example_detector_distance.c

This is an example on how the Detector Distance API can be used
This example executes as follows:

- Retrieve HAL integration
- Initialize distance detector resources:
  - Create distance detector configuration
  - Update configuration settings
  - Create Distance detector handle
  - Create buffer for detector calibration data
  - Create buffer for sensor data
- Create and calibrate the sensor
- Calibrate the detector
- Measure distances with the detector (loop):
  - Prepare sensor with the detector
  - Measure and wait until a read can be done
  - Process measurement and print the result
  - Handle "sensor_calibration_needed" indication
- Cleanup:
  - Destroy detector configuration
  - Destroy detector handle
  - Destroy sensor data buffer
  - Destroy detector calibration data buffer

// Copyright (c) Acconeer AB, 2022-2023
// All rights reserved
// This file is subject to the terms and conditions defined in the file
// 'LICENSES/license_acconeer.txt', (BSD 3-Clause License) which is part
// of this source code package.
#include <stdbool.h>
#include <stdint.h>
#include <stdio.h>
#include <stdlib.h>
#include "acc_definitions_a121.h"
#include "acc_detector_distance.h"
#include "acc_hal_definitions_a121.h"
#include "acc_hal_integration_a121.h"
#include "acc_integration.h"
#include "acc_integration_log.h"
#include "acc_rss_a121.h"
#include "acc_sensor.h"
#include "acc_version.h"
/** \example example_detector_distance.c
* @brief This is an example on how the Detector Distance API can be used
* @n
* This example executes as follows:
* - Retrieve HAL integration
* - Initialize distance detector resources:
* + Create distance detector configuration
* + Update configuration settings
* + Create Distance detector handle
* + Create buffer for detector calibration data
* + Create buffer for sensor data
* - Create and calibrate the sensor
* - Calibrate the detector
* - Measure distances with the detector (loop):
* + Prepare sensor with the detector
* + Measure and wait until a read can be done
* + Process measurement and print the result
* + Handle "sensor_calibration_needed" indication
* - Cleanup:
* + Destroy detector configuration
* + Destroy detector handle
* + Destroy sensor data buffer
* + Destroy detector calibration data buffer
*/
typedef enum
{
DISTANCE_PRESET_CONFIG_NONE = 0,
DISTANCE_PRESET_CONFIG_BALANCED,
DISTANCE_PRESET_CONFIG_HIGH_ACCURACY,
} distance_preset_config_t;
#define SENSOR_ID (1U)
// 2 seconds should be enough even for long ranges and high signal quality
#define SENSOR_TIMEOUT_MS (2000U)
typedef struct
{
acc_sensor_t *sensor;
acc_detector_distance_config_t *config;
acc_detector_distance_handle_t *handle;
void *buffer;
uint32_t buffer_size;
void *calibration_buffer;
uint32_t calibration_buffer_size;
} distance_detector_resources_t;
static void cleanup(distance_detector_resources_t *resources);
static void set_config(acc_detector_distance_config_t *detector_config, distance_preset_config_t preset);
static bool initialize_detector_resources(distance_detector_resources_t *resources);
static bool do_sensor_calibration(acc_sensor_t *sensor,
acc_cal_result_t *sensor_cal_result,
void *buffer,
uint32_t buffer_size);
static bool do_full_detector_calibration(distance_detector_resources_t *resources,
const acc_cal_result_t *sensor_cal_result);
static bool do_detector_recalibration(distance_detector_resources_t *resources,
const acc_cal_result_t *sensor_cal_result);
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);
static void print_distance_result(const acc_detector_distance_result_t *result);
int acconeer_main(int argc, char *argv[]);
int acconeer_main(int argc, char *argv[])
{
(void)argc;
(void)argv;
distance_detector_resources_t resources = { 0 };
printf("Acconeer software version %s\n", acc_version_get());
const acc_hal_a121_t *hal = acc_hal_rss_integration_get_implementation();
if (!acc_rss_hal_register(hal))
{
return EXIT_FAILURE;
}
resources.config = acc_detector_distance_config_create();
if (resources.config == NULL)
{
printf("acc_detector_distance_config_create() failed\n");
cleanup(&resources);
return EXIT_FAILURE;
}
set_config(resources.config, DISTANCE_PRESET_CONFIG_BALANCED);
if (!initialize_detector_resources(&resources))
{
printf("Initializing detector resources failed\n");
cleanup(&resources);
return EXIT_FAILURE;
}
// Print the configuration
acc_detector_distance_config_log(resources.handle, resources.config);
/* Turn the sensor on */
acc_hal_integration_sensor_supply_on(SENSOR_ID);
acc_hal_integration_sensor_enable(SENSOR_ID);
resources.sensor = acc_sensor_create(SENSOR_ID);
if (resources.sensor == NULL)
{
printf("acc_sensor_create() failed\n");
cleanup(&resources);
return EXIT_FAILURE;
}
acc_cal_result_t sensor_cal_result;
if (!do_sensor_calibration(resources.sensor, &sensor_cal_result, resources.buffer, resources.buffer_size))
{
printf("Sensor calibration failed\n");
cleanup(&resources);
return EXIT_FAILURE;
}
if (!do_full_detector_calibration(&resources, &sensor_cal_result))
{
printf("Detector calibration failed\n");
cleanup(&resources);
return EXIT_FAILURE;
}
while (true)
{
acc_detector_distance_result_t result = { 0 };
if (!do_detector_get_next(&resources, &sensor_cal_result, &result))
{
printf("Could not get next result\n");
cleanup(&resources);
return EXIT_FAILURE;
}
print_distance_result(&result);
/* If "sensor calibration needed" is indicated, the sensor and detector needs to be recalibrated.
