mirror of
https://github.com/letscontrolit/ESPEasy.git
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[Lib] LD2410: Reformat source (nearly all is changed!) Replace yield() by delay(0)
This commit is contained in:
Ton Huisman
+933
-871
File diff suppressed because it is too large
Load Diff
+248
-157
@@ -1,9 +1,11 @@
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/*
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* An Arduino library for the Hi-Link LD2410 24Ghz FMCW radar sensor.
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*
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* This sensor is a Frequency Modulated Continuous Wave radar, which makes it good for presence detection and its sensitivity at different ranges to both static and moving targets can be configured.
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* This sensor is a Frequency Modulated Continuous Wave radar, which makes it good for presence detection and its sensitivity at different
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*ranges to both static and moving targets can be configured.
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*
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* The code in this library is based off the manufacturer datasheet and reading of this initial piece of work for ESPHome https://github.com/rain931215/ESPHome-LD2410.
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* The code in this library is based off the manufacturer datasheet and reading of this initial piece of work for ESPHome
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*https://github.com/rain931215/ESPHome-LD2410.
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*
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* https://github.com/ncmreynolds/ld2410
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*
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@@ -15,11 +17,12 @@
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#include <Arduino.h>
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#if __cplusplus >= 202002L
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#include <atomic>
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typedef std::atomic< bool > atomic_bool;
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#else
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# include <atomic>
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typedef std::atomic<bool> atomic_bool;
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#else // if __cplusplus >= 202002L
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typedef volatile bool atomic_bool;
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#endif
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#endif // if __cplusplus >= 202002L
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// #define LD2410_DEBUG // Send any debug to serial?
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// #define LD2410_DEBUG_DATA //Debug all Data Frames
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// #define LD2410_DEBUG_COMMANDS //Debug Command Acks
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@@ -27,16 +30,16 @@ typedef volatile bool atomic_bool;
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// Exclude DEBUG logging when requested externally
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#if defined(LIBRARIES_NO_LOG) && LIBRARIES_NO_LOG
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#ifdef LD2410_DEBUG
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#undef LD2410_DEBUG
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#endif
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#endif
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# ifdef LD2410_DEBUG
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# undef LD2410_DEBUG
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# endif // ifdef LD2410_DEBUG
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#endif // if defined(LIBRARIES_NO_LOG) && LIBRARIES_NO_LOG
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/*
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/*
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* Protocol Command Words
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*/
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#define LD2410_MAX_FRAME_LENGTH 0x40 // or 64 bytes
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#define LD2410_MAX_GATES 9 // 0 - 8 gates
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*/
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#define LD2410_MAX_FRAME_LENGTH 0x40 // or 64 bytes
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#define LD2410_MAX_GATES 9 // 0 - 8 gates
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#define CMD_CONFIGURATION_ENABLE 0xFF
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#define CMD_CONFIGURATION_END 0xFE
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@@ -46,13 +49,13 @@ typedef volatile bool atomic_bool;
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#define CMD_ENGINEERING_END 0x63
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#define CMD_RANGE_GATE_SENSITIVITY 0x64
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#define CMD_READ_FIRMWARE_VERSION 0xA0
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#define CMD_SET_SERIAL_PORT_BAUD 0xA1
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#define CMD_SET_SERIAL_PORT_BAUD 0xA1
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#define CMD_FACTORY_RESET 0xA2
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#define CMD_RESTART 0xA3
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/*
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/*
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* Data Frame Formats
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*/
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*/
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#define FRAME_TYPE_REPORTING 0x01
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#define FRAME_TYPE_TARGET 0x02
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#define FRAME_PREFIX_PROTOCOL 0xFD
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@@ -62,172 +65,260 @@ typedef volatile bool atomic_bool;
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/*
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* Target State Constants
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*/
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*/
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#define TARGET_NONE 0x00
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#define TARGET_MOVING 0x01
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#define TARGET_STATIONARY 0x02
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#define TARGET_MOVING_AND_STATIONARY 0x03
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#define TARGET_MOVING_AND_STATIONARY 0x03
