/*
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* Copyright (c) 2019-2023 Beijing Hanwei Innovation Technology Ltd. Co. and
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* its subsidiaries and affiliates (collectly called MKSEMI).
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*
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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*
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* 1. Redistributions of source code must retain the above copyright notice,
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* this list of conditions and the following disclaimer.
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*
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* 2. Redistributions in binary form, except as embedded into an MKSEMI
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* integrated circuit in a product or a software update for such product,
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* must reproduce the above copyright notice, this list of conditions and
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* the following disclaimer in the documentation and/or other materials
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* provided with the distribution.
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*
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* 3. Neither the name of MKSEMI nor the names of its contributors may be used
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* to endorse or promote products derived from this software without
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* specific prior written permission.
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*
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* 4. This software, with or without modification, must only be used with a
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* MKSEMI integrated circuit.
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*
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* 5. Any software provided in binary form under this license must not be
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* reverse engineered, decompiled, modified and/or disassembled.
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*
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* THIS SOFTWARE IS PROVIDED BY MKSEMI "AS IS" AND ANY EXPRESS OR IMPLIED
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* WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
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* MERCHANTABILITY, NONINFRINGEMENT, AND FITNESS FOR A PARTICULAR PURPOSE ARE
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* DISCLAIMED. IN NO EVENT SHALL MKSEMI OR CONTRIBUTORS BE LIABLE FOR ANY
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* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
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* THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#include "mk_trace.h"
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#include "mk_power.h"
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#include "mk_gpio.h"
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#include "mk_uwb.h"
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#include "mk_clock.h"
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#include "wsf_msg.h"
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#include "ranging_simple.h"
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#include "lib_aoa.h"
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#include "lib_ranging.h"
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#if KF_EN
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#include "lib_kf.h"
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#endif
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#include "board.h"
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#if KF_EN && FILTER_EN
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#define KF_SUPPORT_NUM 6
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#define KF_TIMEOUT_MS 2000
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static struct KF_MAC_ADDR_T kf_mac_addr_cache[KF_SUPPORT_NUM];
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static struct KF_CHANNEL_CACHE_T kf_channel_cache[KF_SUPPORT_NUM];
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static struct KF_MAT_VALUE_CACHE_T kf_mat_value_cache[KF_SUPPORT_NUM];
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#endif
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static struct RANGING_USER_PKT_T ranging_user_pkt;
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static struct RANGING_COMMON_MSG_T ranging_common_msg;
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struct RANGING_ENV_T ranging_env;
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static struct RANGING_CB_T ranging_cb;
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static struct UWB_OP_T op = {
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.session_configure = ranging_configure,
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.session_start = ranging_start,
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.session_stop = ranging_stop,
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.session_local_addr_set = ranging_local_addr_set,
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.session_peer_addr_set = ranging_peer_addr_set,
