example_service.c
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1 // Copyright (c) Acconeer AB, 2020-2023
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_config.h"
13 #include "acc_definitions_a121.h"
14 #include "acc_definitions_common.h"
15 #include "acc_hal_definitions_a121.h"
16 #include "acc_hal_integration_a121.h"
17 #include "acc_integration.h"
18 #include "acc_processing.h"
19 #include "acc_rss_a121.h"
20 #include "acc_sensor.h"
21
22 #include "acc_version.h"
23
24
25 /** \example example_service.c
26 * @brief This is an example on how the Service API can be used
27 * @n
28 * The example executes as follows:
29 * - Create a configuration
30 * - Create a processing instance using the previously created configuration
31 * - Create a sensor instance
32 * - Prepare a sensor
33 * - Perform a sensor measurement and read out the data
34 * - Process the measurement
35 * - Check 'calibration_needed' indication
36 * - Destroy the sensor instance
37 * - Destroy the processing instance
38 * - Destroy the configuration
39 */
40
41 #define SENSOR_ID (1U)
42 #define SENSOR_TIMEOUT_MS (1000U)
43 #define MAX_DATA_ENTRY_LEN (15U) // "-32000+-32000i" + zero termination
44
45 static void set_config(acc_config_t *config);
46
47
48 static bool do_sensor_calibration_and_prepare(acc_sensor_t *sensor, acc_config_t *config, void *buffer, uint32_t buffer_size);
49
50
51 static void print_data(acc_int16_complex_t *data, uint16_t data_length);
52
53
54 static void cleanup(acc_config_t *config, acc_processing_t *processing,
55 acc_sensor_t *sensor, void *buffer);
56
57
58 int acconeer_main(int argc, char *argv[]);
59
60
61 int acconeer_main(int argc, char *argv[])
62 {
63 (void)argc;
64 (void)argv;
65 acc_config_t *config = NULL;
66 acc_processing_t *processing = NULL;
67 acc_sensor_t *sensor = NULL;
68 void *buffer = NULL;
69 uint32_t buffer_size = 0;
70 acc_processing_metadata_t proc_meta;
71 acc_processing_result_t proc_result;
72
73 printf("Acconeer software version %s\n", acc_version_get());
74
75 const acc_hal_a121_t *hal = acc_hal_rss_integration_get_implementation();
76
77 if (!acc_rss_hal_register(hal))
78 {
79 return EXIT_FAILURE;
80 }
81
82 config = acc_config_create();
83 if (config == NULL)
84 {
85 printf("acc_config_create() failed\n");
86 cleanup(config, processing, sensor, buffer);
87 return EXIT_FAILURE;
88 }
89
90 set_config(config);
91
92 // Print the configuration
93 acc_config_log(config);
94
95 processing = acc_processing_create(config, &proc_meta);
96 if (processing == NULL)
97 {
98 printf("acc_processing_create() failed\n");
99 cleanup(config, processing, sensor, buffer);
100 return EXIT_FAILURE;
101 }
102
103 if (!acc_rss_get_buffer_size(config, &buffer_size))
104 {
105 printf("acc_rss_get_buffer_size() failed\n");
106 cleanup(config, processing, sensor, buffer);
107 return EXIT_FAILURE;
108 }
109
110 buffer = acc_integration_mem_alloc(buffer_size);
111 if (buffer == NULL)
112 {
113 printf("buffer allocation failed\n");
114 cleanup(config, processing, sensor, buffer);
115 return EXIT_FAILURE;
116 }
117
118 acc_hal_integration_sensor_supply_on(SENSOR_ID);
119 acc_hal_integration_sensor_enable(SENSOR_ID);
120
121 sensor = acc_sensor_create(SENSOR_ID);
122 if (sensor == NULL)
123 {
124 printf("acc_sensor_create() failed\n");
125 cleanup(config, processing, sensor, buffer);
126 return EXIT_FAILURE;
127 }
128
129 if (!do_sensor_calibration_and_prepare(sensor, config, buffer, buffer_size))
130 {
131 printf("do_sensor_calibration_and_prepare() failed\n");
132 acc_sensor_status(sensor);
133 cleanup(config, processing, sensor, buffer);
134 return EXIT_FAILURE;
135 }
136
137 const uint32_t update_count = 5U;
138
139 for (uint32_t i = 0U; i < update_count; i++)
140 {
141 if (!acc_sensor_measure(sensor))
142 {
143 printf("acc_sensor_measure failed\n");
144 acc_sensor_status(sensor);
145 cleanup(config, processing, sensor, buffer);