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#define SERIAL_RECEIVE_MAX_MS 5 // Read for max. N milliseconds, we'd need (64*(8+2))*(1/256000)=2.5msec to read an entire buffer
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#define SERIAL_RECEIVE_GRACE_MS 2 // Read more if still this amount of milliseconds available
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class ld2410 {
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class ld2410 {
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public:
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public:
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ld2410(); //Constructor function
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~ld2410(); //Destructor function
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ld2410(); // Constructor function
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~ld2410(); // Destructor function
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/*
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* Primary APIs */
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bool begin(Stream &, bool waitForRadar = true); //Start the ld2410
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#ifdef LD2410_DEBUG
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void debug(Stream &); //Start debugging on a stream
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#endif
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/*
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* Primary APIs */
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bool begin(Stream&,
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bool waitForRadar = true); // Start the ld2410
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#ifdef LD2410_DEBUG
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void debug(Stream&); // Start debugging on a stream
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#endif // ifdef LD2410_DEBUG
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bool ld2410_loop(){return read_frame_();}; //Sensor loop service
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bool presenceDetected(){return target_type_ != 0;}; //last report data had a type
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bool isConnected();
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bool isStationary(){return stationaryTargetDetected();};
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bool isMoving(){return movingTargetDetected();};
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uint16_t detectionDistance(){return detection_distance_;}; //Target Reporting Data
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bool dataReady() {return data_ready_;}
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bool ld2410_loop() {
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return read_frame_();
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} // Sensor loop service
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/*
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* Utilities -- depreciation candidates */
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uint8_t reportingDataComposition(){return target_type_;}; //Target data state 0-3
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bool isEngineeringMode(){return engineering_mode_;}; //Reporting Data
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bool movingTargetDetected();
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bool stationaryTargetDetected();
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bool read() {return read_frame_();};
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bool presenceDetected() {
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return target_type_ != 0;
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} // last report data had a type
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/*
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* primary sensor responses */
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uint16_t stationaryTargetDistance(){return stationary_target_distance_;}; //Target Reporting Data
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uint8_t stationaryTargetEnergy(){return stationary_target_energy_;}; //Target Reporting Data
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uint16_t movingTargetDistance(){return moving_target_distance_;}; //Target Reporting Data
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uint8_t movingTargetEnergy(){return moving_target_energy_;}; //Target Reporting Data
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/*
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* available if engineering mode is active */
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uint8_t engMovingDistanceGateEnergy(uint8_t gate){return ((gate <LD2410_MAX_GATES) ? movement_distance_gate_energy[gate] : 255) ;}; //Engineering Reporting Data
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uint8_t engStaticDistanceGateEnergy(uint8_t gate){return ((gate <LD2410_MAX_GATES) ? static_distance_gate_engergy[gate] : 255) ;}; //Engineering Reporting Data
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uint16_t engMaxMovingDistanceGate() {return max_moving_distance_gate;}; //Engineering Reporting Data
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uint16_t engMaxStaticDistanceGate() {return max_static_distance_gate;}; //Engineering Reporting Data
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uint16_t engRetainDataValue() {return engineering_retain_data_;}; //Engineering Reporting Data, last value
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uint8_t engLightSensorValue() {return light_sensor_data_;}; //Engineering Reporting Data, light sensor (undocumented)
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uint8_t engOutputPinState() {return output_pin_data_;}; //Engineering Reporting Data, output pin state (undocumented)
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bool isConnected();
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bool isStationary() {
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return stationaryTargetDetected();
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}
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/*
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* Commands */
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bool requestRestart();
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bool requestFactoryReset();
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bool requestFirmwareVersion();
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bool requestCurrentConfiguration();
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bool requestStartEngineeringMode();
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bool requestEndEngineeringMode();
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bool setSerialBaudRate(uint8_t cSpeed);