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.session_responder_addr_add = ranging_responder_addr_add,
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.session_responder_list_clr = ranging_responder_list_clr,
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.session_responder_num_get = ranging_responder_num_get,
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.session_responder_addr_get = ranging_responder_addr_get,
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.session_dynamic_update_responder_list = NULL,
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.session_set_ccc_ursk = NULL,
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};
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static void ranging_timer_callback(void *dev, uint32_t time);
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static void uwb_pkt_tx_done_ind(const struct MAC_HW_REPORT_T *tx, enum RANGING_STAGE_T stage);
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static void uwb_pkt_rx_done_ind(const struct MAC_HW_REPORT_T *rx, enum RANGING_STAGE_T stage);
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static void ranging_tx_process(struct MAC_HW_REPORT_T *tx_report);
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static void ranging_rx_process(struct MAC_HW_REPORT_T *rx_report);
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void app_session_init(void);
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//------------------------------------------------------------------------------
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int ranging_init(uint8_t handle_id)
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{
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/* store handler ID */
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ranging_cb.handle_id = handle_id;
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/* init rx queue */
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WSF_QUEUE_INIT(&ranging_cb.msg_queue);
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ranging_cb.daemon_timer.handlerId = handle_id;
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ranging_cb.daemon_timer.msg.event = RANGING_DAEMON_TIMER_MSG;
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LOG_INFO(TRACE_MODULE_APP, "Ranging lib version: %s\r\n", MK8000_get_rangelib_version());
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LOG_INFO(TRACE_MODULE_APP, "AoA lib version: %s\r\n", MK8000_get_aoalib_version());
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LOG_INFO(TRACE_MODULE_APP, "UWB_RX_OPEN_IN_ADVANCE %d\r\n", UWB_RX_OPEN_IN_ADVANCE);
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LOG_INFO(TRACE_MODULE_APP, "UWB_RX_WINDOW %d\r\n", UWB_RX_WINDOW);
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LOG_INFO(TRACE_MODULE_APP, "UWB_EVT_PREFETCH_TIME %d\r\n", UWB_EVT_PREFETCH_TIME);
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return 0;
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}
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int ranging_deinit(void)
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{
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return 0;
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}
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// This function will be called by uwbapi_session_init()
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void app_session_init(void)
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{
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// register process handler for MAC TX done and RX done
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mac_register_process_handler(ranging_tx_process, ranging_rx_process);
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uwbs_handler_init(&op);
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}
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void ranging_configure(void)
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{
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ranging_env.ranging_period = MS_TO_PHY_TIMER_COUNT(uwb_app_config.session_param.ranging_interval);
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ranging_env.slot_interval = RSTU_TO_PHY_TIMER_COUNT(uwb_app_config.session_param.slot_duration);
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ranging_env.enable = 0;
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ranging_env.tof = 0;
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ranging_env.range_data.measurements_num = 0;
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for (uint8_t i = 0; i < MEASUREMENT_NUM_MAX; i++)
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{
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ranging_env.range_data.measurements[i].status = STATUS_VENDOR_RESERVED;
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}
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ranging_env.range_data.ranging_type = 0x1; // TWR (SS-TWR, DS-TWR)
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ranging_env.range_data.ranging_interval = uwb_app_config.session_param.ranging_interval;
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ranging_env.range_data.mac_addr_mode = uwbs_mac_addr_mode_get();
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ranging_env.range_data.session_id = uwb_app_config.session_id;
