Complete Refactor of Detection Example with Documentation v2 #12
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Major improvements: - Created single unified C4001_RaspberryPiPico.ino file - Implemented proper time-based debouncing with configurable parameters - Added UART data verification for reliable target detection - Comprehensive #define configuration system (no magic numbers) - Multi-level debug output (standard and verbose modes) - State machine for robust target state management - Support for both I2C and UART interfaces - Combined Exit Mode (motion) and Speed Mode (ranging) functionality - Optimized for Raspberry Pi Pico with HardwareSerial Cleanup: - Removed Python examples and libraries - Removed old Arduino example files - Removed Chinese documentation - Removed resource images - Updated README with comprehensive documentation Technical features: - Debounce time: 500ms (configurable) - Sample-based verification: 5 samples (configurable) - UART verification: 3 additional reads (configurable) - Baud rate: 115200 (updated from 9600) - All timing and sensitivity parameters use #define constants
…1DUG2seEiVrQp8CxhweMimo Refactor: Unified mmWave sensor driver for Raspberry Pi Pico Major improvements: - Created single unified C4001_RaspberryPiPico.ino file - Implemented proper time-based debouncing with configurable parameters - Added UART data verification for reliable target detection - Comprehensive #define configuration system (no magic numbers) - Multi-level debug output (standard and verbose modes) - State machine for robust target state management - Support for both I2C and UART interfaces - Combined Exit Mode (motion) and Speed Mode (ranging) functionality - Optimized for Raspberry Pi Pico with HardwareSerial
Simplified the codebase to only support UART interface: - Removed all I2C conditional compilation blocks - Removed I2C configuration defines - Removed I2C object instantiation - Cleaned up debouncing logic (no more I2C conditionals) - Updated README to reflect UART-only design - Simplified configuration section - Added UART-specific error messages - Version bumped to v2.1 Rationale: - User only has UART chip variant - Simpler codebase with no dead code paths - UART supports all sensor features (PWM, IO polarity) - Better for debugging with AT commands - Reduces confusion and maintenance burden All debouncing and verification features remain intact.
…1DUG2seEiVrQp8CxhweMimo Remove I2C support - UART-only implementation Simplified the codebase to only support UART interface: - Removed all I2C conditional compilation blocks - Removed I2C configuration defines - Removed I2C object instantiation - Cleaned up debouncing logic (no more I2C conditionals) - Updated README to reflect UART-only design - Simplified configuration section - Added UART-specific error messages - Version bumped to v2.1 Rationale: - User only has UART chip variant - Simpler codebase with no dead code paths - UART supports all sensor features (PWM, IO polarity) - Better for debugging with AT commands - Reduces confusion and maintenance burden All debouncing and verification features remain intact.
Created C4001_PresenceDetector_Enhanced.ino combining: - Working hardware config from original code (RX=1, TX=0, 9600 baud) - Smart features: 3-sec latch, LED control, 2-6m range filtering - Robustness from refactored code: UART verification, better debouncing - Production-ready error handling and status display Key improvements over original: + Optional UART verification (reduces false positives) + Comprehensive #define configuration (all settings at top) + Configuration validation at compile time + Enhanced status display with latch countdown + Better error messages with troubleshooting steps + Structured code organization Key improvements over refactored: + Keeps working pin config (RX=1, TX=0 instead of 4/5) + Uses reliable 9600 baud (instead of 115200) + Has LED control with inversion option + Smart 2-6m range (avoids wall reflections vs 0.3-10m) + 3-second software latch for stable detection + Beautiful box-drawing output New files: - C4001_PresenceDetector_Enhanced.ino (main code) - ENHANCED_FEATURES.md (comprehensive documentation) Updated: - README.md (added file comparison and recommendations) This is now the RECOMMENDED file for production presence detection.
…1DUG2seEiVrQp8CxhweMimo Add enhanced presence detector - best of both worlds
…hecks The preprocessor #if directive cannot handle floating-point constants. This caused compilation errors: error: floating constant in preprocessor expression Solution: - Removed compile-time #if validation for MIN/MAX_DETECTION_RANGE_M - Added runtime validation in configureSensor() function - Validation now happens at startup with clear error messages - Warnings for out-of-range values - Hard error if MIN >= MAX (halts execution) This provides the same safety with better user feedback. Tested: Code now compiles successfully for Raspberry Pi Pico.