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bool setMaxValues(uint16_t moving, uint16_t stationary, uint16_t inactivityTimer); //Realistically gate values are 0-8 but sent as uint16_t
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bool setGateSensitivityThreshold(uint8_t gate, uint8_t moving, uint8_t stationary);
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bool requestConfigurationModeBegin(); // support multi command executions BEGIN
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bool requestConfigurationModeEnd(); // support multi command executions END
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bool isMoving() {
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return movingTargetDetected();
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}
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/*
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* available after related command has been executed */
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uint16_t cmdProtocolVersion() {return configuration_protocol_version_;}; //Configuration mode response
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uint16_t cmdCommunicationBufferSize() {return configuration_buffer_size_;}; //Configuration mode response
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String cmdFirmwareVersion(); //Returns value from command
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uint16_t detectionDistance() {
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return detection_distance_;
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} // Target Reporting Data
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/*
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* available after Read Parameter command has been executed */
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uint8_t cfgMaxGate(){return max_gate;}; //Read Parameters command response
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uint8_t cfgMaxMovingGate(){return max_moving_gate;}; //Read Parameters command response
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uint8_t cfgMaxStationaryGate(){return max_stationary_gate;}; //Read Parameters command response
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uint16_t cfgSensorIdleTimeInSeconds(){return sensor_idle_time;}; //Read Parameters command response
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uint8_t cfgMovingGateSensitivity(uint8_t gate){return ((gate < LD2410_MAX_GATES) ? motion_sensitivity[gate] : 255) ;}; //Read Parameters command response
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uint8_t cfgStationaryGateSensitivity(uint8_t gate){return ((gate < LD2410_MAX_GATES) ? stationary_sensitivity[gate] : 255);}; //Read Parameters command response
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bool dataReady() {
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return data_ready_;
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}
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uint16_t getErrorCountAndReset();
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/*
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* Utilities -- depreciation candidates */
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uint8_t reportingDataComposition() {
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return target_type_;
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} // Target data state 0-3
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protected:
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/*
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* Request Firmware Version command responses */
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char firmwareBuffer[LD2410_MAX_FRAME_LENGTH]; // 64 byte buffer
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uint8_t firmware_major_version = 0; //Reported major version
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uint8_t firmware_minor_version = 0; //Reported minor version
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uint32_t firmware_bugfix_version = 0; //Reported bugfix version (coded as hex)
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bool isEngineeringMode() {
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return engineering_mode_;
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} // Reporting Data
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/*
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* Read Parameter command response data */
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uint8_t max_gate = 0; //Read parameter data
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uint8_t max_moving_gate = 0; //Read parameter data
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uint8_t max_stationary_gate = 0; //Read parameter data
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uint16_t sensor_idle_time = 0; //Read parameter data
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uint8_t motion_sensitivity[LD2410_MAX_GATES] = {0,0,0,0,0,0,0,0,0}; //Read parameter data
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uint8_t stationary_sensitivity[LD2410_MAX_GATES] = {0,0,0,0,0,0,0,0,0}; //Read parameter data
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bool movingTargetDetected();
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bool stationaryTargetDetected();
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bool read() {
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return read_frame_();
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}
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/*
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* Protocol & Engineering Frame Data */
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uint16_t moving_target_distance_ = 0; //protocol mode info
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uint8_t moving_target_energy_ = 0; //protocol mode info
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uint16_t stationary_target_distance_ = 0; //protocol mode info
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uint8_t stationary_target_energy_ = 0; //protocol mode info
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uint16_t detection_distance_ = 0; //protocol & engineering mode info
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uint8_t max_moving_distance_gate = 0; //engineering mode info
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uint8_t max_static_distance_gate = 0; //engineering mode info
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uint8_t movement_distance_gate_energy[LD2410_MAX_GATES] = {0,0,0,0,0,0,0,0,0}; //Engineering mode info
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uint8_t static_distance_gate_engergy[LD2410_MAX_GATES] = {0,0,0,0,0,0,0,0,0}; //Engineering mode info
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uint16_t engineering_retain_data_ = 0; //last value in engineering data frame, extra retain ??