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uwbs_configure(PHY_TX | PHY_RX, uwb_app_config.session_param.tx_power_level);
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#if CSI_EN
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ranging_aux_out_opt_set(CH_LEN_DEFAULT, 3);
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#endif
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#if (ANT_PATTERN == ANT_PATTERN_SQUARE)
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struct AOA_ANGLE_SPAN_T aoa_span;
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aoa_span.Ndim = 2;
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aoa_span.el_low = 90;
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aoa_span.el_high = 90;
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aoa_span.el_step = 1;
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aoa_span.az_low = 0;
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aoa_span.az_high = 359;
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aoa_span.az_step = 1;
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aoa_angle_search_span_set(&aoa_span);
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#endif
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#if AOA_EN
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aoa_aux_info_set(AOA_AUX_ANT_IQ_RSSI_PDOA_AOA_FOM);
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aoa_steering_vector_set((const float *)((uint32_t)((uwb_app_config.ppdu_params.ch_num == 9) ? svec_ch9_ptr : svec_ch5_ptr) | SRAM_BASE));
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#else
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aoa_aux_info_set(AOA_AUX_ANT_IQ_RSSI);
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#endif
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aoa_param_config();
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#if FILTER_EN
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if (uwb_app_config.filter_en)
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{
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#if KF_EN
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loc_post_kf_config(uwb_app_config.session_param.ranging_interval, kf_mac_addr_cache, kf_channel_cache, kf_mat_value_cache, KF_SUPPORT_NUM,
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KF_TIMEOUT_MS);
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#else
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loc_post_filter_config(uwb_app_config.session_param.ranging_interval, 1, uwb_app_config.session_param.aoa_result_req);
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#endif
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}
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#endif
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ranging_user_pkt.session_id = (uint16_t)uwb_app_config.session_id;
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}
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void ranging_start(void)
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{
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ranging_env.enable = 1;
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ranging_env.ranging_period = MS_TO_PHY_TIMER_COUNT(uwb_app_config.session_param.ranging_interval);
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ranging_env.range_data.mac_addr_mode = uwbs_mac_addr_mode_get();
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uint16_t tmp_delay = uwb_app_config.session_param.ranging_anchor_resp_delay;
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if (tmp_delay & 0x8000)
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ranging_env.anchor_resp_dly = MS_TO_PHY_TIMER_COUNT(tmp_delay & ~0x8000);
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else
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ranging_env.anchor_resp_dly = US_TO_PHY_TIMER_COUNT(tmp_delay);
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tmp_delay = uwb_app_config.session_param.ranging_tag_resp_delay;
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if (tmp_delay & 0x8000)
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ranging_env.tag_resp_dly = MS_TO_PHY_TIMER_COUNT(tmp_delay & ~0x8000);
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else
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ranging_env.tag_resp_dly = US_TO_PHY_TIMER_COUNT(tmp_delay);
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ranging_env.base_point = phy_timer_count_get() + ranging_env.ranging_period;
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ranging_env.anchor_point = ranging_env.base_point;
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enum DEV_ROLE_T dev_role = uwb_app_config.session_param.device_role;
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uwb_app_config.ranging_stage = (RANGING_SYNC);
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phy_timer_target_set(ranging_env.anchor_point - UWB_EVT_PREFETCH_TIME, ranging_timer_callback);
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// power_mode_request(POWER_UNIT_APP, POWER_MODE_POWER_DOWN);
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ranging_env.count = 0;
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ranging_env.count_last = 0;
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ranging_env.lost_cnt = 0;
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// uint8_t locak_long_addr[8] = {0x39,0xcd,0x91,0x4d,};
