This library provides APIs to interface with the RadarSensing library that allows user to use existing radar applications such as presence detection, entrance counter or build applications on top.
For the HW setup check XENSIV™ BGT60TRxx Radar Sensor
Do the following to create a simple application which shows the occurred radar events for presence detection or entrance counter.
- Create an empty PSoC™ 6 application.
- Add this library to the application
- Add the retarget-io library using the library manager.
- Place the following code in the main.c file.
- Choose the application event type uncommenting the proper #define PRESENCE_DETECTION or COUNTING_PERSONS.
- Define SPI interface and other used pins for your hardware configuration.
- Build the application and program the kit.
/******************************************************************************
* File Name: main.c
*
* Description: This is the source code for the Xensiv-Radar-Sensing Example
* for ModusToolbox.
*
* Related Document: See README.md
*
*
*******************************************************************************
#include "cy_pdl.h"
#include "cy_retarget_io.h"
#include "cybsp.h"
#include "cyhal.h"
#include "mtb_radar_sensing.h"
/*******************************************************************************
* Macros
********************************************************************************/
#define PRESENCE_DETECTION
//#define COUNTING_PERSONS
/* Timer resolution 1ms */
#define TICKS_PER_SECOND 1000
/* RADAR sensor SPI frequency */
#define SPI_FREQUENCY (2000000UL)
// Radar pins
/** Pin for the shared SPI CS Signal */
#define CYBSP_SPI_CS (P5_3)
/** Pin for the shared RESET Signal */
#define CYBSP_RESET (P9_2)
/** Pin for the shared LDO EN Signal */
#define CYBSP_LDO_EN (P8_4)
/** Pin for the shared IRQ Signal */
#define CYBSP_IRQ (P9_3)
//leds
/* Pin number designated for LED RED */
#define LED_RED (CYBSP_GPIOA0)
/* Pin number designated for LED GREEN */
#define LED_GREEN (CYBSP_GPIOA1)
/* LED off */
#define LED_STATE_OFF (0U)
/* LED on */
#define LED_STATE_ON (1U)
// Debug UART pins
/** Pin for the Debug Uart RX */
#define CYBSP_DEBUG_UART_RX (P5_4)
/** Pin for the Debug Uart TX */
#define CYBSP_DEBUG_UART_TX (P5_5)
#define UNUSED(x) (void)(x)
/*******************************************************************************
* Function Prototypes
********************************************************************************/
#if defined(COUNTING_PERSONS)
static void radar_counter_callback(mtb_radar_sensing_context_t *context,
mtb_radar_sensing_event_t event,
mtb_radar_sensing_event_info_t *event_info,
void *data);
#else
static void radar_presence_sensing_callback(mtb_radar_sensing_context_t *context,
mtb_radar_sensing_event_t event,
mtb_radar_sensing_event_info_t *event_info,
void *data);
#endif
/*******************************************************************************
* Global Variables
********************************************************************************/
static volatile uint32_t ticks = 0;
static mtb_radar_sensing_mask_t application_type =
#if defined(COUNTING_PERSONS)
MTB_RADAR_SENSING_MASK_COUNTER_EVENTS
#else
MTB_RADAR_SENSING_MASK_PRESENCE_EVENTS
#endif
;
static mtb_radar_sensing_callback_t callback_function =
#if defined(COUNTING_PERSONS)
radar_counter_callback
#else
radar_presence_sensing_callback
#endif
;
static mtb_radar_sensing_context_t radar_context;
/*******************************************************************************
* Function Name: SysTick_Handler
********************************************************************************
* Summary:
* This is the interrupt handler function for the SysTick timer interrupt.
* It counts the time elapsed in milliseconds since the timer started.
*
* Parameters:
* none
*
* Return:
* none
*
*******************************************************************************/
void SysTick_Handler(void)
{
ticks++;
}
/*******************************************************************************
* Function Name: sys_now
********************************************************************************
* Summary:
* Returns the current time in milliseconds.
*
* Parameters:
* none
*
* Return:
* the current time in milliseconds
*
*******************************************************************************/
__STATIC_INLINE uint64_t sys_now(void)
{
return ticks;
}
/*******************************************************************************
* Function Name: main
********************************************************************************
* Summary:
* This is the main function. It does:
* 1. Configure the board.
* 2. Initializating the radar.
* 3. Setting the callback function depending on the choosed application type: presence detection, counting persons.
* 4. Enabling the radar sensing.
* 5. Processing the radar events and printing the results on the console.
