46 #ifndef DW_SENSORS_ULTRASONIC_ULTRASONIC_H_ 47 #define DW_SENSORS_ULTRASONIC_ULTRASONIC_H_ 57 #define DW_ULTRASONIC_MAX_SAMPLE_SIZE 320 60 #define DW_ULTRASONIC_MAX_NUM_SENSORS 12 63 #define DW_ULTRASONIC_MAX_NUM_SIGNAL_WAYS 32 107 typedef struct _dwUltrasonicEnvelope
168 uint32_t versionId[3];
189 uint32_t fwVersion[3];
313 #endif // DW_SENSORS_ULTRASONIC_ULTRASONIC_H_ NVIDIA DriveWorks API: Core Types
uint32_t numSensors
Number of physical sensors installed in the system.
dwUltrasonicNearRangeDetectionStatus nearRangeDetectionStatus
Indicator of near range detection out put status.
float float32_t
Specifies POD types.
uint32_t cycleCount
Cycle counter of packet received by the host.
DW_API_PUBLIC dwStatus dwSensorUltrasonic_setTemperature(float32_t const temperature, dwSensorHandle_t sensor)
Sets the environment temperature to be used in temperature compensation of the incoming data...
Defines a three-element floating-point vector.
dwUltrasonicMeasurementMode
Measurement modes that define the transmission frequencies and firing patterns.
dwTime_t hostTimestamp
Timestamp when the data was received by the host [us].
int32_t temperature
Temperature reported by ultrasonic sensor [C].
#define DW_ULTRASONIC_MAX_SAMPLE_SIZE
The maximum envelope sample array size of any vendor, to allow compile time declarations.
struct _dwUltrasonicEnvelope dwUltrasonicEnvelope
Not available as of current release. Will be added in future releases.
Near range detection algorithm is active but does not sense any obstacles.
DW_API_PUBLIC dwStatus dwSensorUltrasonic_enableDecoding(dwSensorHandle_t sensor)
Enables the decoding of the Ultrasonic envelopes, which incurs an additional CPU load.
Near range detection algorithm is active and providing range information.
float32_t verticalFoV
Vertical FoV relative to the sensor for standard target conditions [radians].
struct dwSensorObject * dwSensorHandle_t
Handle representing a sensor.
Near range detection algorithm is not providing results.
dwStatus
Status definition.
NVIDIA DriveWorks API: Sensors
#define DW_ULTRASONIC_MAX_NUM_SENSORS
The maximum number of sensors of any vendor, to allow compile time declarations.
uint32_t rxSensorId
ID of the sensor that received the echo.
int64_t dwTime_t
Specifies a timestamp unit, in microseconds.
float32_t sampleTimeInterval
Sensor sample rate [seconds].
float32_t rxFrequency
Center frequency of the received signal [Hz].
uint32_t txSensorId
ID of the sensor that transmitted the signal.
uint32_t numAmplitudeSamples
Number of valid amplitude samples in the data.
Data structure containing all relevant information about a single envelope measurement Not available ...
dwVector3f angles[DW_ULTRASONIC_MAX_NUM_SENSORS]
Roll, pitch, yaw Euler angles of each individual sensor [radians].
uint32_t maxRawSizeInBytes
Maximum size of Ultrasonic data payload.
DW_API_PUBLIC dwStatus dwSensorUltrasonic_isDecodingEnabled(bool *enable, dwSensorHandle_t sensor)
Retrieves the state of packet decoding.
dwUltrasonicMeasurementMode measurementMode
Operating mode of the ultrasonic system during this measurement.
float32_t nearRangeDistance
Separate estimation of a near range detection's distance [m].
DW_API_PUBLIC dwStatus dwSensorUltrasonic_disableDecoding(dwSensorHandle_t sensor)
Disable the decoding of the Ultrasonic envelopes, which frees additional CPU load.
DW_API_PUBLIC dwStatus dwSensorUltrasonic_returnEnvelope(dwUltrasonicEnvelope const *envelope, dwSensorHandle_t sensor)
Returns the Ultrasonic envelope to the internal pool.
Contextual information of the ultrasonic sensors currently used.
float32_t txFrequency
Center frequency of the transmitted signal [Hz].
Set of mounting parameters for each sensor.
float32_t horizontalFoV
Horizontal FoV for standard target conditions [radians].
DW_API_PUBLIC dwStatus dwSensorUltrasonic_readEnvelope(dwUltrasonicEnvelope const **envelope, dwTime_t timeout_us, dwSensorHandle_t sensor)
Reads a Ultrasonic envelope.
dwUltrasonicNearRangeDetectionStatus
Status to indicate whether the ultrasonic system could estimate a near range detection or not...
uint32_t maxNumAmplitudeSamples
Maximum number of valid amplitude samples in the data.
uint32_t maxNumSignalWays
Maximum number of signal ways that report data in one measurement cycle.
float32_t verticalFoV
Vertical FoV for standard target conditions [radians].
dwVector3f coordinates[DW_ULTRASONIC_MAX_NUM_SENSORS]
X,Y,Z translation of each individual sensor [m].
float32_t distanceInterval
Fixed distance interval between amplitude samples [m].
dwTime_t sensorTimestamp
Timestamp when the data was updated on the sensor [us].
float32_t reverberationPeriod
Period of the reverberation decay [ns].
float32_t horizontalFoV
Horizontal FoV relative to sensor for standard target conditions [radians].
float32_t speed
Vehicle speed reported by ultrasonic sensor [km/h].
DW_API_PUBLIC dwStatus dwSensorUltrasonic_processRawData(uint8_t const *data, size_t size, dwSensorHandle_t sensor)
Reads the Ultrasonic envelope from raw data.
DW_API_PUBLIC dwStatus dwSensorUltrasonic_getProperties(dwUltrasonicProperties *properties, dwSensorHandle_t sensor)
Gets information about the Ultrasonic sensor.