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// uint8_t locak_long_addr[8] = {0xa5,0xc6,0x91,0xcd,};
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// uwbs_local_long_addr_set(locak_long_addr);
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// WsfTimerStartMs(&ranging_cb.daemon_timer, TAG_BLINK_PERIOD_MS * 10, WSF_TIMER_PERIODIC);
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LOG_INFO(TRACE_MODULE_APP, "Ranging start, role %d\r\n", dev_role);
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}
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void ranging_stop(void)
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{
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ranging_env.enable = 0;
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WsfTimerStop(&ranging_cb.daemon_timer);
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}
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void ranging_restart(void)
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{
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ranging_stop();
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mac_restart();
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ranging_start();
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LOG_INFO(TRACE_MODULE_APP, "Ranging restart\r\n");
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}
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int8_t ranging_tx_power_get(void)
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{
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return uwb_tx_power_get(uwb_app_config.ppdu_params.ch_num, uwb_app_config.session_param.tx_power_level);
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}
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void ranging_local_addr_set(uint16_t short_addr)
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{
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uwbs_local_short_addr_set(short_addr);
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}
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void ranging_peer_addr_set(uint16_t short_addr)
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{
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uwbs_peer_short_addr_set(short_addr);
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}
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uint8_t ranging_responder_addr_add(uint16_t addr)
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{
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if (ranging_env.responder_num < RESPONDER_NUM_MAX)
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{
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LOG_INFO(TRACE_MODULE_APP, "Responder %d %04x\r\n", ranging_env.responder_num, addr);
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ranging_env.responder_list[ranging_env.responder_num] = addr;
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ranging_env.responder_num++;
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return 1;
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}
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return 0;
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}
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void ranging_responder_list_clr(void)
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{
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ranging_env.responder_num = 0;
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}
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uint16_t ranging_responder_addr_get(uint8_t idx)
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{
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return ranging_env.responder_list[idx];
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}
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uint8_t ranging_responder_num_get(void)
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{
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return ranging_env.responder_num;
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}
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// ts_a - ts_b
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int64_t ranging_timestamp_diff(int64_t ts_a, int64_t ts_b)
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{
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if (ts_a < ts_b)
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{
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return (0x20000000000 - ts_b + ts_a);
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}
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else
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{
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return (ts_a - ts_b);
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}
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}
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// unit: 15.6ps
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int64_t ranging_tround(enum DEV_ROLE_T role, uint8_t dev_idx)
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{
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int64_t tx_timestamp;
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int64_t rx_timestamp;
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if (role == DEV_ROLE_INITIATOR)