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uint8_t light_sensor_data_ = 0; //engineering mode, light sensor (undocumented)
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uint8_t output_pin_data_ = 0; //engineering mode, output pin state (undocumented)
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/*
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* primary sensor responses */
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uint16_t stationaryTargetDistance() {
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return stationary_target_distance_;
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} // Target Reporting Data
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/*
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* Configuration mode response info */
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uint16_t configuration_protocol_version_ = 0; //From Enter Configuration Mode Response
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uint16_t configuration_buffer_size_ = LD2410_MAX_FRAME_LENGTH; //From Enter Configuration Mode Response
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uint8_t stationaryTargetEnergy() {
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return stationary_target_energy_;
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} // Target Reporting Data
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private:
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/*
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* feature control variables */
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Stream *radar_uart_ = nullptr;
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#ifdef LD2410_DEBUG
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Stream *debug_uart_ = nullptr; //The stream used for the debugging
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#endif
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uint16_t movingTargetDistance() {
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return moving_target_distance_;
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} // Target Reporting Data
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uint32_t radar_uart_timeout = 250; //How long to give up on receiving some useful data from the LD2410
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uint32_t radar_uart_last_packet_ = 0; //Time of the last packet from the radar
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uint32_t radar_uart_last_command_ = 0; //Time of the last command sent to the radar
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uint32_t radar_uart_command_timeout_ = 250; //Timeout for sending commands
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uint8_t movingTargetEnergy() {
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return moving_target_energy_;
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} // Target Reporting Data
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uint16_t _errorCount = 0; // Internal errorcounter, managed via getErrorCountAndReset()
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/*
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* available if engineering mode is active */
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uint8_t engMovingDistanceGateEnergy(uint8_t gate) {
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return (gate < LD2410_MAX_GATES) ? movement_distance_gate_energy[gate] : 255;
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} // Engineering Reporting Data
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uint8_t latest_ack_ = 0;
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uint8_t target_type_ = 0;
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uint8_t radar_data_frame_position_ = 0; //Where in the frame we are currently writing
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uint8_t radar_data_frame_[LD2410_MAX_FRAME_LENGTH]; //Store the incoming data from the radar, to check it's in a valid format
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uint8_t engStaticDistanceGateEnergy(uint8_t gate) {
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return (gate < LD2410_MAX_GATES) ? static_distance_gate_engergy[gate] : 255;
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} // Engineering Reporting Data
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bool frame_started_ = false; //Whether a frame is currently being read
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bool ack_frame_ = false; //Whether the incoming frame is LIKELY an ACK frame
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bool waiting_for_ack_ = false; //Whether a command has just been sent
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bool engineering_mode_ = false; //Wheter engineering mode is active
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bool latest_command_success_ = false;
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bool configuration_mode_active = false; //Configuration state (multi-mode)
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atomic_bool data_ready_ = false; // Can we read the current data?
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uint16_t engMaxMovingDistanceGate() {
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return max_moving_distance_gate;
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} // Engineering Reporting Data
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/*
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* feature management functions */
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uint16_t serial_to_int_(uint8_t index); //Unpack bytes
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bool debug_command_results_(const char * title);
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bool wait_for_command_ack_(uint8_t command);
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bool isProtocolDataFrame_(); //Command -Determine type of Frame
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bool isReportingDataFrame_(); //Data - Determine type of Frame
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uint16_t engMaxStaticDistanceGate() {
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return max_static_distance_gate;
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} // Engineering Reporting Data
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bool read_frame_(); //Try to read a frame from the UART
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bool parse_data_frame_(); //Is the current data frame valid?
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bool parse_command_frame_(); //Is the current command frame valid?
