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[Lib] LD2410: Reformat source (nearly all is changed!) Replace yield() by delay(0)

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This commit is contained in:
Ton Huisman
2023-10-29 22:05:13 +01:00
parent 5a9b6e6b06
commit 53ffcbd08b
2 changed files with 1181 additions and 1028 deletions
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lib/ld2410/src/ld2410.cpp
+933 -871
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lib/ld2410/src/ld2410.h
+248 -157
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@@ -1,9 +1,11 @@
/*
* An Arduino library for the Hi-Link LD2410 24Ghz FMCW radar sensor.
*
* 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.
* 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.
*
* 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.
* 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.
*
* https://github.com/ncmreynolds/ld2410
*
@@ -15,11 +17,12 @@
#include <Arduino.h>
#if __cplusplus >= 202002L
#include <atomic>
typedef std::atomic< bool > atomic_bool;
#else
# include <atomic>
typedef std::atomic<bool> atomic_bool;
#else // if __cplusplus >= 202002L
typedef volatile bool atomic_bool;
#endif
#endif // if __cplusplus >= 202002L
// #define LD2410_DEBUG // Send any debug to serial?
// #define LD2410_DEBUG_DATA //Debug all Data Frames
// #define LD2410_DEBUG_COMMANDS //Debug Command Acks
@@ -27,16 +30,16 @@ typedef volatile bool atomic_bool;
// Exclude DEBUG logging when requested externally
#if defined(LIBRARIES_NO_LOG) && LIBRARIES_NO_LOG
#ifdef LD2410_DEBUG
#undef LD2410_DEBUG
#endif
#endif
# ifdef LD2410_DEBUG
# undef LD2410_DEBUG
# endif // ifdef LD2410_DEBUG
#endif // if defined(LIBRARIES_NO_LOG) && LIBRARIES_NO_LOG
/*
/*
* Protocol Command Words
*/
#define LD2410_MAX_FRAME_LENGTH 0x40 // or 64 bytes
#define LD2410_MAX_GATES 9 // 0 - 8 gates
*/
#define LD2410_MAX_FRAME_LENGTH 0x40 // or 64 bytes
#define LD2410_MAX_GATES 9 // 0 - 8 gates
#define CMD_CONFIGURATION_ENABLE 0xFF
#define CMD_CONFIGURATION_END 0xFE
@@ -46,13 +49,13 @@ typedef volatile bool atomic_bool;
#define CMD_ENGINEERING_END 0x63
#define CMD_RANGE_GATE_SENSITIVITY 0x64
#define CMD_READ_FIRMWARE_VERSION 0xA0
#define CMD_SET_SERIAL_PORT_BAUD 0xA1
#define CMD_SET_SERIAL_PORT_BAUD 0xA1
#define CMD_FACTORY_RESET 0xA2
#define CMD_RESTART 0xA3
/*
/*
* Data Frame Formats
*/
*/
#define FRAME_TYPE_REPORTING 0x01
#define FRAME_TYPE_TARGET 0x02
#define FRAME_PREFIX_PROTOCOL 0xFD
@@ -62,172 +65,260 @@ typedef volatile bool atomic_bool;
/*
* Target State Constants
*/
*/
#define TARGET_NONE 0x00
#define TARGET_MOVING 0x01
#define TARGET_STATIONARY 0x02
#define TARGET_MOVING_AND_STATIONARY 0x03
#define TARGET_MOVING_AND_STATIONARY 0x03
#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
#define SERIAL_RECEIVE_GRACE_MS 2 // Read more if still this amount of milliseconds available
class ld2410 {
class ld2410 {
public:
public:
ld2410(); //Constructor function
~ld2410(); //Destructor function
ld2410(); // Constructor function
~ld2410(); // Destructor function
/*
* Primary APIs */
bool begin(Stream &, bool waitForRadar = true); //Start the ld2410
#ifdef LD2410_DEBUG
void debug(Stream &); //Start debugging on a stream
#endif
/*
* Primary APIs */
bool begin(Stream&,
bool waitForRadar = true); // Start the ld2410
#ifdef LD2410_DEBUG
void debug(Stream&); // Start debugging on a stream
#endif // ifdef LD2410_DEBUG
bool ld2410_loop(){return read_frame_();}; //Sensor loop service
bool presenceDetected(){return target_type_ != 0;}; //last report data had a type
bool isConnected();
bool isStationary(){return stationaryTargetDetected();};
bool isMoving(){return movingTargetDetected();};
uint16_t detectionDistance(){return detection_distance_;}; //Target Reporting Data
bool dataReady() {return data_ready_;}
bool ld2410_loop() {
return read_frame_();
} // Sensor loop service
/*
* Utilities -- depreciation candidates */