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{
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tx_timestamp = ranging_env.tx_poll_time;
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rx_timestamp = ranging_env.rx_response_time[dev_idx];
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}
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else
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{
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tx_timestamp = ranging_env.tx_response_time;
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rx_timestamp = ranging_env.rx_final_time;
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}
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int64_t tround = ranging_timestamp_diff(rx_timestamp, tx_timestamp);
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// correct antenna delay
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tround -= ranging_ant_delays_get(uwb_app_config.ppdu_params.rx_ant_id);
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return tround;
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}
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// unit: 15.6ps
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int64_t ranging_treply(enum DEV_ROLE_T role, uint8_t dev_idx)
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{
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int64_t tx_timestamp;
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int64_t rx_timestamp;
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if (role == DEV_ROLE_INITIATOR)
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{
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tx_timestamp = ranging_env.tx_final_time;
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rx_timestamp = ranging_env.rx_response_time[dev_idx];
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}
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else
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{
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tx_timestamp = ranging_env.tx_response_time;
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rx_timestamp = ranging_env.rx_poll_time;
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}
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int64_t treply = ranging_timestamp_diff(tx_timestamp, rx_timestamp);
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// correct antenna delay
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treply += ranging_ant_delays_get(uwb_app_config.ppdu_params.rx_ant_id);
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return treply;
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}
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uint8_t ranging_count_get(void)
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{
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return ranging_env.count;
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}
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// sync msg packet
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static uint8_t ranging_sync_pkt_construct(void *p)
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{
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uint8_t tmp_idx = 0;
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struct RANGING_SYNC_MSG_T *p_sync_msg = (struct RANGING_SYNC_MSG_T *)p;
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p_sync_msg->frameCtrl[0] = 0xc5;
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tmp_idx += 1;
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p_sync_msg->seqNum = (uint8_t)ranging_user_pkt.seq_num;
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tmp_idx += 1;
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memcpy(p_sync_msg->tagID, uwbs_local_long_addr_get(), 8);
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tmp_idx += 8;
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return tmp_idx;
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}
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// cfg msg packet
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static uint8_t ranging_cfg_pkt_construct(void *p)
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{
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uint8_t tmp_idx = 0;
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struct RANGING_COMMON_MSG_T *p_cfg_msg = (struct RANGING_COMMON_MSG_T *)p;
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p_cfg_msg->frameCtrl[tmp_idx++] = 0x41;
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p_cfg_msg->frameCtrl[tmp_idx++] = 0xcc;
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p_cfg_msg->seqNum = (uint8_t)ranging_user_pkt.seq_num;
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tmp_idx += 1;
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p_cfg_msg->panID[0] = 0xca;
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p_cfg_msg->panID[1] = 0xde;
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tmp_idx += 2;
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memcpy(p_cfg_msg->destAddr, uwbs_peer_long_addr_get(), 8);
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tmp_idx += 8;
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memcpy(p_cfg_msg->sourceAddr, uwbs_local_long_addr_get(), 8);
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tmp_idx += 8;