*
* Note that the detector result (printed above) is invalid if 'sensor_calibration_needed' is true.
*/
if (result.sensor_calibration_needed)
{
printf("Sensor- and detector recalibration needed ... \n");
if (!do_sensor_calibration(resources.sensor, &sensor_cal_result, resources.buffer, resources.buffer_size))
{
printf("Sensor calibration failed\n");
cleanup(&resources);
return EXIT_FAILURE;
}
/* Once the sensor is recalibrated, the detector should be recalibrated and measuring can continue. */
if (!do_detector_recalibration(&resources, &sensor_cal_result))
{
printf("Detector recalibration failed\n");
cleanup(&resources);
return EXIT_FAILURE;
}
printf("Sensor- and detector recalibration done!\n");
}
}
cleanup(&resources);
printf("Done!\n");
return EXIT_SUCCESS;
}
static void cleanup(distance_detector_resources_t *resources)
{
acc_hal_integration_sensor_disable(SENSOR_ID);
acc_hal_integration_sensor_supply_off(SENSOR_ID);
acc_detector_distance_config_destroy(resources->config);
acc_detector_distance_destroy(resources->handle);
acc_integration_mem_free(resources->buffer);
acc_integration_mem_free(resources->calibration_buffer);
if (resources->sensor != NULL)
{
acc_sensor_destroy(resources->sensor);
}
}
static void set_config(acc_detector_distance_config_t *detector_config, distance_preset_config_t preset)
{
// Add configuration of the detector here
switch (preset)
{
case DISTANCE_PRESET_CONFIG_NONE:
// Add configuration of the detector here
break;
case DISTANCE_PRESET_CONFIG_BALANCED:
acc_detector_distance_config_start_set(detector_config, 0.25f);
acc_detector_distance_config_end_set(detector_config, 3.0f);
acc_detector_distance_config_max_step_length_set(detector_config, 0U);
acc_detector_distance_config_max_profile_set(detector_config, ACC_CONFIG_PROFILE_5);
acc_detector_distance_config_reflector_shape_set(detector_config, ACC_DETECTOR_DISTANCE_REFLECTOR_SHAPE_GENERIC);
acc_detector_distance_config_peak_sorting_set(detector_config, ACC_DETECTOR_DISTANCE_PEAK_SORTING_STRONGEST);
acc_detector_distance_config_threshold_method_set(detector_config, ACC_DETECTOR_DISTANCE_THRESHOLD_METHOD_CFAR);
acc_detector_distance_config_num_frames_recorded_threshold_set(detector_config, 100U);
acc_detector_distance_config_threshold_sensitivity_set(detector_config, 0.5f);
acc_detector_distance_config_signal_quality_set(detector_config, 15.0f);
acc_detector_distance_config_close_range_leakage_cancellation_set(detector_config, true);
break;
case DISTANCE_PRESET_CONFIG_HIGH_ACCURACY:
acc_detector_distance_config_start_set(detector_config, 0.25f);
acc_detector_distance_config_end_set(detector_config, 3.0f);
acc_detector_distance_config_max_step_length_set(detector_config, 2U);
acc_detector_distance_config_max_profile_set(detector_config, ACC_CONFIG_PROFILE_3);
acc_detector_distance_config_reflector_shape_set(detector_config, ACC_DETECTOR_DISTANCE_REFLECTOR_SHAPE_GENERIC);
acc_detector_distance_config_peak_sorting_set(detector_config, ACC_DETECTOR_DISTANCE_PEAK_SORTING_STRONGEST);
acc_detector_distance_config_threshold_method_set(detector_config, ACC_DETECTOR_DISTANCE_THRESHOLD_METHOD_CFAR);
acc_detector_distance_config_num_frames_recorded_threshold_set(detector_config, 100U);
acc_detector_distance_config_threshold_sensitivity_set(detector_config, 0.5f);
acc_detector_distance_config_signal_quality_set(detector_config, 20.0f);
acc_detector_distance_config_close_range_leakage_cancellation_set(detector_config, true);
break;
}
}
static bool initialize_detector_resources(distance_detector_resources_t *resources)
{
resources->handle = acc_detector_distance_create(resources->config);
if (resources->handle == NULL)
{
printf("acc_detector_distance_create() failed\n");
return false;
}
if (!acc_detector_distance_get_buffer_sizes(resources->handle, &(resources->buffer_size), &(resources->calibration_buffer_size)))
{
printf("acc_detector_distance_get_buffer_sizes() failed\n");
return false;
}
resources->buffer = acc_integration_mem_alloc(resources->buffer_size);
if (resources->buffer == NULL)
{
printf("sensor buffer allocation failed\n");
return false;
}
resources->calibration_buffer = acc_integration_mem_alloc(resources->calibration_buffer_size);
if (resources->calibration_buffer == NULL)
{
printf("calibration buffer allocation failed\n");
return false;
}
return true;
}
static bool do_sensor_calibration(acc_sensor_t *sensor,
acc_cal_result_t *sensor_cal_result,
void *buffer,
uint32_t buffer_size)
{
bool status = false;
bool cal_complete = false;
const uint16_t calibration_retries = 1U;
// Random disturbances may cause the calibration to fail. At failure, retry at least once.
