README.md

# Connected sensor kit: Radar presence application

## Overview

This code example demonstrates Infineon's radar presence solution to detect human presence within a configurable distance. Powered by the [XENSIV™ 60-GHz radar](https://www.infineon.com/cms/en/product/sensor/radar-sensors/radar-sensors-for-iot/60ghz-radar/), this solution provides extremely high accuracy in detecting both micro and macro motions. The ability to detect micro motion offers unique benefits over conventional technologies deployed to detect human presence, thus making it perfect for user interaction with devices.

[View this README on GitHub.](https://github.com/Infineon/mtb-example-sensors-radar-presence)

[Provide feedback on this code example.](https://cypress.co1.qualtrics.com/jfe/form/SV_1NTns53sK2yiljn?Q_EED=eyJVbmlxdWUgRG9jIElkIjoiQ0UyMzI2MjQiLCJTcGVjIE51bWJlciI6IjAwMi0zMjYyNCIsIkRvYyBUaXRsZSI6IkNvbm5lY3RlZCBzZW5zb3Iga2l0OiBSYWRhciBwcmVzZW5jZSBhcHBsaWNhdGlvbiIsInJpZCI6Ind1eWFuZyIsIkRvYyB2ZXJzaW9uIjoiMS4xLjAiLCJEb2MgTGFuZ3VhZ2UiOiJFbmdsaXNoIiwiRG9jIERpdmlzaW9uIjoiTUNEIiwiRG9jIEJVIjoiU0JTWVMiLCJEb2MgRmFtaWx5IjoiU1VCU1lTIn0=)

## Features

- Ability to detect both micro and macro motions

- Configurable parameters (maximum range, sensitivity) via terminal UI

- Immunity from environmental factors such as temperature, wind, sunlight, and dust/debris

## Requirements

- [ModusToolbox™ software](https://https://www.infineon.com/modustoolbox) v2.4 or later (tested with v2.4)
- Board support package (BSP) minimum required version: 3.0.0
- Programming language: C
- Associated parts: All [PSoC™ 6 MCU](https://www.infineon.com/PSoC6) parts

## Supported toolchains (make variable 'TOOLCHAIN')

- GNU Arm® embedded compiler v10.3.1 (`GCC_ARM`) - Default value of `TOOLCHAIN`
- Arm® compiler v6.13 (`ARM`)
- IAR C/C++ compiler v8.42.2 (`IAR`)

## Supported kits (make variable 'TARGET')

- Rapid IoT connect developer kit (`CYSBSYSKIT-DEV-01`) - Default value of `TARGET`
- Radar Embedded kit (`KIT-BGT60TR13C-EMBEDD`)

## 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.

   1. Connect the radar wing board to the CYSBSYSKIT-DEV-01 kit through the pin headers.

   2. Connect the CYSBSYSKIT-DEV-01 kit to the PC with the USB cable.

   3. 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

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

   2. Place KIT-BGT60TR13C-EMBEDD 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. Instructions in this document use [Tera Term](https://ttssh2.osdn.jp/index.html.en).

This example requires no additional software or tools.

## Using the code example

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

<details><summary><b>In Eclipse IDE for ModusToolbox&trade; software</b></summary>

1. Click the **New Application** link in the **Quick Panel** (or, use **File** > **New** > **ModusToolbox&trade; Application**). This launches the [Project Creator](https://www.infineon.com/ModusToolboxProjectCreator) tool.

2. Pick a kit supported by the code example from the 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](https://www.infineon.com/ModusToolboxLibraryManager) 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.

3. In the **Project Creator - Select Application** dialog, choose the example by enabling the checkbox.

4. (Optional) Change the suggested **New Application Name**.

5. 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.

6. Click **Create** to complete the application creation process.

For more details, see the [Eclipse IDE for ModusToolbox&trade; software user guide](https://www.infineon.com/MTBEclipseIDEUserGuide) (locally available at *{ModusToolbox&trade; software install directory}/ide_{version}/docs/mt_ide_user_guide.pdf*).