146 return EXIT_FAILURE;
147 }
148
149 if (!acc_hal_integration_wait_for_sensor_interrupt(SENSOR_ID, SENSOR_TIMEOUT_MS))
150 {
151 printf("Sensor interrupt timeout\n");
152 acc_sensor_status(sensor);
153 cleanup(config, processing, sensor, buffer);
154 return EXIT_FAILURE;
155 }
156
157 if (!acc_sensor_read(sensor, buffer, buffer_size))
158 {
159 printf("acc_sensor_read failed\n");
160 acc_sensor_status(sensor);
161 cleanup(config, processing, sensor, buffer);
162 return EXIT_FAILURE;
163 }
164
165 acc_processing_execute(processing, buffer, &proc_result);
166
167 if (proc_result.calibration_needed)
168 {
169 printf("The current calibration is not valid for the current temperature.\n");
170 printf("The sensor needs to be re-calibrated.\n");
171
172 if (!do_sensor_calibration_and_prepare(sensor, config, buffer, buffer_size))
173 {
174 printf("do_sensor_calibration_and_prepare() failed\n");
175 acc_sensor_status(sensor);
176 cleanup(config, processing, sensor, buffer);
177 return EXIT_FAILURE;
178 }
179
180 printf("The sensor was successfully re-calibrated.\n");
181 }
182 else
183 {
184 print_data(proc_result.frame, proc_meta.frame_data_length);
185 }
186 }
187
188 cleanup(config, processing, sensor, buffer);
189
190 printf("Application finished OK\n");
191
192 return EXIT_SUCCESS;
193 }
194
195
196 static void set_config(acc_config_t *config)
197 {
198 // Add configuration of the sensor here
199
200 acc_config_start_point_set(config, 80);
201 acc_config_num_points_set(config, 160);
202 }
203
204
205 static bool do_sensor_calibration_and_prepare(acc_sensor_t *sensor, acc_config_t *config, void *buffer, uint32_t buffer_size)
206 {
207 bool status = false;
208 bool cal_complete = false;
209 acc_cal_result_t cal_result;
210 const uint16_t calibration_retries = 1U;
211
212 // Random disturbances may cause the calibration to fail. At failure, retry at least once.
213 for (uint16_t i = 0; !status && (i <= calibration_retries); i++)
214 {
215 // Reset sensor before calibration by disabling/enabling it
216 acc_hal_integration_sensor_disable(SENSOR_ID);
217 acc_hal_integration_sensor_enable(SENSOR_ID);
218
219 do
220 {
221 status = acc_sensor_calibrate(sensor, &cal_complete, &cal_result, buffer, buffer_size);
222
223 if (status && !cal_complete)
224 {
225 status = acc_hal_integration_wait_for_sensor_interrupt(SENSOR_ID, SENSOR_TIMEOUT_MS);
226 }
227 } while (status && !cal_complete);
228 }
229
230 if (status)
231 {
232 // Reset sensor after calibration by disabling/enabling it
233 acc_hal_integration_sensor_disable(SENSOR_ID);
234 acc_hal_integration_sensor_enable(SENSOR_ID);
235
236 status = acc_sensor_prepare(sensor, config, &cal_result, buffer, buffer_size);
237 }
238
239 return status;
240 }
241
242
243 static void print_data(acc_int16_complex_t *data, uint16_t data_length)
244 {
245 printf("Processed data:\n");
246 char buffer[MAX_DATA_ENTRY_LEN];
247
248 for (uint16_t i = 0; i < data_length; i++)
249 {
250 if ((i > 0) && ((i % 8) == 0))
251 {
252 printf("\n");
253 }
254
255 snprintf(buffer, sizeof(buffer), "%" PRIi16 "+%" PRIi16 "i", data[i].real, data[i].imag);
256
257 printf("%14s ", buffer);
258 }
259
260 printf("\n");
261 }
262
263
264 static void cleanup(acc_config_t *config, acc_processing_t *processing,
265 acc_sensor_t *sensor, void *buffer)
266 {
267 acc_hal_integration_sensor_disable(SENSOR_ID);
268 acc_hal_integration_sensor_supply_off(SENSOR_ID);
269
270 if (sensor != NULL)
271 {
272 acc_sensor_destroy(sensor);
273 }
274
275 if (processing != NULL)
276 {
277 acc_processing_destroy(processing);
278 }
279
280 if (config != NULL)
281 {
282 acc_config_destroy(config);
283 }
284
285 if (buffer != NULL)
286 {
287 acc_integration_mem_free(buffer);
288 }
289 }
acc_config_start_point_set
void acc_config_start_point_set(acc_config_t *config, int32_t start_point)
Set the starting point of the sweep.