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void print_frame_(); //Print the frame for debugging
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void send_command_preamble_(); //Commands have the same preamble
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void send_command_postamble_(); //Commands have the same postamble
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bool enter_configuration_mode_(); //Necessary before sending any command
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bool leave_configuration_mode_(); //Will not read values without leaving command mode
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uint16_t engRetainDataValue() {
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return engineering_retain_data_;
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} // Engineering Reporting Data, last value
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uint8_t engLightSensorValue() {
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return light_sensor_data_;
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} // Engineering Reporting Data, light sensor (undocumented)
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uint8_t engOutputPinState() {
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return output_pin_data_;
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} // Engineering Reporting Data, output pin state (undocumented)
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/*
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* Commands */
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bool requestRestart();
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bool requestFactoryReset();
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bool requestFirmwareVersion();
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bool requestCurrentConfiguration();
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bool requestStartEngineeringMode();
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bool requestEndEngineeringMode();
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bool setSerialBaudRate(uint8_t cSpeed);
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bool setMaxValues(uint16_t moving,
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uint16_t stationary,
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uint16_t inactivityTimer); // Realistically gate values are 0-8 but sent as uint16_t
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bool setGateSensitivityThreshold(uint8_t gate,
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uint8_t moving,
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uint8_t stationary);
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bool requestConfigurationModeBegin(); // support multi command executions BEGIN
|
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bool requestConfigurationModeEnd(); // support multi command executions END
|
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|
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/*
|
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* available after related command has been executed */
|
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uint16_t cmdProtocolVersion() {
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return configuration_protocol_version_;
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} // Configuration mode response
|
||||
|
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uint16_t cmdCommunicationBufferSize() {
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return configuration_buffer_size_;
|
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} // Configuration mode response
|
||||
|
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String cmdFirmwareVersion(); // Returns value from command
|
||||
|
||||
/*
|
||||
* available after Read Parameter command has been executed */
|
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uint8_t cfgMaxGate() {
|
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return max_gate;
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} // Read Parameters command response
|
||||
|
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uint8_t cfgMaxMovingGate() {
|
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return max_moving_gate;
|
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} // Read Parameters command response
|
||||
|
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uint8_t cfgMaxStationaryGate() {
|
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return max_stationary_gate;
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} // Read Parameters command response
|
||||
|
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uint16_t cfgSensorIdleTimeInSeconds() {
|
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return sensor_idle_time;
|
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} // Read Parameters command response
|
||||
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uint8_t cfgMovingGateSensitivity(uint8_t gate) {
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return (gate < LD2410_MAX_GATES) ? motion_sensitivity[gate] : 255;
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} // Read Parameters command response
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uint8_t cfgStationaryGateSensitivity(uint8_t gate) {
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return (gate < LD2410_MAX_GATES) ? stationary_sensitivity[gate] : 255;
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} // Read Parameters command response
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||||
|
||||
uint16_t getErrorCountAndReset();
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||||
|
||||
protected:
|
||||
|
||||
/*
|
||||
* Request Firmware Version command responses */
|
||||
char firmwareBuffer[LD2410_MAX_FRAME_LENGTH]; // 64 byte buffer
|
||||
uint8_t firmware_major_version = 0; // Reported major version
|
||||
uint8_t firmware_minor_version = 0; // Reported minor version
|
||||
uint32_t firmware_bugfix_version = 0; // Reported bugfix version (coded as hex)
|
||||
|
||||
/*
|
||||
* Read Parameter command response data */
|
||||
uint8_t max_gate = 0; // Read parameter data
|
||||
uint8_t max_moving_gate = 0; // Read parameter data
|
||||
uint8_t max_stationary_gate = 0; // Read parameter data
|
||||
uint16_t sensor_idle_time = 0; // Read parameter data
|
||||
uint8_t motion_sensitivity[LD2410_MAX_GATES] = { 0, 0, 0, 0, 0, 0, 0, 0, 0 }; // Read parameter data
|
||||
uint8_t stationary_sensitivity[LD2410_MAX_GATES] = { 0, 0, 0, 0, 0, 0, 0, 0, 0 }; // Read parameter data
|
||||
|
||||
/*
|
||||
* Protocol & Engineering Frame Data */
|
||||
uint16_t moving_target_distance_ = 0; // protocol mode info
|
||||
uint8_t moving_target_energy_ = 0; // protocol mode info
|
||||
uint16_t stationary_target_distance_ = 0; // protocol mode info
|
||||
uint8_t stationary_target_energy_ = 0; // protocol mode info
|
||||
uint16_t detection_distance_ = 0; // protocol & engineering mode info
|
||||
uint8_t max_moving_distance_gate = 0; // engineering mode info
|
||||
uint8_t max_static_distance_gate = 0; // engineering mode info
|
||||
uint8_t movement_distance_gate_energy[LD2410_MAX_GATES] = { 0, 0, 0, 0, 0, 0, 0, 0, 0 }; // Engineering mode info
|
||||
uint8_t static_distance_gate_engergy[LD2410_MAX_GATES] = { 0, 0, 0, 0, 0, 0, 0, 0, 0 }; // Engineering mode info
|
||||
uint16_t engineering_retain_data_ = 0; // last value in engineering data frame, extra
|
||||
// retain ??