</details>

<details><summary><b>In command-line interface (CLI)</b></summary>

ModusToolbox&trade; software provides the Project Creator as both a GUI tool and the 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&trade; software 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&trade; software installation instead of a standard Windows command-line application. This shell provides access to all ModusToolbox&trade; software 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](https://github.com/Infineon?q=bsp-manifest&type=&language=&sort=) manifest | Required
`--app-id`   | Defined in the `<id>` field of the [CE](https://github.com/Infineon?q=ce-manifest&type=&language=&sort=) 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

<br>

The following example will clone the "[Hello world](https://github.com/Infineon/mtb-example-psoc6-hello-world)" application with the desired name "MyHelloWorld" configured for the *CY8CKIT-062-WIFI-BT* BSP into the specified working directory, *C:/mtb_projects*:

   ```
   project-creator-cli --board-id CY8CKIT-062-WIFI-BT --app-id mtb-example-psoc6-hello-world --user-app-name MyHelloWorld --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&trade; software user guide](https://www.infineon.com/ModusToolboxUserGuide) (locally available at *{ModusToolbox&trade; software install directory}/docs_{version}/mtb_user_guide.pdf*).

</details>

<details><summary><b>In third-party IDEs</b></summary>

Use one of the following options:

- **Use the standalone [Project Creator](https://www.infineon.com/ModusToolboxProjectCreator) tool:**

   1. Launch Project Creator from the Windows Start menu or from *{ModusToolbox&trade; software 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.

<br>

- **Use command-line interface (CLI):**

   1. Follow the instructions from the **In command-line interface (CLI)** section to create the application, and then 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&trade; software user guide](https://www.infineon.com/ModusToolboxUserGuide) (locally available at *{ModusToolbox&trade; software install directory}/docs_{version}/mtb_user_guide.pdf*).

</details>

## Operation

<details><summary><b>For CYSBSYSKIT-DEV-01</b></summary>

1. Connect the CYSBSYSKIT-DEV-01 kit with the radar wing board to the PC.

2. Open a terminal program and select the KitProg3 COM port. Set the serial port parameters to 8N1 and 115200 baud.

3. Program the board using one of the following:

   <details><summary><b>Using Eclipse IDE for ModusToolbox&trade; software</b></summary>

      1. Select the application project in the Project Explorer.

      2. In the **Quick Panel**, scroll down, and click **\<Application Name> Program (KitProg3_MiniProg4)**.
   </details>

   <details><summary><b>Using CLI</b></summary>

     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>
      ```

   For the Rapid IoT connect developer kit:

      ```
       make program TARGET=CYSBSYSKIT-DEV-01 TOOLCHAIN=GCC_ARM
      ```

   </details>

4. After programming, the application starts automatically. Confirm that "Connected Sensor Kit: Radar Presence Application on FreeRTOS" along with a list of configurable parameters is displayed on the UART terminal.

</details>

<details><summary><b>For KIT-BGT60TR13C-EMBEDD</b></summary>

1. To work with KIT-BGT60TR13C-EMBEDD, we need an external programmer, such as MiniProg4, that uses the SWD interface.

   ![](images/miniprog4.png)

   To make the UART work properly on the Radar Embedded kit board, set the proper jumpers on the S3 and S5 switches.
   For the S3 switch, pins 1 and 2 must be closed and pins 3 and 4 must be opened.

   ![](images/s3_pins.png)

   For the S5 switch, pins 1 and 2 must be closed and pins 3 and 4 must be opened.

   ![](images/s5_pins.png)

   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 of them.

2. 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.

3. Program the board using one of the following:
   <details><summary><b>Using Eclipse IDE for ModusToolbox&trade; software</b></summary>

      1. Select the application project in the Project Explorer.