uint8_t reportingDataComposition(){return target_type_;}; //Target data state 0-3
bool isEngineeringMode(){return engineering_mode_;}; //Reporting Data
bool movingTargetDetected();
bool stationaryTargetDetected();
bool read() {return read_frame_();};
bool presenceDetected() {
return target_type_ != 0;
} // last report data had a type
/*
* primary sensor responses */
uint16_t stationaryTargetDistance(){return stationary_target_distance_;}; //Target Reporting Data
uint8_t stationaryTargetEnergy(){return stationary_target_energy_;}; //Target Reporting Data
uint16_t movingTargetDistance(){return moving_target_distance_;}; //Target Reporting Data
uint8_t movingTargetEnergy(){return moving_target_energy_;}; //Target Reporting Data
/*
* available if engineering mode is active */
uint8_t engMovingDistanceGateEnergy(uint8_t gate){return ((gate <LD2410_MAX_GATES) ? movement_distance_gate_energy[gate] : 255) ;}; //Engineering Reporting Data
uint8_t engStaticDistanceGateEnergy(uint8_t gate){return ((gate <LD2410_MAX_GATES) ? static_distance_gate_engergy[gate] : 255) ;}; //Engineering Reporting Data
uint16_t engMaxMovingDistanceGate() {return max_moving_distance_gate;}; //Engineering Reporting Data
uint16_t engMaxStaticDistanceGate() {return max_static_distance_gate;}; //Engineering Reporting Data
uint16_t engRetainDataValue() {return engineering_retain_data_;}; //Engineering Reporting Data, last value
uint8_t engLightSensorValue() {return light_sensor_data_;}; //Engineering Reporting Data, light sensor (undocumented)
uint8_t engOutputPinState() {return output_pin_data_;}; //Engineering Reporting Data, output pin state (undocumented)
bool isConnected();
bool isStationary() {
return stationaryTargetDetected();
}
/*
* Commands */
bool requestRestart();
bool requestFactoryReset();
bool requestFirmwareVersion();
bool requestCurrentConfiguration();
bool requestStartEngineeringMode();
bool requestEndEngineeringMode();
bool setSerialBaudRate(uint8_t cSpeed);
bool setMaxValues(uint16_t moving, uint16_t stationary, uint16_t inactivityTimer); //Realistically gate values are 0-8 but sent as uint16_t
bool setGateSensitivityThreshold(uint8_t gate, uint8_t moving, uint8_t stationary);
bool requestConfigurationModeBegin(); // support multi command executions BEGIN
bool requestConfigurationModeEnd(); // support multi command executions END
bool isMoving() {
return movingTargetDetected();
}
/*
* available after related command has been executed */
uint16_t cmdProtocolVersion() {return configuration_protocol_version_;}; //Configuration mode response
uint16_t cmdCommunicationBufferSize() {return configuration_buffer_size_;}; //Configuration mode response
String cmdFirmwareVersion(); //Returns value from command
uint16_t detectionDistance() {
return detection_distance_;
} // Target Reporting Data
/*
* available after Read Parameter command has been executed */
uint8_t cfgMaxGate(){return max_gate;}; //Read Parameters command response
uint8_t cfgMaxMovingGate(){return max_moving_gate;}; //Read Parameters command response
uint8_t cfgMaxStationaryGate(){return max_stationary_gate;}; //Read Parameters command response
uint16_t cfgSensorIdleTimeInSeconds(){return sensor_idle_time;}; //Read Parameters command response
uint8_t cfgMovingGateSensitivity(uint8_t gate){return ((gate < LD2410_MAX_GATES) ? motion_sensitivity[gate] : 255) ;}; //Read Parameters command response
uint8_t cfgStationaryGateSensitivity(uint8_t gate){return ((gate < LD2410_MAX_GATES) ? stationary_sensitivity[gate] : 255);}; //Read Parameters command response
bool dataReady() {
return data_ready_;
}
uint16_t getErrorCountAndReset();
/*
* Utilities -- depreciation candidates */
uint8_t reportingDataComposition() {
return target_type_;
} // Target data state 0-3
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)
bool isEngineeringMode() {
return engineering_mode_;
} // Reporting Data
/*
