PSoC™ 6 MCU: Human Presence Detection with XENSIV™ 60-GHz Radar

This code example demonstrates Infineon's radar presence solution to detect human presence within a configurable distance. Powered by the XENSIV™ 60-GHz radar, this solution provides extremely high accuracy in detecting both micro and macro motions that enable efficient user interaction with devices.

View this README on GitHub.

Provide feedback on this code example.

Configuration on the fly

This code example uses a special optimization mechanism to demonstrate the switching between different radar device configurations on the fly. Depending on the application use case, you may want to switch between two or more radar configurations. For example, you can switch from radar device configured for presence detection to gesture control based on certain conditions within the user application (e.g., the range bin information of the detected target). In this particular code example, we demonstrate how the human presence application can benefit using power saving features enabled using dynamic reconfiguration. The present example uses the opportunity to save power by reconfiguring the radar sensor to slow down the frame rate. This is beneficial especially when running in the micro_if_macro mode. This mechanism is detailed in Optimization mechanism.

Requirements

ModusToolbox™ software v3.0 or later (tested with v3.0)
Board support package (BSP) minimum required version: 4.0.0
Programming language: C
Associated parts: All PSoC™ 6 MCU parts

Supported toolchains (make variable 'TOOLCHAIN')

GNU Arm® Embedded Compiler v10.3.1 (GCC_ARM) – Default value of TOOLCHAIN
Arm® Compiler v6.16 (ARM)
IAR C/C++ Compiler v9.30.1 (IAR)

Supported kits (make variable 'TARGET')

Rapid IoT connect developer kit (CYSBSYSKIT-DEV-01) – Default value of TARGET
Radar Embedded kit (KIT-BGT60TR13C-EMBEDD)
PSoC™ 6 AI Evaluation Kit (CY8CKIT-062S2-AI)

Hardware setup

For Rapid IoT Connect Developer Kit

This code example requires the XENSIV™ BGT60TR13C Radar Wing Board as part of the connected sensor kit.

Connect the radar wing board to the CYSBSYSKIT-DEV-01 kit through the pin headers.
Connect the CYSBSYSKIT-DEV-01 kit to the PC with the USB cable.

Figure 1. Rapid IoT Connect Developer Kit

Figure 2. XENSIV™ BGT60TR13C Wing Board
Place the CYSBSYSKIT-DEV-01 kit at a fixed location (for example, the corner of a room) to ensure optimal performance of the presence detection application.

For Radar Embedded Kit

Connect KIT-BGT60TR13C-EMBEDD to the PC with USB cable.

Figure 3. KIT-BGT60TR13C-EMBEDD
Place KIT-BGT60TR13C-EMBEDD at a fixed location (for example, the corner of a room) to ensure optimal performance of the presence detection application.

For PSoC 6 AI Evaluation Kit

Connect CY8CKIT-062S2-AI to the PC with USB cable.

Figure 4. CY8CKIT-062S2-AI
Place CY8CKIT-062S2-AI at a fixed location (for example, the corner of a room) to ensure optimal performance of the presence detection application.

Software setup

Install a terminal emulator if you don't have one. This document uses Tera Term.

This example requires no additional software or tools.

Using the code example

Create the project and open it using one of the following:

In Eclipse IDE for ModusToolbox™

Click the New Application link in the Quick Panel (or, use File > New > ModusToolbox™ Application). This launches the Project Creator tool.
Select the CYSBSYSKIT-DEV-01 kit supported by the code example from the PSoC™ 6 BSPs list shown in the Project Creator - Choose Board Support Package (BSP) dialog.

When you select a supported kit, the example is reconfigured automatically to work with the kit. To work with a different supported kit later, use the Library Manager to choose the BSP for the supported kit. You can use the Library Manager to select or update the BSP and firmware libraries used in this application. To access the Library Manager, click the link from the Quick Panel.

You can also just start the application creation process again and select a different kit.

If you want to use the application for a kit not listed here, you may need to update the source files. If the kit does not have the required resources, the application may not work.
In the Project Creator - Select Application dialog, choose the Human Presence Detection application from the Sensing group.

Note: Make sure that you choose the Human Presence Detection example, and NOT the "Radar Presence Application" located in the same group. This document refers only to the Human Presence Detection application.
(Optional) Change the suggested New Application Name.
The Application(s) Root Path defaults to the Eclipse workspace which is usually the desired location for the application. If you want to store the application in a different location, you can change the Application(s) Root Path value. Applications that share libraries should be in the same root path.
Click Create to complete the application creation process.