*
* Parameters:
* void
*
* Return:
* int
*
*******************************************************************************/
int main(void)
{
cy_rslt_t result;
cyhal_spi_t mSPI;
mtb_radar_sensing_hw_cfg_t hw_cfg = {.spi_cs = CYBSP_SPI_CS,
.reset = CYBSP_RESET,
.ldo_en = CYBSP_LDO_EN,
.irq = CYBSP_IRQ,
.spi = &mSPI};
/* Configure a 1ms SysTick interrupt */
SysTick_Config(SystemCoreClock / TICKS_PER_SECOND);
result = cybsp_init();
CY_ASSERT(result == CY_RSLT_SUCCESS);
/* Enable global interrupts. */
__enable_irq();
/* Initialize two LED ports and set LEDs' initial state to off */
result = cyhal_gpio_init(LED_RED, CYHAL_GPIO_DIR_OUTPUT, CYHAL_GPIO_DRIVE_STRONG, LED_STATE_OFF);
if (result != CY_RSLT_SUCCESS)
{
CY_ASSERT(0);
}
result = cyhal_gpio_init(LED_GREEN, CYHAL_GPIO_DIR_OUTPUT, CYHAL_GPIO_DRIVE_STRONG, LED_STATE_OFF);
if (result != CY_RSLT_SUCCESS)
{
CY_ASSERT(0);
}
/* Initialize retarget-io to use the debug UART port */
result = cy_retarget_io_init(CYBSP_DEBUG_UART_TX, CYBSP_DEBUG_UART_RX, CY_RETARGET_IO_BAUDRATE);
CY_ASSERT(result == CY_RSLT_SUCCESS);
/* Activate radar reset pin */
result = cyhal_gpio_init(hw_cfg.reset, CYHAL_GPIO_DIR_OUTPUT, CYHAL_GPIO_DRIVE_STRONG, true);
CY_ASSERT(result == CY_RSLT_SUCCESS);
/* Enable LDO */
result = cyhal_gpio_init(hw_cfg.ldo_en, CYHAL_GPIO_DIR_OUTPUT, CYHAL_GPIO_DRIVE_STRONG, true);
CY_ASSERT(result == CY_RSLT_SUCCESS);
/* Enable IRQ pin */
result = cyhal_gpio_init(hw_cfg.irq, CYHAL_GPIO_DIR_INPUT, CYHAL_GPIO_DRIVE_PULLDOWN, false);
CY_ASSERT(result == CY_RSLT_SUCCESS);
/* CS handled manually */
result = cyhal_gpio_init(hw_cfg.spi_cs, CYHAL_GPIO_DIR_OUTPUT, CYHAL_GPIO_DRIVE_STRONG, true);
CY_ASSERT(result == CY_RSLT_SUCCESS);
/* Configure SPI interface */
if (cyhal_spi_init(hw_cfg.spi,
CYBSP_SPI_MOSI,
CYBSP_SPI_MISO,
CYBSP_SPI_CLK,
NC,
NULL,
8,
CYHAL_SPI_MODE_00_MSB,
false) != CY_RSLT_SUCCESS)
CY_ASSERT(result == CY_RSLT_SUCCESS);
/* Reduce drive strength to improve EMI */
Cy_GPIO_SetSlewRate(CYHAL_GET_PORTADDR(CYBSP_SPI_MOSI), CYHAL_GET_PIN(CYBSP_SPI_MOSI), CY_GPIO_SLEW_FAST);
Cy_GPIO_SetDriveSel(CYHAL_GET_PORTADDR(CYBSP_SPI_MOSI), CYHAL_GET_PIN(CYBSP_SPI_MOSI), CY_GPIO_DRIVE_1_8);
Cy_GPIO_SetSlewRate(CYHAL_GET_PORTADDR(CYBSP_SPI_CLK), CYHAL_GET_PIN(CYBSP_SPI_CLK), CY_GPIO_SLEW_FAST);
Cy_GPIO_SetDriveSel(CYHAL_GET_PORTADDR(CYBSP_SPI_CLK), CYHAL_GET_PIN(CYBSP_SPI_CLK), CY_GPIO_DRIVE_1_8);
/* Set the data rate to 25 Mbps */
if (cyhal_spi_set_frequency(hw_cfg.spi, SPI_FREQUENCY) != CY_RSLT_SUCCESS)
CY_ASSERT(result == CY_RSLT_SUCCESS);
/* Radar initialization */
result = mtb_radar_sensing_init(&radar_context, &hw_cfg, application_type);
if (CY_RSLT_SUCCESS != result)
{
printf("ERROR Radar Sensing init.\n\r");
CY_ASSERT(0);
}
/* Register radar event callback */
result = mtb_radar_sensing_register_callback(&radar_context, callback_function, NULL);
if (CY_RSLT_SUCCESS != result)
{
printf("ERROR Radar Registering Callback.\n\r");
CY_ASSERT(0);
}
/* Enable radar sensing */
result = mtb_radar_sensing_enable(&radar_context);
if (CY_RSLT_SUCCESS != result)
{
printf("ERROR Radar Enabling.\n\r");
CY_ASSERT(0);
}
/* \x1b[2J\x1b[;H - ANSI ESC sequence for clear screen */
printf("\x1b[2J\x1b[;H");
#if defined(COUNTING_PERSONS)
printf("*************************** "
"Radar Counting Persons Example "
"*************************** \r\n\n");
#else
printf("*************************** "
"Radar Presence Example "
"*************************** \r\n\n");
#endif
for (;;)
{
/* Radar data processing */
if (mtb_radar_sensing_process(&radar_context, sys_now()) != CY_RSLT_SUCCESS)
{
printf("cskit_radar_sensing_process error\n\r");
CY_ASSERT(0);
}
cyhal_system_delay_ms(MTB_RADAR_SENSING_PROCESS_DELAY);
}
}
/*******************************************************************************
* Function Name: radar_counter_callback
********************************************************************************
* Summary:
* Printing events for counter event and controlling the leds state.