…1DUG2seEiVrQp8CxhweMimo Fix compilation error: replace preprocessor validation with runtime c…
Based on real Saleae logic analyzer captures, this update adds: New Features: - Raw UART/NMEA message debugging with hex display for binary data - Energy value corruption detection (filters values > 10M) - Startup buffer flushing to clear sensor garbage data - Data quality statistics with 30-second reporting intervals - Enhanced verbose output with corruption warnings Bug Fixes: - Rejects detections with corrupted energy values - Clears binary garbage at sensor startup (e.g., \x08\xC23\x9F\xDD) - Better handling of NMEA format: $DFDMD,status,targets,range,velocity,energy Analysis from Real Sensor Data: - Normal energy range: 1,000-50,000 - Corrupted values observed: 99M+, 166M+, etc. - Binary garbage appears before CLI prompt - CLI responses interleaved with data stream Configuration Options: - ENABLE_RAW_UART_DEBUG: Show raw sensor messages - ENABLE_DATA_QUALITY: Track and report data quality stats - MAX_VALID_ENERGY: Threshold for energy corruption detection This provides much better visibility into what the C4001 sensor is actually transmitting and helps diagnose communication issues.
Changes: - Add C4001_PresenceDetector_Enhanced.ino v2.6 as the primary codebase - Remove C4001_RaspberryPiPico.ino v2.1 (obsolete) v2.6 is now the official version with: ✓ Raw UART/NMEA message debugging ✓ Energy value corruption detection & filtering ✓ Startup buffer flushing ✓ Data quality statistics (30s reports) ✓ Enhanced verbose output with corruption warnings ✓ Based on real Saleae logic analyzer captures All merge conflicts resolved. This is the production-ready version.
…zjGR9BZv5aTmErQ Make v2.6 Enhanced the gold standard - replace old versions
Based on real deployment testing with PuTTY and Saleae captures: Range Configuration Fixes: - Changed MIN_DETECTION_RANGE from 2.0m to 0.5m - Changed MAX_DETECTION_RANGE from 6.0m to 3.0m - Reason: Real sensor output shows detections at 0.3-2.0m range - Previous config caused 39% "Out of Range" readings UART Message Capture Improvements: - Increased printRawUART() timeout from 50ms to 100ms - Added trailing character capture after message terminators - Reads complete NMEA frames including \r\n endings - Fixes incomplete messages like "$DFDMD,1,1,0.463,-0.014,4265077" Results from Real Testing: - 68 bytes of startup garbage cleared successfully - NMEA parsing working correctly - Data quality reports identifying out-of-range readings - Energy corruption detection working (1-2% corrupt readings) This version is tuned for actual C4001 sensor behavior in real-world deployment scenarios.
…zjGR9BZv5aTmErQ Fix detection range and UART message capture issues (v2.6.1)
Based on comprehensive analysis of Tx-Rx-output-sensor.csv: - 10,175 data points analyzed - 103 detection samples extracted - Range distribution measured: 0.311m - 1.993m Key Findings: - 62% of detections occur at 0.5-1.0m - 18.4% of detections occur at 0.3-0.5m (previously rejected!) - 0% of detections occur above 2.0m - 20.4% energy corruption rate (handled by v2.6 filtering) Configuration Changes: - MIN_DETECTION_RANGE: 0.5m → 0.3m - MAX_DETECTION_RANGE: 3.0m → 2.0m Impact: - Coverage improved from 81.6% to 98%+ - Captures all 19 readings previously rejected at 0.3-0.5m - Tighter max range reduces false positives from reflections Data Quality Expected: - Valid Detections: 0% → 60-70% - Out of Range: 39% → <2% - Corrupted Energy: 1-2% (unchanged, already filtered) This version is scientifically optimized for the actual C4001 sensor behavior based on real-world Saleae logic analyzer data.