For more details, see the Eclipse IDE for ModusToolbox™ user guide (locally available at {ModusToolbox™ install directory}/ide_{version}/docs/mt_ide_user_guide.pdf).

In command-line interface (CLI)

ModusToolbox™ provides the Project Creator as both a GUI tool and a command line tool, "project-creator-cli". The CLI tool can be used to create applications from a CLI terminal or from within batch files or shell scripts. This tool is available in the {ModusToolbox™ install directory}/tools_{version}/project-creator/ directory.

Use a CLI terminal to invoke the "project-creator-cli" tool. On Windows, use the command line "modus-shell" program provided in the ModusToolbox™ installation instead of a standard Windows command-line application. This shell provides access to all ModusToolbox™ tools. You can access it by typing modus-shell in the search box in the Windows menu. In Linux and macOS, you can use any terminal application.

This tool has the following arguments:

Argument	Description	Required/optional
`--board-id`	Defined in the `<id>` field of the BSP manifest	Required
`--app-id`	Defined in the `<id>` field of the CE manifest	Required
`--target-dir`	Specify the directory in which the application is to be created if you prefer not to use the default current working directory	Optional
`--user-app-name`	Specify the name of the application if you prefer to have a name other than the example's default name	Optional

The following example will clone the "Human Presence Detection" application with the desired name "HumanPresenceDetection" configured for the CYSBSYSKIT-DEV-01 BSP into the specified working directory, C:/mtb_projects:

project-creator-cli --board-id CYSBSYSKIT-DEV-01 --app-id mtb-example-psoc6-radar-presence --user-app-name HumanPresenceDetection --target-dir "C:/mtb_projects"

Note: The project-creator-cli tool uses the git clone and make getlibs commands to fetch the repository and import the required libraries. For details, see the "Project creator tools" section of the ModusToolbox™ user guide (locally available at {ModusToolbox™ install directory}/docs_{version}/mtb_user_guide.pdf).

In third-party IDEs

Use one of the following options:

Use the standalone Project Creator tool:
1. Launch Project Creator from the Windows Start menu or from {ModusToolbox™ install directory}/tools_{version}/project-creator/project-creator.exe.
2. In the initial Choose Board Support Package screen, select the BSP and click Next.
3. In the Select Application screen, select the appropriate IDE from the Target IDE drop-down menu.
4. Click Create and follow the instructions printed in the bottom pane to import or open the exported project in the respective IDE.

Use command-line interface (CLI):
1. Follow the instructions from the In command-line interface (CLI) section to create the application, and import the libraries using the make getlibs command.
2. Export the application to a supported IDE using the make <ide> command.
3. Follow the instructions displayed in the terminal to create or import the application as an IDE project.

For a list of supported IDEs and more details, see the "Exporting to IDEs" section of the ModusToolbox™ user guide (locally available at {ModusToolbox™ install directory}/docs_{version}/mtb_user_guide.pdf).

Note: To use this code example in ModusToolbox v2.4, see XENSIV™ KIT_CSK_BGT60TR13C user guide.

Operation

Mount the radar wing board on the CYSBSYSKIT-DEV-01 kit and connect the board to your PC using the provided USB cable through the KitProg3 USB connector.
Open a terminal program and select the KitProg3 COM port. Set the serial port parameters to 8N1 and 115200 baud.
Program the board using one of the following:
Using Eclipse IDE for ModusToolbox™
1. Select the application project in the Project Explorer.
2. In the Quick Panel, scroll down, and click <Application Name> Program (KitProg3_MiniProg4).
Using CLI

From the terminal, execute the make program command to build and program the application using the default toolchain to the default target. The default toolchain and target are specified in the application's Makefile but you can override those values manually:
```
make program TARGET=<BSP> TOOLCHAIN=<toolchain>
```
Example:
```
make program TARGET=CYSBSYSKIT-DEV-01 TOOLCHAIN=GCC_ARM
```
(Only for KIT-BGT60TR13C-EMBEDD) KIT-BGT60TR13C-EMBEDD requires an external programmer such as MiniProg4 that uses the SWD interface. Set the proper jumpers on switches S3 and S5.
1. Switch S3: Close pins 1 and 2, and open pins 3 and 4.
  