for (uint16_t i = 0; !status && (i <= calibration_retries); i++)
{
// Reset sensor before calibration by disabling/enabling it
acc_hal_integration_sensor_disable(SENSOR_ID);
acc_hal_integration_sensor_enable(SENSOR_ID);
do
{
status = acc_sensor_calibrate(sensor, &cal_complete, sensor_cal_result, buffer, buffer_size);
if (status && !cal_complete)
{
status = acc_hal_integration_wait_for_sensor_interrupt(SENSOR_ID, SENSOR_TIMEOUT_MS);
}
} while (status && !cal_complete);
}
if (status)
{
/* Reset sensor after calibration by disabling/enabling it */
acc_hal_integration_sensor_disable(SENSOR_ID);
acc_hal_integration_sensor_enable(SENSOR_ID);
}
return status;
}
static bool do_full_detector_calibration(distance_detector_resources_t *resources,
const acc_cal_result_t *sensor_cal_result)
{
bool done = false;
bool status;
do
{
status = acc_detector_distance_calibrate(resources->sensor,
resources->handle,
sensor_cal_result,
resources->buffer,
resources->buffer_size,
resources->calibration_buffer,
resources->calibration_buffer_size,
&done);
if (status && !done)
{
status = acc_hal_integration_wait_for_sensor_interrupt(SENSOR_ID, SENSOR_TIMEOUT_MS);
}
} while (status && !done);
return status;
}
static bool do_detector_recalibration(distance_detector_resources_t *resources,
const acc_cal_result_t *sensor_cal_result)
{
bool done = false;
bool status;
do
{
status = acc_detector_distance_recalibrate(resources->sensor,
resources->handle,
sensor_cal_result,
resources->buffer,
resources->buffer_size,
resources->calibration_buffer,
resources->calibration_buffer_size,
&done);
if (status && !done)
{
status = acc_hal_integration_wait_for_sensor_interrupt(SENSOR_ID, SENSOR_TIMEOUT_MS);
}
} while (status && !done);
return status;
}
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)
{
bool result_available = false;
do
{
if (!acc_detector_distance_prepare(resources->handle, resources->config, resources->sensor, sensor_cal_result, resources->buffer,
resources->buffer_size))
{
printf("acc_detector_distance_prepare() failed\n");
return false;
}
if (!acc_sensor_measure(resources->sensor))
{
printf("acc_sensor_measure() failed\n");
return false;
}
if (!acc_hal_integration_wait_for_sensor_interrupt(SENSOR_ID, SENSOR_TIMEOUT_MS))
{
printf("Sensor interrupt timeout\n");
return false;
}
if (!acc_sensor_read(resources->sensor, resources->buffer, resources->buffer_size))
{
printf("acc_sensor_read() failed\n");
return false;
}
if (!acc_detector_distance_process(resources->handle, resources->buffer, resources->calibration_buffer, &result_available,
result))
{
printf("acc_detector_distance_process() failed\n");
return false;
}
} while (!result_available);
return true;
}
static void print_distance_result(const acc_detector_distance_result_t *result)
{
printf("%d detected distances", result->num_distances);
if (result->num_distances > 0)
{
printf(": ");
for (uint8_t i = 0; i < result->num_distances; i++)
{
printf("%" PRIfloat " m ", ACC_LOG_FLOAT_TO_INTEGER(result->distances[i]));
}
}
printf("\n");
}
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