…anup This commit represents a production-ready release with the following changes: DOCUMENTATION: - Added comprehensive Doxygen documentation to all functions, structs, and enums - Created Doxyfile with full diagram generation (call graphs, UML, includes) - Documented 16 functions with @brief, @details, @param, @return, @note, @see - Added inline /// comments for struct members and enum values - Included implementation notes from Saleae analysis CODE CHANGES: - Updated #include to reference library globally: <DFRobot_C4001.h> - Library now expected to be installed separately (Arduino Library Manager) - No functional code changes - only documentation and structure REPOSITORY CLEANUP: - Removed Tx-Rx-output-sensor.csv (507KB analysis file) - Removed commprotocol.pdf and sensormanual.pdf (284KB total) - Removed src/ folder (library files - now external dependency) - Removed C4001_PresenceDetector_Enhanced/ folder (duplicate) - Removed ENHANCED_FEATURES.md (content integrated into README) README REWRITE: - Professional, passive voice documentation - Integrated ENHANCED_FEATURES.md content seamlessly - Added Doxygen generation instructions with diagrams - Comprehensive configuration guide - Detailed troubleshooting section - Production status validation notes - Version history with Saleae optimization details FINAL STRUCTURE: - C4001_PresenceDetector_Enhanced.ino (44KB, fully documented) - Doxyfile (complete with graph generation) - README.md (13KB, professional documentation) - LICENSE, keywords.txt, library.properties Version: 2.6.2 (Saleae-Optimized) Coverage: 98%+ based on 103 real deployment samples
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Dec 5, 2025
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This one is correct. One full example, working and tested.
…GhzjGR9BZv5aTmErQ Claude/debug sensor output 01 rs nu f ghzj gr9 b zv5a tm er q
FORMATTING IMPROVEMENTS: - Enhanced printStateChange() with cleaner box borders and aligned text - Completely redesigned printDataQualityReport() with proper column alignment - Added right-aligned numbers with consistent padding - Added blank lines for visual separation - Changed box style from ╔═╗ to ┌─┐ for cleaner terminal rendering ALIGNMENT FIXES: - Total Readings: right-aligned with padding - Valid Detections: right-aligned count + percentage - Corrupted Energy: right-aligned count + percentage - Out of Range: right-aligned count + percentage - All percentages now consistently formatted with leading spaces BEFORE: │ Total Readings: 56 │ │ Valid Detections: 8 (14%) │ │ Corrupted Energy: 0 (0%) │ │ Out of Range: 1 (1%) │ AFTER: │ Total Readings: 56 │ │ │ │ Valid Detections: 8 ( 14%) │ │ Corrupted Energy: 0 ( 0%) │ │ Out of Range: 1 ( 1%) │ │ │ State change also improved with consistent label formatting: │ 🟢 PRESENCE DETECTED │ │ Latch Duration: 3.0 sec │ All tables now properly aligned for professional serial output.
MAJOR IMPROVEMENT: Completely redesigned RAW UART debug output BEFORE (raw NMEA string): RAW UART: $DFDMD,1,1,0.593,0.002,5165, , └─> NMEA parsed: $DFDMD,1,1,0.593,0.002,5165, , AFTER (formatted table with right-aligned columns): ┌─── RAW UART Data ─────────────────────┐ │ Status: 1 │ │ Targets: 1 │ │ Range: 0.593 m│ │ Velocity: 0.002 m/s│ │ Energy: 5165 │ └────────────────────────────────────────┘ KEY FEATURES: - Parses NMEA $DFDMD messages into structured fields - Right-aligned numeric values (10-char column width) - Proper units displayed (m, m/s) - Handles empty fields with "—" placeholder - Fragments shown as "RAW [Fragment]: ..." for incomplete messages - Professional table formatting with box borders - Values align vertically regardless of number size TECHNICAL DETAILS: - Parses comma positions to extract fields - Right-pads values before printing for alignment - Status/Targets: single digit right-aligned - Range/Velocity: decimal numbers with units - Energy: large integers right-aligned - Handles missing data gracefully This makes serial monitoring much easier to read and understand sensor behavior at a glance.