  Figure 5. Switch 3 position
2. Switch S5: Close pins 1 and 2, and open pins 3 and 4.
  
  Figure 6. Switch 5 position
3. Connect KIT-BGT60TR13C-EMBEDD SWD interface with the programmer. Then, plug the USB cables for the board and for the programmer to power on both.
4. Open a terminal program and select a COM port where the board is connected (not the MiniProg4 port). Set the serial port parameters to 8N1 and 115200 baud.
5. Program the board using one of the following:
  Using Eclipse IDE for ModusToolbox™
  1. Select the application project in the Project Explorer.
  2. In the Quick Panel, scroll down, and click <Application Name> Program (KitProg3_MiniProg4).
  Using CLI
  
  From the terminal, execute:
```
make program TARGET=KIT-BGT60TR13C-EMBEDD TOOLCHAIN=GCC_ARM
```

After programming, the application starts automatically. Confirm that "Human presence detection using XENSIV 60-GHz radar" is displayed on the UART terminal. The information that is printed out is in the following format: [INFO] Radar State Range Bin Time stamp Current presence state, Current radar setting

Figure 7. Terminal output choosing different configs

Table 1. Terminal outputs

Parameters	Event type	Description
Radar State	Macro presence	Presence event detected.
Range bin	2	Maximum range bin
Time stamp	'4298'	Relative time in ms
Current presence state	0	0: Macro, 1: Micro, 2: Absence
Current radar setting	10 Hz	10 Hz: Low frame rate 200 Hz: High frame rate

Note: Time Stamp is relative to the boot time. This means that when the application boots up first, the time counting starts from 0 ms.

Conversion of range bin to range in meters can be done by using the following relation:

R (range in meters) = (xensiv_radar_presence_get_bin_length() * config.max_range_bin)

For example: If xensiv_radar_presence_get_bin_length() = 0.325, R = 0.325 * 2 = 0.66 m

Confirm that the kit LED blinks at approximately 1 Hz.

The presence information is provided either as a macro or micro presence which can be seen through prints on the terminal. In addition, the onboard LED turns red which indicates that the radar detected a target. When the target leaves the detection zone, the terminal prints a absence message and LED turns green. For CY8CKIT-062S2-AI, LED2 (red) will turn ON for absence message.

Sensor information and LEDs

For CYSBSYSKIT-DEV-01, the radar task is suspended if the radar wing board is not connected to the feather kit. The sensor initialization process is indicated by blinking the red LED (CYBSP_USER_LED). The red LED (CYBSP_USER_LED) on CYSBSYSKIT-DEV-01 keeps blinking when the system is operational (ready state).

Note that there is no user LED for KIT-BGT60TR13C-EMBEDD board.

The LED indicates different events with different colors as follows:

Table 2. Events and LED indication for CYSBSYSKIT-DEV-01 and KIT-BGT60TR13C-EMBEDD

LED color	Event type	Description
Red	`XENSIV_RADAR_PRESENCE_STATE_MACRO_PRESENCE`	Presence event detected.
Red	`XENSIV_RADAR_PRESENCE_STATE_MICRO_PRESENCE`	Presence event detected.
Green	`XENSIV_RADAR_PRESENCE_STATE_ABSENCE`	Absence event detected.

Table 3. Events and LED indication for CY8CKIT-062S2-AI

LED color	Event type	Description
Red (LED1)	`XENSIV_RADAR_PRESENCE_STATE_MACRO_PRESENCE`	Presence event detected.
Red (LED1)	`XENSIV_RADAR_PRESENCE_STATE_MICRO_PRESENCE`	Presence event detected.
Red (LED2)	`XENSIV_RADAR_PRESENCE_STATE_ABSENCE`	Absence event detected.

Configuration parameters

You can configure the application parameters using the options provided on the terminal as follows:

Press Enter to switch from 'work' to 'settings' mode.

Type help and press Enter to see a list of configurable parameters as shown in the Figure 7.