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p_cfg_msg->fcode = 0x20;
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tmp_idx += 1;
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#if 1
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p_cfg_msg->user_data[0] = p_cfg_msg->destAddr[0];
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tmp_idx += 1;
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p_cfg_msg->user_data[1] = p_cfg_msg->sourceAddr[0];
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tmp_idx += 1;
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// ANCHOR_RESP_DLY, delayRx_us + poll_us, coded in us with bit 15 == 0, coded in ms when bit 15 == 1
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uint16_t tmp_delay = uwb_app_config.session_param.ranging_anchor_resp_delay;
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p_cfg_msg->user_data[2] = tmp_delay & 0xFF;
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tmp_idx += 1;
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p_cfg_msg->user_data[3] = (tmp_delay >> 8) & 0xFF;
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tmp_idx += 1;
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// TAG_RESP_DLY, coded in us with bit 15 == 0, coded in ms when bit 15 == 1
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tmp_delay = uwb_app_config.session_param.ranging_tag_resp_delay;
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p_cfg_msg->user_data[4] = tmp_delay & 0xFF;
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tmp_idx += 1;
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p_cfg_msg->user_data[5] = (tmp_delay >> 8) & 0xFF;
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tmp_idx += 1;
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#else
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tmp_idx += 6;
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#endif
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return tmp_idx;
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}
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static uint8_t ranging_poll_pkt_construct(void *p)
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{
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// poll msg packet
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uint8_t tmp_idx = 0;
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struct RANGING_COMMON_MSG_T *p_poll_msg = (struct RANGING_COMMON_MSG_T *)p;
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p_poll_msg->frameCtrl[tmp_idx++] = 0x41;
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p_poll_msg->frameCtrl[tmp_idx++] = 0xcc;
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p_poll_msg->seqNum = (uint8_t)ranging_user_pkt.seq_num;
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tmp_idx += 1;
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p_poll_msg->panID[0] = 0xca;
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p_poll_msg->panID[1] = 0xde;
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tmp_idx += 2;
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memcpy(p_poll_msg->destAddr, uwbs_peer_long_addr_get(), 8);
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tmp_idx += 8;
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memcpy(p_poll_msg->sourceAddr, uwbs_local_long_addr_get(), 8);
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tmp_idx += 8;
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p_poll_msg->fcode = 0x21;
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tmp_idx += 1;
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memset(p_poll_msg->user_data, 0, sizeof(p_poll_msg->user_data));
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tmp_idx += 4;
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return tmp_idx;
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}
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static uint8_t ranging_response_pkt_construct(void *p)
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{
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// send response
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// response msg packet
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uint8_t tmp_idx = 0;
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struct RANGING_COMMON_MSG_T *p_resp_msg = (struct RANGING_COMMON_MSG_T *)p;
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p_resp_msg->frameCtrl[tmp_idx++] = 0x41;
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p_resp_msg->frameCtrl[tmp_idx++] = 0xcc;
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p_resp_msg->seqNum = (uint8_t)ranging_user_pkt.seq_num;
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tmp_idx += 1;
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p_resp_msg->panID[0] = 0xca;
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p_resp_msg->panID[1] = 0xde;
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tmp_idx += 2;
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memcpy(p_resp_msg->destAddr, uwbs_peer_long_addr_get(), 8);
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tmp_idx += 8;
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memcpy(p_resp_msg->sourceAddr, uwbs_local_long_addr_get(), 8);
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tmp_idx += 8;
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p_resp_msg->fcode = 0x10;
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tmp_idx += 1;
