf("Sensor interrupt timeout\n");
426 return false;
427 }
428
429 if (!acc_sensor_read(resources->sensor, resources->buffer, resources->buffer_size))
430 {
431 printf("acc_sensor_read() failed\n");
432 return false;
433 }
434
435 if (!acc_detector_distance_process(resources->handle, resources->buffer, resources->calibration_buffer, &result_available,
436 result))
437 {
438 printf("acc_detector_distance_process() failed\n");
439 return false;
440 }
441 } while (!result_available);
442
443 return true;
444 }
445
446
447 static void print_distance_result(const acc_detector_distance_result_t *result)
448 {
449 printf("%d detected distances", result->num_distances);
450 if (result->num_distances > 0)
451 {
452 printf(": ");
453
454 for (uint8_t i = 0; i < result->num_distances; i++)
455 {
456 printf("%" PRIfloat " m ", ACC_LOG_FLOAT_TO_INTEGER(result->distances[i]));
457 }
458 }
459
460 printf("\n");
461 }
ACC_DETECTOR_DISTANCE_REFLECTOR_SHAPE_GENERIC
@ ACC_DETECTOR_DISTANCE_REFLECTOR_SHAPE_GENERIC
Definition: acc_detector_distance_definitions.h:42
acconeer_main
int acconeer_main(int argc, char *argv[])
Assembly test example.
Definition: example_detector_distance.c:108
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_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.
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
distance_preset_config_t
distance_preset_config_t
Definition: example_detector_distance.c:49
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
print_distance_result
static void print_distance_result(const acc_detector_distance_result_t *result)
Definition: example_detector_distance.c:447
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.
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.
cleanup
static void cleanup(distance_detector_resources_t *resources)
Definition: example_detector_distance.c:219
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.
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.
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.c:348
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_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_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.
ACC_CONFIG_PROFILE_5
@ ACC_CONFIG_PROFILE_5
Definition: acc_definitions_a121.h:47
printf
#define printf
Definition: printf.h:60
distance_detector_resources_t::calibration_buffer
void * calibration_buffer
Definition: i2c_distance_detector.c:38
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
DISTANCE_PRESET_CONFIG_HIGH_ACCURACY
@ DISTANCE_PRESET_CONFIG_HIGH_ACCURACY
Definition: example_detector_distance.c:53
SENSOR_ID
#define SENSOR_ID
Definition: example_detector_distance.c:57
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.
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_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.
DISTANCE_PRESET_CONFIG_BALANCED
@ DISTANCE_PRESET_CONFIG_BALANCED
Definition: example_detector_distance.c:52
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
SENSOR_TIMEOUT_MS
#define SENSOR_TIMEOUT_MS
Definition: example_detector_distance.c:59
initialize_detector_resources
static bool initialize_detector_resources(distance_detector_resources_t *resources)
Definition: example_detector_distance.c:277
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.
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.
DISTANCE_PRESET_CONFIG_NONE
@ DISTANCE_PRESET_CONFIG_NONE
Definition: example_detector_distance.c:51
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
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.c:402
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.
set_config
static void set_config(acc_detector_distance_config_t *detector_config, distance_preset_config_t preset)
Definition: example_detector_distance.c:237
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.c:375
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.
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.c:310