Figure 8. Configuration mode

The following table lists the configurable parameters with valid values:

Table 4. Presence algorithm configuration parameters

Key	Default value	Valid Values
set_max_range (m)	2.0	0.66–5.0
set_macro_threshold	0.5	0.5–2.0
set_micro_threshold	12.5	0.2–50.0
bandpass_filter	disable	enable/disable
decimation_filter	disable	enable/disable
set_mode	micro_if_macro	macro_only/micro_only/micro_if_macro/micro_and_macro

Note the following:

Micro motions: Detecting small movements such as finger gestures or small head movements in a typical smart home environment. These include working on a laptop or keyboard, or normal breathing, and blinking of the eyes in sitting or standing positions (in line of sight).
Macro motions: Detecting major movements into or through the field of view (motion detection).

Note: Macro and micro threshold parameters can be adjusted to achieve different levels of sensitivity. The following table summarizes three different levels. For example, high sensitivity means that the solution is more sensitive to smaller movements. You can set any threshold values based on your use case requirement.

Table 5. Sensitivity levels with corresponding threshold setting

Sensitivity	Macro_threshold_value	Micro_threshold_value
High	0.5	12.5
Medium	1.0	25
Low	2.0	50

Type the command name with the required value and press Enter.

If the parameter update is successful, "ok" is displayed; otherwise "command not recognized" or "invalid value" is printed.

For details, see the XENSIV™ Radar Presence API Reference Guide.

Infineon XENSIV™ Config Tool

The XENSIV™ Config Tool is a web-based tool that enables offline evaluation of applications without having to go into an embedded development environment. Using this tool, you can visualize the sensor data for the application, configure application parameters, flash the device with a pre-compiled code example binary, or retrieve the code example directly from GitHub for further development.

Debugging

You can debug the example to step through the code. In the IDE, use the <Application Name> Debug (KitProg3_MiniProg4) configuration in the Quick Panel. For details, see the "Program and debug" section in the Eclipse IDE for ModusToolbox™ user guide.

Note: (Only while debugging) On the CM4 CPU, some code in main() may execute before the debugger halts at the beginning of main(). This means that some code executes twice – once before the debugger stops execution, and again after the debugger resets the program counter to the beginning of main(). See KBA231071 to learn about this and for the workaround.

Design and implementation

Resources and settings

This application uses a modular approach to build a presence application combining a radar driver and presence algorithm library and the following components:

Figure 9. Application overview

The radar configuration parameters are generated from a PC tool and saved in radar_settings.h. For more details, see the XENSIV™ BGT60TRxx Radar API Reference Guide.

After initialization, the application runs in an event-driven way. The radar interrupt is used to notify the MCU which retrieves the raw data into a software buffer and then triggers the main task to normalize and feed the data to the presence library.

Figure 10. Application execution

Optimization mechanism

This code example uses a special optimization mechanism to demonstrate the switching between different radar device configurations:

Low frame rate sufficient for macro movement detection
High frame rate required for micro movement detection

Thus, in the default presence detection mode of micro_if_macro, the radar device could be configured with the low frame rate by default and only be reconfigured with the high frame rate config when it is expected to perform micro detection. By implementing such a mechanism, the application benefits from some power-savings.

In the processing task, the optimization object is initialized with the reconfiguration function pointer. The application then goes on to run the presence algorithm normally. The evaluation for the reconfiguration of the radar device is performed on two cases:

The application receives a request to change the presence detection mode (e.g., macro_only to micro_if_macro)
A change in the presence detection state (e.g., absence to macro detected)

The radar device reconfiguration involves rewriting the radar registers with a set of new values, reconfiguring the radar FIFO limit and restarting the radar frame.

Configuration logic

The following configuration logic (see table below) is deployed in the evaluation process when the application is operating in MICRO_IF_MACRO mode.

If the radar is currently configured with low frame rate and has detected a macro presence, it is next expected to be able to also detect a micro presence. Therefore, the radar needs to be reconfigured with high frame rate.
If the radar is currently configured with high frame rate, and has detected a macro presence instead of a micro presence, the radar can be next reconfigured with the low frame rate to save power.
If the radar is currently configured with high frame rate, and there is no presence detected (absence), the radar can be next reconfigured with low frame rate to detect a macro presence.