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memset(p_resp_msg->user_data, 0, sizeof(p_resp_msg->user_data));
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p_resp_msg->user_data[0] = 0x02; // 0x02 ranging continue
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tmp_idx += 1;
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#if 0
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#else
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tmp_idx += 7;
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#endif
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return tmp_idx;
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}
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static uint8_t ranging_final_pkt_construct(void *p)
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{
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// send response
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// response msg packet
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uint8_t tmp_idx = 0;
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struct RANGING_COMMON_MSG_T *p_final_msg = (struct RANGING_COMMON_MSG_T *)p;
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p_final_msg->frameCtrl[tmp_idx++] = 0x41;
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p_final_msg->frameCtrl[tmp_idx++] = 0xcc;
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p_final_msg->seqNum = (uint8_t)ranging_user_pkt.seq_num;
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tmp_idx += 1;
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p_final_msg->panID[0] = 0xca;
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p_final_msg->panID[1] = 0xde;
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tmp_idx += 2;
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memcpy(p_final_msg->destAddr, uwbs_peer_long_addr_get(), 8);
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tmp_idx += 8;
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memcpy(p_final_msg->sourceAddr, uwbs_local_long_addr_get(), 8);
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tmp_idx += 8;
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p_final_msg->fcode = 0x29;
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tmp_idx += 1;
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memset(p_final_msg->user_data, 0, sizeof(p_final_msg->user_data));
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// timestamp
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//
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p_final_msg->user_data[0] = (ranging_env.tx_poll_time >> 0) & 0xFF;
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p_final_msg->user_data[1] = (ranging_env.tx_poll_time >> 8) & 0xFF;
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p_final_msg->user_data[2] = (ranging_env.tx_poll_time >> 16) & 0xFF;
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p_final_msg->user_data[3] = (ranging_env.tx_poll_time >> 24) & 0xFF;
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p_final_msg->user_data[4] = (ranging_env.tx_poll_time >> 32) & 0xFF;
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tmp_idx += 5;
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//
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p_final_msg->user_data[5] = (ranging_env.rx_response_time[0] >> 0) & 0xFF;
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p_final_msg->user_data[6] = (ranging_env.rx_response_time[0] >> 8) & 0xFF;
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p_final_msg->user_data[7] = (ranging_env.rx_response_time[0] >> 16) & 0xFF;
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p_final_msg->user_data[8] = (ranging_env.rx_response_time[0] >> 24) & 0xFF;
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p_final_msg->user_data[9] = (ranging_env.rx_response_time[0] >> 32) & 0xFF;
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tmp_idx += 5;
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//
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p_final_msg->user_data[10] = (ranging_env.tx_final_time >> 0) & 0xFF;
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p_final_msg->user_data[11] = (ranging_env.tx_final_time >> 8) & 0xFF;
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p_final_msg->user_data[12] = (ranging_env.tx_final_time >> 16) & 0xFF;
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p_final_msg->user_data[13] = (ranging_env.tx_final_time >> 24) & 0xFF;
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p_final_msg->user_data[14] = (ranging_env.tx_final_time >> 32) & 0xFF;
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tmp_idx += 5;
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return tmp_idx;
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}
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uint8_t ranging_poll_pkt_process(uint8_t *pkt_data, uint16_t pkt_len)
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{
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uint8_t ret = 0;
|
struct RANGING_USER_PKT_T *ranging_recv_pkt = (struct RANGING_USER_PKT_T *)pkt_data;
|
|
ranging_env.responder_num = 0;
|
ranging_env.responder_slot_idx = 0;
|
|
if ((ranging_recv_pkt->session_id == ranging_user_pkt.session_id) && (ranging_recv_pkt->msg_type == RANGING_POLL))
|
{
|
ranging_env.responder_num = ranging_recv_pkt->msg.poll_msg[MSG_POLL_RESPONDER_NUM_IDX];
