RadarScan.h

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#ifndef DW_SENSORS_RADAR_RADARSCAN_H_
#define DW_SENSORS_RADAR_RADARSCAN_H_
 
#include <dw/core/base/Types.h>
 
typedef enum {
    DW_RADAR_MODEL_UNKNOWN = 0,
 
    DW_RADAR_MODEL_CONTI_ARS430 = 1,
 
    DW_RADAR_MODEL_CONTI_ARS540 = 2,
 
    DW_RADAR_MODEL_CONTI_ARS620 = 3,
 
    DW_RADAR_MODEL_HELLA_GEN6 = 4,
} dwRadarModel;
 
typedef enum {
    DW_RADAR_QUALITY_NOT_AVAILABLE = 0,
 
    DW_RADAR_QUALITY_NORMAL = 1,
 
    DW_RADAR_QUALITY_REDUCED_COVERAGE = 2,
 
    DW_RADAR_QUALITY_REDUCED_PERFORMANCE = 3,
 
    DW_RADAR_QUALITY_REDUCED_COVERAGE_AND_PERFORMANCE = 4,
 
    DW_RADAR_QUALITY_TEST_MODE = 5,
 
    DW_RADAR_QUALITY_INVALID = 6,
} dwRadarDataQuality;
 
typedef enum {
    DW_RADAR_DETECTION_RECOGNITION_INVALID = 0,
 
    DW_RADAR_DETECTION_RECOGNITION_ALL_DETECTIONS_INCLUDED = 1,
 
    DW_RADAR_DETECTION_RECOGNITION_TOO_MANY_DETECTIONS_SORTING_COMPLETED = 2,
 
    DW_RADAR_DETECTION_RECOGNITION_TOO_MANY_DETECTIONS_SORTING_FAILED = 3,
} dwRadarDetectionStatus;
 
typedef struct dwRadarDetectionMisc
{
    uint8_t measurementModel;
 
    float32_t maskAngleSectAzi;
 
    float32_t maskAngleSectElev;
 
    float32_t rxSigStrength;
 
    float32_t peakDetectionThreshold;
 
    uint8_t dopplerAmbgtIdx;
} dwRadarDetectionMisc;
 
typedef struct dwRadarDetectionMiscValidity
{
    bool maskAngleSectAziValidity;
    bool maskAngleSectElevValidity;
    bool rxSigStrengthValidity;
    bool peakDetectionThresholdValidity;
    bool dopplerAmbgtIdxValidity;
} dwRadarDetectionMiscValidity;
 
typedef struct dwRadarDetectionStdDev
{
    float32_t elevStdDev;
 
    float32_t aziStdDev;
 
    float32_t dopplerStdDev;
 
    float32_t rangeStdDev;
} dwRadarDetectionStdDev;
 
typedef struct dwRadarDetectionStdDevValidity
{
    bool elevStdDevValidity;
    bool aziStdDevValidity;
    bool dopplerStdDevValidity;
    bool rangeStdDevValidity;
} dwRadarDetectionStdDevValidity;
 
typedef struct dwRadarDetectionQuality
{
    uint8_t aziQuality;
 
    uint8_t elevQuality;
 
    uint8_t rangeQuality;
 
    uint8_t dopplerQuality;
} dwRadarDetectionQuality;
 
typedef struct dwRadarDetectionQualityValidity
{
    bool aziQualityValidity;
    bool elevQualityValidity;
    bool rangeQualityValidity;
    bool dopplerQualityValidity;
} dwRadarDetectionQualityValidity;
 
typedef struct dwRadarDetectionProbability
{
    uint8_t existProbb;
 
    uint8_t multiTrgtProbb;
 
    uint16_t ambgtID;
 
    uint8_t ambgtProbb;
} dwRadarDetectionProbability;
 
typedef struct dwRadarDetectionProbabilityValidity
{
    bool existProbbValidity;
    bool multiTrgtProbbValidity;
    bool ambgtIDValidity;
    bool ambgtProbbValidity;
} dwRadarDetectionProbabilityValidity;
 
typedef struct dwRadarDetectionFFTPatch
{
    float32_t center;
 
    float32_t aziM2;
 
    float32_t aziM1;
 
    float32_t azi1;
 
    float32_t azi2;
 
    float32_t dopplerM2;
 
    float32_t dopplerM1;
 
    float32_t doppler1;
 
    float32_t doppler2;
 
    float32_t rangeM2;
 
    float32_t rangeM1;
 
    float32_t range1;
 
    float32_t range2;
} dwRadarDetectionFFTPatch;
 
typedef struct dwRadarDetectionFFTPatchValidity
{
    bool centerValidity;
    bool aziM2Validity;
    bool aziM1Validity;
    bool azi1Validity;
    bool azi2Validity;
    bool dopplerM2Validity;
    bool dopplerM1Validity;
    bool doppler1Validity;
    bool doppler2Validity;
    bool rangeM2Validity;
    bool rangeM1Validity;
    bool range1Validity;
    bool range2Validity;
} dwRadarDetectionFFTPatchValidity;
 
typedef struct dwRadarScanMisc
{
    dwTime_t cycleTime;
 
    dwTime_t duration;
 
    dwRadarDataQuality quality;
 
    uint8_t sensorID;
 
    uint32_t maxReturns;
 
