【C4002 毫米波雷达】介绍、环境搭建、工程测试 简单

"""
autoEnvCalibration - MicroPython equivalent
Perform environmental calibration on DFRobot C4002 sensor.
"""

from dfrobot_c4002 import (
    DFRobot_C4002,
    ResolutionMode,
    DistanceGateType,
    LedMode,
    NoteType
)
from machine import Pin
import time


def print_door_threshold(gate_data):
    """
    打印门阈值数据
    Args:
        gate_data: 阈值列表
    """
    n = len(gate_data)
    
    # 打印索引行
    print("Index:\t", end="")
    for i in range(n):
        print(i + 1, end="\t")
    print()
    
    # 打印数值行
    print("Value:\t", end="")
    for val in gate_data:
        print(val, end="\t")
    print()


def main():
    print("Initializing DFRobot_C4002 mmWave Radar Sensor...")

    # --- 初始化传感器 ---
    sensor = DFRobot_C4002(uart_id=0, baud=115200, tx_pin=0, rx_pin=1)

    # 循环直到初始化成功
    while not sensor.begin():
        print("C4002 begin failed!")
        time.sleep(1)

    print("C4002 begin success!")

    # --- 打开 Run LED 和 Out LED ---
    if sensor.set_run_led_state(LedMode.ON):
        print("Set run led success!")
    else:
        print("Set run led failed!")
    time.sleep_ms(50)

    if sensor.set_out_led_state(LedMode.ON):
        print("Set out led success!")
    else:
        print("Set out led failed!")
    time.sleep_ms(50)

    # 等待 3 秒让传感器稳定
    print("Waiting 3 seconds for sensor stabilization...")
    time.sleep(3)

    # --- 设置上报周期为 1 秒（10 * 0.1s = 1s）---
    if sensor.set_report_period(10):
        print("Set report period success!")
    else:
        print("Set report period failed!")
    # 注意：校准和获取数据必须有设置好的周期

    # --- 启动环境校准 ---
    # 延迟时间：10 秒，校准时间：30 秒（范围 15-65535 秒）
    print("Starting environmental calibration...")
    print("Delay time: 10s, Calibration time: 30s")
    sensor.start_env_calibration(10, 30)

    print("\n=== Environmental calibration started ===")
    print("Notes:")
    print("1. The calibration process takes about 30 seconds, plus 10 seconds delay")
    print("2. Please find an open area for calibration")
    print("3. No one should be in front of the sensor during calibration\n")

    # ==================== loop 循环 ====================
    calibration_complete = False

    while True:
        # 获取通知信息
        note = sensor.get_note_info()

        if note['note_type'] == NoteType.CALIBRATION:
            countdown = note['calib_countdown']
            print(f"Calibration countdown: {countdown} s")

            # 校准完成（倒计时为 0）
            if countdown == 0 and not calibration_complete:
                calibration_complete = True
                
                # 获取分辨率模式
                res_mode = sensor.get_resolution_mode()
                gate_count = 15 if res_mode == ResolutionMode.RES_80CM else 25
                
                print("\n************ Environmental Calibration Complete ****************")
                
                # 获取运动门阈值
                motion_gate_data = sensor.get_distance_gate_thresh(DistanceGateType.MOTION)
                if motion_gate_data is not None:
                    print("Motion distance gate threshold:")
                    print_door_threshold(motion_gate_data[:gate_count])
                else:
                    print("Get motion distance failed!")
                
                # 获取存在门阈值
                presence_gate_data = sensor.get_distance_gate_thresh(DistanceGateType.PRESENCE)
                if presence_gate_data is not None:
                    print("Presence distance gate threshold:")
                    print_door_threshold(presence_gate_data[:gate_count])
                else:
                    print("Get presence distance failed!")
                
                print("**************************************************************\n")

        time.sleep_ms(50)

# 运行主程序
main()