|
||||
uint8_t light_sensor_data_ = 0; // engineering mode, light sensor (undocumented)
|
||||
uint8_t output_pin_data_ = 0; // engineering mode, output pin state
|
||||
// (undocumented)
|
||||
|
||||
/*
|
||||
* Configuration mode response info */
|
||||
uint16_t configuration_protocol_version_ = 0; // From Enter Configuration Mode Response
|
||||
uint16_t configuration_buffer_size_ = LD2410_MAX_FRAME_LENGTH; // From Enter Configuration Mode Response
|
||||
|
||||
private:
|
||||
|
||||
/*
|
||||
* feature control variables */
|
||||
Stream *radar_uart_ = nullptr;
|
||||
#ifdef LD2410_DEBUG
|
||||
Stream *debug_uart_ = nullptr; // The stream used for the debugging
|
||||
#endif // ifdef LD2410_DEBUG
|
||||
|
||||
uint32_t radar_uart_timeout = 250; // How long to give up on receiving some useful data from the LD2410
|
||||
uint32_t radar_uart_last_packet_ = 0; // Time of the last packet from the radar
|
||||
uint32_t radar_uart_last_command_ = 0; // Time of the last command sent to the radar
|
||||
uint32_t radar_uart_command_timeout_ = 250; // Timeout for sending commands
|
||||
|
||||
uint16_t _errorCount = 0; // Internal errorcounter, managed via getErrorCountAndReset()
|
||||
|
||||
uint8_t latest_ack_ = 0;
|
||||
uint8_t target_type_ = 0;
|
||||
uint8_t radar_data_frame_position_ = 0; // Where in the frame we are currently writing
|
||||
uint8_t radar_data_frame_[LD2410_MAX_FRAME_LENGTH]; // Store the incoming data from the radar, to check it's in a valid format
|
||||
|
||||
bool frame_started_ = false; // Whether a frame is currently being read
|
||||
bool ack_frame_ = false; // Whether the incoming frame is LIKELY an ACK frame
|
||||
bool waiting_for_ack_ = false; // Whether a command has just been sent
|
||||
bool engineering_mode_ = false; // Wheter engineering mode is active
|
||||
bool latest_command_success_ = false;
|
||||
bool configuration_mode_active = false; // Configuration state (multi-mode)
|
||||
atomic_bool data_ready_ = false; // Can we read the current data?
|
||||
|
||||
/*
|
||||
* feature management functions */
|
||||
uint16_t serial_to_int_(uint8_t index); // Unpack bytes
|
||||
bool debug_command_results_(const char *title);
|
||||
bool wait_for_command_ack_(uint8_t command);
|
||||
bool isProtocolDataFrame_(); // Command -Determine type of Frame
|
||||
bool isReportingDataFrame_(); // Data - Determine type of Frame
|
||||
|
||||
bool read_frame_(); // Try to read a frame from the UART
|
||||
bool parse_data_frame_(); // Is the current data frame valid?
|
||||
bool parse_command_frame_(); // Is the current command frame valid?
|
||||
void print_frame_(); // Print the frame for debugging
|
||||
void send_command_preamble_(); // Commands have the same preamble
|
||||
void send_command_postamble_(); // Commands have the same postamble
|
||||
bool enter_configuration_mode_(); // Necessary before sending any command
|
||||
bool leave_configuration_mode_(); // Will not read values without leaving command mode
|
||||
};
|
||||
|
||||
Reference in New Issue
Block a user