    uint8_t modulationMode;
 
    dwRadarDetectionStatus status;
 
    float32_t rangeDopplerCovCoeff;
 
    uint8_t lowRangeInd;
} dwRadarScanMisc;
 
typedef struct dwRadarScanMiscValidity
{
    bool cycleTimeValidity;
    bool durationValidity;
    bool sensorIDValidity;
    bool maxReturnsValidity;
    bool modulationModeValidity;
    bool rangeDopplerCovCoeffValidity;
    bool lowRangeIndValidity;
} dwRadarScanMiscValidity;
 
typedef struct dwRadarScanAmbiguity
{
    float32_t aziAnglAmbgtDLowLmt;
 
    float32_t aziAnglAmbgtDUpLmt;
 
    float32_t dopplerAmbgtDLowLmt;
 
    float32_t dopplerAmbgtDUpLmt;
 
    float32_t elevAnglAmbgtDLowLmt;
 
    float32_t elevAnglAmbgtDUpLmt;
 
    float32_t rangeAmbgtD;
} dwRadarScanAmbiguity;
 
typedef struct dwRadarScanAmbiguityValidity
{
    bool aziAnglAmbgtDLowLmtValidity;
    bool aziAnglAmbgtDUpLmtValidity;
    bool dopplerAmbgtDLowLmtValidity;
    bool dopplerAmbgtDUpLmtValidity;
    bool elevAnglAmbgtDLowLmtValidity;
    bool elevAnglAmbgtDUpLmtValidity;
    bool rangeAmbgtDValidity;
} dwRadarScanAmbiguityValidity;
 
typedef struct dwRadarScanValidity
{
    dwRadarScanMiscValidity radarScanMiscValidity;
    dwRadarScanAmbiguityValidity radarScanAmbiguityValidity;
    dwRadarDetectionMiscValidity detectionMiscValidity;
    dwRadarDetectionStdDevValidity detectionStdDevValidity;
    dwRadarDetectionQualityValidity detectionQualityValidity;
    dwRadarDetectionProbabilityValidity detectionProbabilityValidity;
    dwRadarDetectionFFTPatchValidity detectionFFTPatchValidity;
} dwRadarScanValidity;
 
typedef enum {
    DW_RADAR_HEALTH_DEFECT_FULL_FUNC = 0,
 
    DW_RADAR_HEALTH_DEFECT_NOT_FULL_FUNC = 1,
 
    DW_RADAR_HEALTH_DEFECT_OUT_OF_ORDER = 2,
 
    DW_RADAR_HEALTH_DEFECT_SNA = 3,
} dwRadarHealthDefect;
 
typedef enum {
    DW_RADAR_HEALTH_DEFECT_RSN_NO_DEFECT = 0,
 
    DW_RADAR_HEALTH_DEFECT_RSN_WAKEUP_LINE_MALFUNC = 1,
 
    DW_RADAR_HEALTH_DEFECT_RSN_ETHERNET_MALFUNC = 2,
 
    DW_RADAR_HEALTH_DEFECT_RSN_SENSOR_IDENTIFICATION_ISSUE = 3,
 
    DW_RADAR_HEALTH_DEFECT_RSN_RADAR_FAILURE = 4,
 
    DW_RADAR_HEALTH_DEFECT_RSN_HARDWARE_FAILURE = 5,
 
    DW_RADAR_HEALTH_DEFECT_RSN_SOFTWARE_FAILURE = 6,
 
    DW_RADAR_HEALTH_DEFECT_RSN_INPUT_SIGNALS_MALFUNC = 7,
} dwRadarHealthDefectRsn;
 
typedef enum {
    DW_RADAR_HEALTH_NO_BLOCKAGE = 0,
 
    // Full blockage
    DW_RADAR_HEALTH_FULL_BLOCKAGE = 1,
 
    DW_RADAR_HEALTH_PART_BLOCKAGE_HIGH = 2,
 
    DW_RADAR_HEALTH_PART_BLOCKAGE_MEDIUM = 3,
 
    DW_RADAR_HEALTH_PART_BLOCKAGE_LOW = 4,
 
    DW_RADAR_HEALTH_PART_BLOCKAGE_DEFECT = 5,
} dwRadarHealthBlockage;
 
typedef enum {
    DW_RADAR_HEALTH_ERROR_VOLT_LOW = 1 << 0,
 
    DW_RADAR_HEALTH_ERROR_VOLT_HIGH = 1 << 1,
 
    DW_RADAR_HEALTH_ERROR_TEMP_UNDER = 1 << 2,
 
    DW_RADAR_HEALTH_ERROR_TEMP_OVER = 1 << 3,
 
    DW_RADAR_HEALTH_ERROR_INTERFERENCE = 1 << 4,
 
    DW_RADAR_HEALTH_ERROR_TIMESYNC = 1 << 5,
 
    DW_RADAR_HEALTH_ERROR_SNA = 1 << 6,
} dwRadarHealthError;
 
typedef struct dwRadarScanHealth
{
    dwRadarHealthDefect defect;
 
    dwRadarHealthDefectRsn defectRsn;
 
    dwRadarHealthBlockage blockage;
 
    dwRadarHealthError errors;
} dwRadarScanHealth;
 
#endif // DW_SENSORS_RADAR_RADARSCAN_H_