icu_gpt.h

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/*
 Copyright 2016-2023, InvenSense, Inc.  All rights reserved.
 
 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
 ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
 WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 DISCLAIMED.
 
 */
 
#ifndef ICU_GPT_H_
#define ICU_GPT_H_
 
#ifdef __cplusplus
extern "C" {
#endif
 
#include <stdint.h>
#include <invn/soniclib/details/icu.h>
#include <invn/icu_interface/ch-rangefinder/structs.h>
#include <invn/soniclib/ch_rangefinder_types.h>
#include <invn/soniclib/soniclib.h>
 
#define ICU_GPT_MAX_SAMPLES    (IQ_SAMPLES_MAX)
#define ICU_GPT_NUM_THRESHOLDS (LEN_THRESH)
 
#define CH_THRESH_LEVEL_HOLDOFF (40000)
 
typedef struct {
    uint16_t ringdown_cancel_samples;
    uint16_t static_filter_samples;
    ch_output_type_t iq_output_format;  // normal (Q,I) pairs, threshold/amp pairs, or 16-bit amp
    uint8_t num_ranges;
    uint8_t filter_update_interval;  // update the ringdown and STR filters every N+1 samples (0=every time, 1=every
                                     // 2nd...
} icu_gpt_algo_config_t;
 
extern const char *icu_gpt_version;  // version string in fw .c file
extern const uint8_t icu_gpt_fw_text[];
extern const uint8_t icu_gpt_fw_vec[];
extern const uint16_t icu_gpt_text_size;
extern const uint16_t icu_gpt_vec_size;
 
uint16_t get_icu_gpt_fw_ram_init_addr(void);
uint16_t get_icu_gpt_fw_ram_init_size(void);
 
const unsigned char *get_ram_icu_gpt_init_ptr(void);
 
uint8_t icu_gpt_init(ch_dev_t *dev_ptr, fw_info_t **fw_info);
 
uint8_t icu_gpt_algo_init(ch_dev_t *dev_ptr, InvnAlgoRangeFinderConfig *algo_cfg);
 
uint8_t icu_gpt_algo_configure(ch_dev_t *dev_ptr, uint8_t meas_num, const icu_gpt_algo_config_t *algo_config_ptr,
                               const ch_thresholds_t *lib_thresh_ptr);
 
void icu_gpt_algo_reset(ch_dev_t *dev_ptr, uint8_t meas_num);
 
ch_output_type_t icu_gpt_algo_get_iq_output(ch_dev_t *dev_ptr, uint8_t meas_num);
 
uint8_t icu_gpt_algo_set_iq_output(ch_dev_t *dev_ptr, uint8_t meas_num, ch_output_type_t output_format);
 
void icu_gpt_algo_update_odr(ch_dev_t *dev_ptr, uint8_t meas_num, ch_odr_t new_odr);
 
uint8_t icu_gpt_algo_get_num_targets(ch_dev_t *dev_ptr);
 
uint16_t icu_gpt_algo_get_target_amplitude(ch_dev_t *dev_ptr, uint8_t target_num);
 
uint32_t icu_gpt_algo_get_target_tof_us(ch_dev_t *dev_ptr, uint8_t target_num);
 
uint32_t icu_gpt_algo_get_target_range(ch_dev_t *dev_ptr, uint8_t target_num, ch_range_t range_type);
 
uint8_t icu_gpt_algo_set_data_output(ch_dev_t *dev_ptr, const ch_output_t *output_ptr);
 
uint8_t icu_gpt_algo_is_target_in_ringdown(ch_dev_t *dev_ptr);
 
uint8_t icu_gpt_display_algo_thresholds(ch_dev_t *dev_ptr);
 
uint8_t icu_gpt_set_num_ranges(ch_dev_t *dev_ptr, uint8_t meas_num, uint8_t num_ranges);
 
uint8_t icu_gpt_get_num_ranges(ch_dev_t *dev_ptr, uint8_t meas_num);
 
uint8_t icu_gpt_set_ringdown_cancel(ch_dev_t *dev_ptr, uint8_t meas_num, uint16_t num_samples);
 
uint16_t icu_gpt_get_ringdown_cancel(ch_dev_t *dev_ptr, uint8_t meas_num);
 
uint8_t icu_gpt_set_thresholds(ch_dev_t *dev_ptr, uint8_t meas_num, const ch_thresholds_t *lib_thresh_buf_ptr);
 
uint8_t icu_gpt_get_thresholds(ch_dev_t *dev_ptr, uint8_t meas_num, ch_thresholds_t *lib_thresh_buf_ptr);
 
uint8_t icu_gpt_set_static_filter(ch_dev_t *dev_ptr, uint8_t meas_num, uint16_t num_samples);
 
uint16_t icu_gpt_get_static_filter(ch_dev_t *dev_ptr, uint8_t meas_num);
 
uint8_t icu_gpt_set_rx_holdoff(ch_dev_t *dev_ptr, uint8_t meas_num, uint16_t num_samples);
 
uint16_t icu_gpt_get_rx_holdoff(ch_dev_t *dev_ptr, uint8_t meas_num);
 
uint8_t icu_gpt_set_filter_update(ch_dev_t *dev_ptr, uint8_t meas_num, uint8_t update_interval);
 
uint8_t icu_gpt_get_filter_update(ch_dev_t *dev_ptr, uint8_t meas_num);
 
#ifdef __cplusplus
}
#endif
 
#endif /* ICU_GPT_H_ */