…GhzjGR9BZv5aTmErQ Claude/debug sensor output 01 rs nu f ghzj gr9 b zv5a tm er q
ROOT CAUSE: - LCD was displaying sensor readings without validation checks - Invalid readings (57000m distances, >7m/s speeds) were shown during latch period - reading.valid was checked for detection logic but NOT for display logic FIXES: 1. Added validation to updateLCD() - only display if reading.valid is true 2. Unified validity definition in readSensor() to include energy corruption 3. Clear LCD display line when data is invalid instead of showing garbage values CHANGES: - DFRobot-C4001-24GHz-UART-Enhanced-PiPico.ino: * Line 450: Include energy validation in reading.valid * Line 495: Simplified evaluateDetection() logic (energy check now in valid) * Lines 558, 580: Added reading.valid check before displaying distance/energy * Lines 565, 587: Clear display when data is invalid * Version bumped to 2.8.1 RESULT: - Distance jumps to 57000m eliminated - Only validated readings (1-10m range, ≤7m/s speed, valid energy) displayed - Consistent validation logic throughout codebase
…DDP4SbDCQ7HZCNBCZuU Fix distance jump bug - prevent invalid readings from displaying
Applied critical production-ready improvements: CRITICAL FIX #1: Improved Energy Validation - Added MIN_VALID_ENERGY (1) to reject zero/negative energy readings - Reduced MAX_VALID_ENERGY from 10000000 to 100000 (realistic threshold) - Prevents integer overflow issues with uint32_t comparisons - More accurate corruption detection CRITICAL FIX #2: millis() Overflow Protection - Added MILLIS_SANITY_CHECK_MS (4000ms) constant - Protected evaluateDetection() latch logic with sanity check - Protected updateLCD() motion timeout calculation - Protected printVerboseStatus() countdown display - Prevents incorrect behavior after 49-day millis() rollover CRITICAL FIX #3: Sensor Health Monitoring - Added SensorHealthMonitor struct to detect stuck sensors - Implemented checkSensorHealth() function - Alerts when sensor returns identical readings >50 times (~5 sec) - Displays orange warning on LCD when sensor stuck detected - Integrated health check into main loop CODE QUALITY IMPROVEMENTS: - Extracted magic numbers to named constants: * DATA_QUALITY_REPORT_INTERVAL_MS (30000) * LOADING_FLASH_INTERVAL_MS (500) * UART_READ_TIMEOUT_MS (100) * MAX_IDENTICAL_READINGS_ALERT (50) - Applied constants throughout codebase for maintainability CHANGES: - Lines 61-62: Added MIN_VALID_ENERGY and updated MAX_VALID_ENERGY - Lines 77-80: Added timing/interval constants - Line 89: Added MILLIS_SANITY_CHECK_MS - Lines 129-134: Added SensorHealthMonitor struct - Line 151: Added healthMonitor instance - Line 176: Added checkSensorHealth() prototype - Lines 454-455: Enhanced energy corruption check with MIN threshold - Lines 506-507: Added overflow protection to latch logic - Lines 562-563: Added overflow protection to motion detection - Lines 670-671: Added overflow protection to verbose status - Lines 708-726: Implemented checkSensorHealth() function - Line 199: Added sensor health check to main loop - Line 640: Updated version to 2.9.0 RESULT: ✓ System handles millis() overflow gracefully (49+ day uptime) ✓ More robust energy validation prevents false readings ✓ Sensor failures detected and alerted automatically ✓ Improved code maintainability with named constants
Applied high-priority algorithmic improvements: HIGH PRIORITY FIX #4: Signal Smoothing (EMA Filter) - Added Exponential Moving Average (EMA) filtering - Created FilteredReading struct to track smoothed values - Added EMA_ALPHA constant (0.3) for smoothing factor - Smoothes range, speed, and energy readings - Eliminates jitter and sudden jumps in sensor data - Filter resets when no target detected - Benefits: More stable detection, reduced false rejections HIGH PRIORITY FIX #5: Range-Adaptive Speed Limits - Implemented getMaxSpeedForRange() function - Dynamic speed thresholds based on target distance: * 0-3m: 7.0 m/s (strict for nearby human detection) * 3-6m: 10.0 m/s (moderate for mid-range) * 6-10m: 15.0 m/s (lenient for far targets) - Accounts for Doppler measurement uncertainty at range - Applied to both readSensor() and verifyDetectionUART() - Benefits: Fewer false rejections at distance, better accuracy up close HIGH PRIORITY FIX #6: Hysteresis for Range Boundaries - Added static wasInRange tracker in readSensor() - Two-level boundary system: * Normal bounds (1.0-10.0m) for new target acquisition * Wider bounds (0.8-10.2m) when already tracking - Prevents rapid valid/invalid toggling at boundaries - Benefits: Stable tracking, reduced boundary oscillation CHANGES: - Line 48: Added EMA_ALPHA constant (0.3) - Lines 139-144: Added FilteredReading struct - Line 164: Added filtered instance - Line 190: Added getMaxSpeedForRange() prototype - Lines 460-469: Implemented getMaxSpeedForRange() function - Lines 460-504: Updated readSensor() documentation - Lines 470-492: Implemented EMA filtering in readSensor() - Lines 511-526: Implemented hysteresis in range checking - Lines 528-530: Applied adaptive speed threshold in readSensor() - Lines 545-547: Applied adaptive speed threshold in verifyDetectionUART() RESULT: ✓ Smoother, more stable sensor readings ✓ Intelligent speed filtering based on target distance ✓ Eliminates boundary flickering issues ✓ More professional detection algorithm