      2. In the **Quick Panel**, scroll down, and click **\<Application Name> Program (KitProg3_MiniProg4)**.
   </details>

   <details><summary><b>Using CLI</b></summary>

     From the terminal, execute:

      ```
      make program TARGET=KIT-BGT60TR13C-EMBEDD TOOLCHAIN=GCC_ARM
      ```

    </details>

4. After programming, the application starts automatically. Confirm that "Connected Sensor Kit: Radar Presence Application on FreeRTOS" along with a list of configurable parameters is displayed on the UART terminal.

</details>

   **Figure 1. Terminal output on program startup**

   ![](images/terminal-presence.png)

   When the radar detects a target, the presence information is provided through prints on the terminal as well as an onboard LED glowing red. Additionally, the distance of the target (in meters) is also displayed along with the elapsed system time (in milliseconds).
   When the target leaves the detection zone, the terminal prints a message about it, along with the current system time.

### Sensor information and LEDs

1. 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 remains turned on when the system is operational (ready state).

2. The LED indicates different events with different patterns as follows:

    **Table 1. Events and LED glow patterns**

   | LED pattern  |  Event type  |  Comment  |
   | ----------- | ----------- | -----    |
   | **Presence sensing** |
   | LED glows in red color | `MTB_RADAR_SENSING_EVENT_PRESENCE_IN` | Presence event detected. Entering field of view
   | LED stable in green color | `MTB_RADAR_SENSING_EVENT_PRESENCE_OUT` | Presence event detected. Leaving filed of view

### Configure parameters

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

1. Press `r` to change the maximum radar detection range, which is the maximum range up to which the radar detects a target.

   Supported values: 0.66-10.2 m. Default value: 2 m

2. Press `s` to change the sensitivity of the radar for presence detection. The change in sensitivity affects the speed of object detection.

   Supported values: "high", "medium", "low". Default value: "medium"

For details, see the [RadarSensing library API documentation](https://infineon.github.io/xensiv-radar-sensing/radarsensing_api_reference_manual/html/index.html).

## 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&trade; software user guide](https://www.infineon.com/MTBEclipseIDEUserGuide).

**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](https://community.cypress.com/docs/DOC-21143) to learn about this and for the workaround.

## Design and implementation

### Resources and settings

**Table 1. Application source files**

|**File Name**            |**Comments**         |
| ------------------------|-------------------- |
| *main.c* |Has the application entry function. It sets up the board support package, global interrupts, and UART, and then initializes the controller tasks.|
| *radar_task.c* |Initializes the LEDs and has the task entry function for presence application, as well as the callback function|
| *radar_terminal_ui.c* |Has the task entry function for a simple version of the terminal UI configuration |

<br>

**Table 2. Functions in *main.c***

| **Function name** | **Functionality** |
| ------------------------|-------------------- |
| `main` | Main function for the CM4 CPU. It does the following:<br>1. Initializes the BSP<br>2. Enables global interrupts<br>3. Initializes Retarget IO<br>4. Creates the radar presence task and terminal configuration task<br>6. Starts the scheduler

<br>

**Table 3. Functions in *radar_task.c***

| **Function name** | **Functionality** |
| ------------------------|-------------------- |
| `radar_sensing_callback` | Callback function for RadarSensing processing |
| `radar_task` | Initializes the RadarSensing module and LEDs, and starts the loop of processing |
| `radar_presence_task_set_mute` | Enables/disables terminal output from the radar task |

<br>

**Table 4. Functions in *radar_terminal_ui.c***

| **Function name** | **Functionality** |
| ------------------------|-------------------- |