*
* Parameters:
* context: Pointer to context of radar
* event: Event type
* event_info: Pointer to structure holding the informations about the event
* data: Pointer to data
*
* Return:
* none
*
*******************************************************************************/
#if defined(COUNTING_PERSONS)
static void radar_counter_callback(mtb_radar_sensing_context_t *context,
mtb_radar_sensing_event_t event,
mtb_radar_sensing_event_info_t *event_info,
void *data)
{
UNUSED(context);
UNUSED(data);
switch (event)
{
case MTB_RADAR_SENSING_EVENT_COUNTER_IN:
cyhal_gpio_write(LED_RED, LED_STATE_ON);
cyhal_gpio_write(LED_GREEN, LED_STATE_OFF);
printf("%.2f: Counter IN detected, IN: %d, OUT: %d\n\r",
(float)event_info->timestamp / 1000,
((mtb_radar_sensing_counter_event_info_t *)event_info)->in_count,
((mtb_radar_sensing_counter_event_info_t *)event_info)->out_count);
break;
case MTB_RADAR_SENSING_EVENT_COUNTER_OUT:
cyhal_gpio_write(LED_RED, LED_STATE_OFF);
cyhal_gpio_write(LED_GREEN, LED_STATE_ON);
printf("%.2f: Counter OUT detected, IN: %d, OUT: %d\n\r",
(float)event_info->timestamp / 1000,
((mtb_radar_sensing_counter_event_info_t *)event_info)->in_count,
((mtb_radar_sensing_counter_event_info_t *)event_info)->out_count);
break;
case MTB_RADAR_SENSING_EVENT_COUNTER_OCCUPIED:
cyhal_gpio_write(LED_RED, LED_STATE_ON);
cyhal_gpio_write(LED_GREEN, LED_STATE_OFF);
printf("%.2f: Counter occupied detected, IN: %d, OUT: %d\n\r",
(float)event_info->timestamp / 1000,
((mtb_radar_sensing_counter_event_info_t *)event_info)->in_count,
((mtb_radar_sensing_counter_event_info_t *)event_info)->out_count);
break;
case MTB_RADAR_SENSING_EVENT_COUNTER_FREE:
cyhal_gpio_write(LED_RED, LED_STATE_OFF);
cyhal_gpio_write(LED_GREEN, LED_STATE_ON);
printf("%.2f: Counter free detected, IN: %d, OUT: %d\n\r",
(float)event_info->timestamp / 1000,
((mtb_radar_sensing_counter_event_info_t *)event_info)->in_count,
((mtb_radar_sensing_counter_event_info_t *)event_info)->out_count);
break;
default:
{
printf("ERROR - Unknown event.\n\r");
}
break;
}
}
#else
/*******************************************************************************
* Function Name: radar_presence_sensing_callback
********************************************************************************
* Summary:
* Printing events for presence event and controlling the leds state.
*
* Parameters:
* context: Pointer to context of radar
* event: Event type
* event_info: Pointer to structure holding the informations about the event
* data: Pointer to data
*
* Return:
* none
*
*******************************************************************************/
static void radar_presence_sensing_callback(mtb_radar_sensing_context_t *context,
mtb_radar_sensing_event_t event,
mtb_radar_sensing_event_info_t *event_info,
void *data)
{
UNUSED(context);
UNUSED(data);
switch (event)
{
case MTB_RADAR_SENSING_EVENT_PRESENCE_IN:
{
cyhal_gpio_write(LED_RED, LED_STATE_ON);
cyhal_gpio_write(LED_GREEN, LED_STATE_OFF);
printf("%.3f: Presence IN %.2f-%.2f\n\r",
(float)event_info->timestamp / 1000,
(float)(((mtb_radar_sensing_presence_event_info_t *)event_info)->distance -
((mtb_radar_sensing_presence_event_info_t *)event_info)->accuracy),
(float)(((mtb_radar_sensing_presence_event_info_t *)event_info)->distance +
((mtb_radar_sensing_presence_event_info_t *)event_info)->accuracy));
}
break;
case MTB_RADAR_SENSING_EVENT_PRESENCE_OUT:
{
cyhal_gpio_write(LED_RED, LED_STATE_OFF);
cyhal_gpio_write(LED_GREEN, LED_STATE_ON);
printf("%.3f: Presence OUT\n\r", (float)event_info->timestamp / 1000);
}
break;
default:
{
printf("ERROR - Unknown event.\n\r");
}
break;
}
}
#endif
/* [] END OF FILE */
- 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.
- Build the application and program the kit.
- After programming, the application starts automatically.
- API Reference Guide
- XENSIV™ BGT60TRxx Radar Sensor
- Connected sensor kit
- Infineon Technologies website
- Infineon Technologies GitHub repos
- ModusToolbox™ Software
© Infineon Semiconductors, 2019-2022.