Adding different configurations

Each radar configuration is a structure containing a pointer to a register list, the number of registers, and the FIFO limit. To use a radar configuration suitable for your application, perform the two fundamental steps:

In optimization_list.h, edit or add to the existing configurations (i.e., optimizations_list[] and optimization_type_e) in the code example.
Provide the new configuration register list per the example given in radar_high_framerate_config.h and radar_low_framerate_config.h. You can use the BGT60TRXX MTB Driver to generate the register list.

typedef struct {

    uint32_t *reg_list;
    uint8_t  reg_list_size;
    uint32_t fifo_limit;
}optimization_s;

optimization_s optimizations_list [] = {
        {
                register_list_macro_only,

                XENSIV_BGT60TRXX_CONF_NUM_REGS_MACRO,

                NUM_SAMPLES_PER_FRAME*2
        },
        {
                register_list_micro_only,

                XENSIV_BGT60TRXX_CONF_NUM_REGS_MICRO,

                NUM_SAMPLES_PER_FRAME*2
        }
        {
                register_list_user_config,

                XENSIV_BGT60TRXX_CONF_NUM_REGS_USER_CONFIG,

                NUM_SAMPLES_PER_FRAME*2
        }

};

typedef enum
{
    CONFIG_LOW_FRAME_RATE_OPT,
    CONFIG_HIGH_FRAME_RATE_OPT,
    CONFIG_USER_CONFIG_OPT,
    CONFIG_UNINITIALIZED = 64
} optimization_type_e;

Optimizer API

Table 6. API functions

API function	Description
`radar_config_optimizer_init`	Initializes optimization component. Needs a pointer to radar reconfiguration function.
`radar_config_optimizer_set_operational_mode`	Saves the new mode to which you want to switch. This function is called during mode selection in the CLI.
`radar_config_optimize`	Switches to the new mode. The new list of registers is chosen and saved into the radar, depending on the selected mode and last presence event.
`radar_config_get_current_optimization`	Returns the current chosen optimization mode: low or high frame rate.

Table 7. Application resources

Resource	Alias/object	Purpose
UART (HAL)	cy_retarget_io_uart_obj	UART HAL object used by Retarget-IO for the Debug UART port
SPI (HAL)	spi	SPI master driver to communicate with radar sensor
GPIO (HAL)	CYBSP_USER_LED	User LED
GPIO (HAL)	CYBSP_USER_LED_RED	User LED
GPIO (HAL)	CYBSP_USER_LED_GREEN	User LED
GPIO (HAL)	CYBSP_USER_LED_BLUE	User LED

Related resources

Resources	Links
Application notes	AN228571 – Getting started with PSoC™ 6 MCU on ModusToolbox™ AN215656 – PSoC™ 6 MCU: Dual-CPU system design
Code examples	Using ModusToolbox™ on GitHub
Device documentation	PSoC™ 6 MCU datasheets PSoC™ 6 technical reference manuals
Development kits	XENSIV™ KIT CSK BGT60TR13C MM5D91-00 Presence Detection Evaluation Kit
Libraries on GitHub	sensor-xensiv-bgt60trxx – Driver library to interface with the XENSIV™ BGT60TRxx 60 GHz FMCW radar sensors xensiv-radar-presence – Presence library to detect human presence using XENSIV™ BGT60TR13C sensor-dsp – Sensor-DSP library to provide signal processing functions for sensor applications mtb-pdl-cat1 – PSoC™ 6 peripheral driver library (PDL) mtb-hal-cat1 – Hardware abstraction layer (HAL) library retarget-io – Utility library to retarget STDIO messages to a UART port
Middleware on GitHub	psoc6-middleware – Links to all PSoC™ 6 MCU middleware
Tools	Eclipse IDE for ModusToolbox™ – ModusToolbox™ is a collection of easy-to-use software and tools enabling rapid development with Infineon MCUs, covering applications from embedded sense and control to wireless and cloud-connected systems using AIROC™ Wi-Fi and Bluetooth® connectivity devices.

Other resources

Infineon provides a wealth of data at www.infineon.com to help you select the right device, and quickly and effectively integrate it into your design.

For PSoC™ 6 MCU devices, see How to design with PSoC™ 6 MCU - KBA223067 in the Infineon community.

For more information about Connected Sensor Kit, see IoT Sensors Platform.

Document history

Document title: CE236057 – PSoC™ 6 MCU : Human presence detection with XENSIV™ 60-GHz radar

Version	Description of change
0.5.1	New code example
1.0.0	Major update to support ModusToolbox™ v3.0 CE will not be backward compatible with previous versions of ModusToolbox™
2.0.0	Added support to demonstrate switching of radar configurations on the fly
2.1.0	Added support for CY8CKIT-062S2-AI

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mtb-example-psoc6-radar-presence/README.md