* 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
bool movingTargetDetected();
bool stationaryTargetDetected();
bool read() {
return read_frame_();
}
/*
* 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)
/*
* primary sensor responses */
uint16_t stationaryTargetDistance() {
return stationary_target_distance_;
} // Target Reporting Data
/*
* 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
uint8_t stationaryTargetEnergy() {
return stationary_target_energy_;
} // Target Reporting Data
private:
/*
* feature control variables */
Stream *radar_uart_ = nullptr;
#ifdef LD2410_DEBUG
Stream *debug_uart_ = nullptr; //The stream used for the debugging
#endif
uint16_t movingTargetDistance() {
return moving_target_distance_;
} // Target Reporting Data
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
uint8_t movingTargetEnergy() {
return moving_target_energy_;
} // Target Reporting Data
uint16_t _errorCount = 0; // Internal errorcounter, managed via getErrorCountAndReset()
/*
* available if engineering mode is active */
uint8_t engMovingDistanceGateEnergy(uint8_t gate) {
return (gate < LD2410_MAX_GATES) ? movement_distance_gate_energy[gate] : 255;
} // Engineering Reporting Data
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
uint8_t engStaticDistanceGateEnergy(uint8_t gate) {
return (gate < LD2410_MAX_GATES) ? static_distance_gate_engergy[gate] : 255;
} // Engineering Reporting Data
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?
uint16_t engMaxMovingDistanceGate() {
return max_moving_distance_gate;
} // Engineering Reporting 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
uint16_t engMaxStaticDistanceGate() {
return max_static_distance_gate;
} // Engineering Reporting Data
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
uint16_t engRetainDataValue() {
return engineering_retain_data_;
} // Engineering Reporting Data, last value
uint8_t engLightSensorValue() {
return light_sensor_data_;
} // Engineering Reporting Data, light sensor (undocumented)
uint8_t engOutputPinState() {
return output_pin_data_;
} // Engineering Reporting Data, output pin state (undocumented)
/*
* Commands */
bool requestRestart();
bool requestFactoryReset();
bool requestFirmwareVersion();
bool requestCurrentConfiguration();
bool requestStartEngineeringMode();
bool requestEndEngineeringMode();
bool setSerialBaudRate(uint8_t cSpeed);
bool setMaxValues(uint16_t moving,
uint16_t stationary,
uint16_t inactivityTimer); // Realistically gate values are 0-8 but sent as uint16_t
bool setGateSensitivityThreshold(uint8_t gate,
uint8_t moving,
uint8_t stationary);
bool requestConfigurationModeBegin(); // support multi command executions BEGIN
bool requestConfigurationModeEnd(); // support multi command executions END
/*
* available after related command has been executed */
uint16_t cmdProtocolVersion() {
return configuration_protocol_version_;
} // Configuration mode response
uint16_t cmdCommunicationBufferSize() {
return configuration_buffer_size_;
} // Configuration mode response
String cmdFirmwareVersion(); // Returns value from command
/*
* available after Read Parameter command has been executed */
uint8_t cfgMaxGate() {
return max_gate;
} // Read Parameters command response
uint8_t cfgMaxMovingGate() {
return max_moving_gate;
} // Read Parameters command response
uint8_t cfgMaxStationaryGate() {
return max_stationary_gate;
} // Read Parameters command response
uint16_t cfgSensorIdleTimeInSeconds() {
return sensor_idle_time;
} // Read Parameters command response
uint8_t cfgMovingGateSensitivity(uint8_t gate) {
return (gate < LD2410_MAX_GATES) ? motion_sensitivity[gate] : 255;
} // Read Parameters command response
uint8_t cfgStationaryGateSensitivity(uint8_t gate) {
return (gate < LD2410_MAX_GATES) ? stationary_sensitivity[gate] : 255;
} // Read Parameters command response
uint16_t getErrorCountAndReset();
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
};