MAX_DATA_ENTRY_LEN
#define MAX_DATA_ENTRY_LEN
Definition: example_service.c:43
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_destroy
void acc_processing_destroy(acc_processing_t *handle)
Destroy a processing instance identified with the provided processing handle.
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
acc_sensor_read
bool acc_sensor_read(const acc_sensor_t *sensor, void *buffer, uint32_t buffer_size)
Read out radar data.
set_config
static void set_config(acc_config_t *config)
Definition: example_service.c:196
acc_version.h
acc_rss_get_buffer_size
bool acc_rss_get_buffer_size(const acc_config_t *config, uint32_t *buffer_size)
Get the buffer size needed for the specified config.
acc_int16_complex_t
Data type for interger-based representation of complex numbers.
Definition: acc_definitions_common.h:43
acc_config_destroy
void acc_config_destroy(acc_config_t *config)
Destroy a configuration freeing any resources allocated.
acc_cal_result_t
Definition: acc_definitions_a121.h:19
acc_processing_execute
void acc_processing_execute(acc_processing_t *handle, void *buffer, acc_processing_result_t *result)
Process the data according to the configuration used in create.
acc_config_create
acc_config_t * acc_config_create(void)
Create a configuration.
acc_integration.h
acconeer_main
int acconeer_main(int argc, char *argv[])
Assembly test example.
Definition: example_service.c:61
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_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_rss_hal_register
bool acc_rss_hal_register(const acc_hal_a121_t *hal)
Register an integration.
acc_sensor.h
cleanup
static void cleanup(acc_config_t *config, acc_processing_t *processing, acc_sensor_t *sensor, void *buffer)
Definition: example_service.c:264
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_processing_metadata_t::frame_data_length
uint16_t frame_data_length
Definition: acc_processing.h:39
acc_version_get
const char * acc_version_get(void)
Get the version of the Acconeer software.
acc_config_t
struct acc_config acc_config_t
Definition: acc_config.h:26
printf
#define printf
Definition: printf.h:60
snprintf
#define snprintf
Definition: printf.h:84
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_config_num_points_set
void acc_config_num_points_set(acc_config_t *config, uint16_t num_points)
Set the number of data points to measure.
acc_hal_definitions_a121.h
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_processing_t
struct acc_processing_handle acc_processing_t
Definition: acc_processing.h:30
acc_sensor_status
void acc_sensor_status(const acc_sensor_t *sensor)
Check the status of the sensor.
SENSOR_TIMEOUT_MS
#define SENSOR_TIMEOUT_MS
Definition: example_service.c:42
print_data
static void print_data(acc_int16_complex_t *data, uint16_t data_length)
Definition: example_service.c:243
acc_sensor_prepare
bool acc_sensor_prepare(acc_sensor_t *sensor, const acc_config_t *config, const acc_cal_result_t *cal_result, void *buffer, uint32_t buffer_size)
Prepare a sensor to do a measurement.
acc_integration_mem_free
void acc_integration_mem_free(void *ptr)
Free dynamic memory.
Definition: acc_integration_stm32.c:644
acc_definitions_common.h
acc_config_log
void acc_config_log(const acc_config_t *config)
Print a configuration to the log.
acc_config.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.
acc_processing_result_t::calibration_needed
bool calibration_needed
Definition: acc_processing.h:84
acc_sensor_measure
bool acc_sensor_measure(acc_sensor_t *sensor)
Start a radar measurement with previously prepared configuration.
acc_processing_create
acc_processing_t * acc_processing_create(const acc_config_t *config, acc_processing_metadata_t *processing_metadata)
Create a processing instance with the provided configuration.
acc_processing.h
acc_sensor_t
struct acc_sensor acc_sensor_t
Definition: acc_sensor.h:31
SENSOR_ID
#define SENSOR_ID
Definition: example_service.c:41
acc_sensor_destroy
void acc_sensor_destroy(acc_sensor_t *sensor)
Destroy a sensor instance freeing any resources allocated.
acc_definitions_a121.h
do_sensor_calibration_and_prepare
static bool do_sensor_calibration_and_prepare(acc_sensor_t *sensor, acc_config_t *config, void *buffer, uint32_t buffer_size)
Definition: example_service.c:205
acc_sensor_create
acc_sensor_t * acc_sensor_create(acc_sensor_id_t sensor_id)
Create a sensor instance.