| `terminal_ui_menu` | Prints the menu for parameter configuration |
| `terminal_ui_info` | Prints the help information |
| `terminal_ui_readline` | Gets the user input from the terminal |
| `terminal_ui_print_result` | Prints out the action result of the parameter configuration |
| `radar_presence_terminal_ui` | Starts the terminal UI task loop |

<br>

**Table 5. Application resources**

| Resource  |  Alias/object     |    Purpose     |
| :-------- | :-------------    | :------------- |
| UART (HAL) | cy_retarget_io_uart_obj | UART HAL object used by Retarget IO for Debug UART port |
| GPIO (HAL) | LED_RGB_RED      | LED to indicate presence |
| GPIO (HAL) | LED_RGB_GREEN    | LED to indicate absence |
| SPI | mSPI | Communication with radar hardware |

The application uses a UART resource from the [hardware abstraction layer](https://github.com/Infineon/mtb-hal-cat1) (HAL) to print messages in a UART terminal emulator. The UART resource initialization and retargeting of standard I/O to the UART port is done using the [retarget-io](https://github.com/Infineon/retarget-io) library. After using `cy_retarget_io_init`, messages can be printed on the terminal by simply using `printf` commands.

The LEDs on the radar wing board are used to show the presence and absence information.

In the terminal task, `cyhal_uart_getc`, `cyhal_uart_putc`, and `printf` are used to display a textual menu to the user, get the user input, and display feedback.

In the radar task, the SPI bus is used for communication with the radar hardware.

## Related resources

Resources  | Links
-----------|----------------------------------
Application notes  |[AN228571](https://www.infineon.com/AN228571) – Getting started with PSoC&trade; 6 MCU on ModusToolbox&trade; software
Code examples  | [Using ModusToolbox&trade; software](https://github.com/Infineon/Code-Examples-for-ModusToolbox-Software) on GitHub
Device documentation | [PSoC&trade; 6 MCU datasheets](https://www.infineon.com/search/all?f[0]=meta_type%3Atechnical_documents&f[1]=resource_meta_type%3A575&f[2]=field_related_products%3A114026) <br> [PSoC&trade; 6 technical reference manuals](https://www.infineon.com/search/all/PSoC%206%20Technical%20Reference%20Manual?f[0]=meta_type%3Atechnical_documents&f[1]=resource_meta_type%3A583)
Development kits | [Connected sensor kit](https://www.infineon.com/connectedsensorkit) <br> CYSBSYSKIT-DEV-01 rapid IoT connect developer kit <br> KIT-BGT60TR13C-EMBEDD Radar Embedded Kit
Libraries on GitHub  | [mtb-pdl-cat1](https://github.com/Infineon/mtb-pdl-cat1) – PSoC&trade; 6 peripheral driver library (PDL)  <br> [mtb-hal-cat1](https://github.com/Infineon/mtb-hal-cat1) – Hardware abstraction layer (HAL) library <br> [retarget-io](https://github.com/Infineon/retarget-io) – Utility library to retarget STDIO messages to a UART port<br> [xensiv-radar-sensing](https://github.com/Infineon/xensiv-radar-sensing) – RadarSensing library API to detect the presence and count people using the XENSIV™ BGT60TR13C radar wing board
Middleware on GitHub  | [psoc6-middleware](https://github.com/Infineon/modustoolbox-software#psoc-6-middleware-libraries) – Links to all PSoC&trade; 6 MCU middleware
Tools  | [Eclipse IDE for ModusToolbox&trade; software](https://www.infineon.com/modustoolbox): ModusToolbox&trade; software 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&trade; Wi-Fi and Bluetooth® connectivity devices.

<br>

## 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&trade; 6 MCU devices, see [How to design with PSoC&trade; 6 MCU - KBA223067](https://community.cypress.com/docs/DOC-14644) in the Cypress community.

## Document history

Document title: *CE232624* – *Connected sensor kit: Radar presence application on FreeRTOS*

| Version | Description of change |
| ------- | --------------------- |
| 0.5.0   | New code example      |
| 1.0.0   | Update to: <br>1. Support xensiv-radar-sensing v1.X library <br>2. Reduce drive strength to improve EMI      |
| 1.1.0   | Update to: <br>1. Add support for KIT-BGT60TR13C-EMBEDD <br> 2. Add support for IAR/ARM compilers |
------

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