Applied production-ready UX and system monitoring features: NICE TO HAVE #7: Custom LCD Characters - Created custom human icon (character 0) for human detection - Created custom wave icon (character 1) for motion detection - Implemented createLCDCustomChars() function - Integrated icons into LCD display messages - Enhanced visual feedback and professional appearance - Benefits: More intuitive, visually appealing LCD display NICE TO HAVE #8: Performance Metrics Tracking - Added SystemMetrics struct for uptime and performance tracking - Implemented updateSystemMetrics() function - Tracks uptime in hours/minutes format - Tracks total detection count across session - Displays metrics every 60 seconds - Integrated with main loop for continuous monitoring - Benefits: System health visibility, performance analysis NICE TO HAVE #9: Memory Monitoring - Implemented getFreeRAM() function for heap monitoring - Tracks available memory in real-time - Displays free RAM with performance metrics - Uses proper RP2040 memory calculation - Benefits: Early detection of memory leaks, system stability NICE TO HAVE #10: Graceful Degradation - Enhanced evaluateDetection() with fallback logic - If UART verification fails but readings are consistent: * Requires 2x STABLE_READINGS for degraded detection * Logs warning message for visibility * Still triggers detection to maintain functionality - Prevents total system failure from UART issues - Benefits: More robust operation, better reliability CHANGES: - Lines 146-153: Added SystemMetrics struct - Line 176: Added metrics instance - Lines 172, 375-403: Implemented createLCDCustomChars() - Lines 204-205: Added function prototypes - Line 365: Integrated custom chars into LCD init - Lines 674, 700: Added custom icons to LCD messages - Lines 648, 656, 663: Track total detections in metrics - Lines 845-868: Implemented getFreeRAM() and updateSystemMetrics() - Line 259: Integrated metrics updates into main loop - Lines 652-660: Implemented graceful degradation logic RESULT: ✓ Professional LCD display with custom icons ✓ Comprehensive system monitoring (uptime, detections, memory) ✓ Graceful failure handling for UART verification ✓ Production-ready diagnostics and reliability
…DDP4SbDCQ7HZCNBCZuU Claude/fix distance jump bug 01 q5s ddp4 sb dcq7 hzcnbc zu u
Updated example README to fully document all v2.9.0 enhancements: DOCUMENTATION UPDATES: - Updated version from 2.6.2 to 2.9.0 - Added "Professional Edition" subtitle - Documented all critical, high priority, and nice-to-have features FEATURE DOCUMENTATION: 🔴 Critical Production Features: - Enhanced energy validation (MIN/MAX 1-100,000) - millis() overflow protection (49+ day uptime) - Sensor health monitoring with stuck detection - Named constants for maintainability 🟡 Advanced Signal Processing: - EMA signal smoothing filter (α=0.3) - Range-adaptive speed limits (7-15 m/s) - Hysteresis boundaries (0.8-10.2m tracking) 🟢 Professional UX & Monitoring: - Custom LCD characters (human & wave icons) - Performance metrics (uptime, detections, RAM) - Memory monitoring with heap tracking - Graceful degradation fallback modes NEW SECTIONS: - LCD Display Modes table with color-coded states - Custom LCD Icons documentation - Signal Processing Pipeline diagram - Health Monitoring details - Advanced Features specifications - Production Deployment Notes - Monitoring Checklist - Long-Term Operation guidelines UPDATED SECTIONS: - Configuration examples with v2.9.0 parameters - Troubleshooting for new features - Technical specifications with updated metrics - Version history with detailed v2.9.0 changelog - Output examples with v2.9.0 formatting CHANGES: - Detection range updated: 0.3-2.0m → 1.0-10.0m with hysteresis - Added adaptive speed filtering documentation - Added LCD display state reference - Added system monitoring details - Added graceful degradation explanation - Updated performance metrics - Added production readiness notes RESULT: ✓ Complete v2.9.0 feature documentation ✓ Professional deployment guidelines ✓ Comprehensive troubleshooting guide ✓ Production monitoring checklists
…DDP4SbDCQ7HZCNBCZuU 📚 Update README to v2.9.0 - Professional Edition documentation
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I reconstructed my fork to be a single full working example with extensive documentation. It has software doxygen, a README and a single ino file that fixes some issues I found as well as exposes some better potential demonstration items and debugging.
other requests were accidents fyi, I tried to use a workflow and it posted to this repo from my fork, I don't use fork much clearly.