|
for (uint8_t i = 0; i < ranging_env.responder_num; i++)
|
{
|
uint16_t responder_id = READ_SHORT(&ranging_recv_pkt->msg.poll_msg[MSG_POLL_RESPONDER_ID_IDX(i)]);
|
if (uwbs_local_short_addr_get() == responder_id)
|
{
|
ranging_env.responder_slot_idx = ranging_recv_pkt->msg.poll_msg[MSG_POLL_RESPONDER_SLOT_IDX(i)];
|
ret = 1;
|
break;
|
}
|
}
|
}
|
return ret;
|
}
|
|
#if defined(__ARMCC_VERSION) && (__ARMCC_VERSION >= 6010050)
|
#pragma clang diagnostic push
|
#pragma clang diagnostic ignored "-Wswitch-enum"
|
#pragma clang diagnostic ignored "-Wunreachable-code-break"
|
#pragma clang diagnostic ignored "-Wcast-align"
|
#endif
|
|
static void ranging_timer_callback(void *dev, uint32_t time)
|
{
|
// board_led_on(BOARD_LED_1);
|
if (ranging_env.enable)
|
{
|
enum RANGING_STAGE_T stage = uwb_app_config.ranging_stage;
|
if (uwb_app_config.session_param.device_role == DEV_ROLE_INITIATOR)
|
{
|
switch (stage)
|
{
|
case RANGING_IDLE:
|
ASSERT(0, "RANGING_IDLE\r\n");
|
break;
|
|
case RANGING_SYNC:
|
// send
|
power_on_radio(1, 0);
|
mac_tx(EVT_MODE_MAC_ASAP_PHY_FIX, ranging_env.anchor_point, 0, (uint8_t *)&ranging_common_msg,
|
ranging_sync_pkt_construct((void *)&ranging_common_msg));
|
break;
|
|
case RANGING_CFG:
|
power_on_radio(0, 1);
|
mac_rx(EVT_MODE_MAC_PHY_ASAP, 0, UWB_RX_WINDOW);
|
break;
|
|
case RANGING_POLL:
|
ranging_user_pkt.seq_num++;
|
ranging_env.tx_poll_time = ranging_tx_time(ranging_env.anchor_point + phy_shr_duration());
|
// send
|
power_on_radio(1, 0);
|
mac_tx(EVT_MODE_MAC_ASAP_PHY_FIX, ranging_env.anchor_point, 0, (uint8_t *)&ranging_common_msg,
|
ranging_poll_pkt_construct((void *)&ranging_common_msg));
|
break;
|
|
case RANGING_RESPONSE:
|
// receive response
|
power_on_radio(0, 1);
|
mac_rx(EVT_MODE_MAC_PHY_ASAP, 0, UWB_RX_WINDOW);
|
break;
|
|
case RANGING_FINAL:
|
ranging_env.tx_final_time = ranging_tx_time(ranging_env.anchor_point + phy_shr_duration());
|
// send final
|
power_on_radio(1, 0);
|
mac_tx(EVT_MODE_MAC_ASAP_PHY_FIX, ranging_env.anchor_point, 0, (uint8_t *)&ranging_common_msg,
|
ranging_final_pkt_construct((void *)&ranging_common_msg));
|
break;
|
|
default:
|
ASSERT(0, "UNKNOWN STAGE\r\n");
|
break;
|
}
|
}
|
else
|
{
|
switch (stage)
|
{
|
case RANGING_IDLE:
|
ASSERT(0, "RANGING_IDLE\r\n");
|
break;
|
|
case RANGING_SYNC:
|
power_on_radio(0, 1);
|
mac_rx(EVT_MODE_MAC_PHY_ASAP, 0, ranging_env.ranging_period);
|
break;
|
|
case RANGING_CFG:
|
ranging_user_pkt.seq_num++;
|
// send cfg
|
power_on_radio(1, 0);
|
mac_tx(EVT_MODE_MAC_ASAP_PHY_FIX, ranging_env.anchor_point, 0, (uint8_t *)&ranging_common_msg,
|
ranging_cfg_pkt_construct((void *)&ranging_common_msg));
|
break;
|
|
case RANGING_POLL:
|
ranging_user_pkt.seq_num++;
|
//
|
power_on_radio(0, 1);
|
mac_rx(EVT_MODE_MAC_PHY_ASAP, 0, UWB_RX_WINDOW);
|
break;
|
|
case RANGING_RESPONSE:
|
ranging_env.tx_response_time = ranging_tx_time(ranging_env.anchor_point + phy_shr_duration());
|
//
|
power_on_radio(1, 0);
|
mac_tx(EVT_MODE_MAC_ASAP_PHY_FIX, ranging_env.anchor_point, 0, (uint8_t *)&ranging_common_msg,
|
ranging_response_pkt_construct((void *)&ranging_common_msg));
|
break;
|
|
case RANGING_FINAL:
|
power_on_radio(0, 1);
|
mac_rx(EVT_MODE_MAC_PHY_ASAP, 0, UWB_RX_WINDOW);
|
break;
|
|
default:
|
ASSERT(0, "UNKNOWN STAGE\r\n");
|
break;
|
}
|
}
|
|
mac_start();
|
}
|
else
|
{
|
power_mode_clear(POWER_UNIT_APP);
|
LOG_INFO(TRACE_MODULE_APP, "Ranging stop\r\n");
|
}
|
// board_led_off(BOARD_LED_1);
|
}
|
|
enum RANGING_STAGE_T ranging_fsm(const struct MAC_HW_REPORT_T *ind)
|
{
|
enum RANGING_STAGE_T stage = uwb_app_config.ranging_stage;
|
|
// board_led_on(BOARD_LED_1);
|
power_off_radio();
|
if (ranging_env.enable)
|
{
|
ranging_env.count++;
|
|
if (uwb_app_config.session_param.device_role == DEV_ROLE_INITIATOR)
|
{
|
switch (stage)
|
{
|
case RANGING_IDLE:
|
break;
|
|
case RANGING_SYNC:
|
{
|
uwb_pkt_tx_done_ind(ind, stage);
|
// rx cfg set
|
ranging_env.base_point = ind->timestamp - phy_shr_duration();
|
ranging_env.anchor_point = ranging_env.base_point + ranging_env.anchor_resp_dly;
|
uwb_app_config.ranging_stage = (RANGING_CFG);
|
}
|
break;
|
|
case RANGING_CFG:
|
{
|
uwb_pkt_rx_done_ind(ind, stage);
|
|
struct RANGING_COMMON_MSG_T *p_common_msg = (struct RANGING_COMMON_MSG_T *)&ind->pkt_data[0];
|
// recv cfg msg ?
|
if ((ind->err_code == UWB_RX_OK) && p_common_msg->frameCtrl[0] == 0x41 && p_common_msg->frameCtrl[1] == 0xCC && p_common_msg->fcode == 0x20)
|
{
|
// if (memcmp(p_common_msg->destAddr, uwbs_local_long_addr_get(), 8) == 0)
|
if (memcmp(p_common_msg->destAddr, uwbs_local_long_addr_get(), 8) == 0 &&
|
memcmp(p_common_msg->sourceAddr, uwbs_peer_long_addr_get(), 8) == 0)
|
{
|
uwb_pkt_rx_done_ind(ind, stage);
|
uwbs_peer_long_addr_set(p_common_msg->sourceAddr);
|
//
|
uint16_t tmp_anchor_resp_time = (uint16_t)READ_SHORT((uint8_t *)&p_common_msg->user_data[2]);
|
uwb_app_config.session_param.ranging_anchor_resp_delay = (tmp_anchor_resp_time);
|
if (tmp_anchor_resp_time & 0x8000)
|
ranging_env.anchor_resp_dly = MS_TO_PHY_TIMER_COUNT(tmp_anchor_resp_time & ~0x8000);
|
else
|
ranging_env.anchor_resp_dly = US_TO_PHY_TIMER_COUNT(tmp_anchor_resp_time);
|
//
|
uint16_t tmp_tag_resp_time = (uint16_t)READ_SHORT((uint8_t *)&p_common_msg->user_data[4]);
|
uwb_app_config.session_param.ranging_tag_resp_delay = (tmp_tag_resp_time);
|
if (tmp_tag_resp_time & 0x8000)
|
ranging_env.tag_resp_dly = MS_TO_PHY_TIMER_COUNT(tmp_tag_resp_time & ~0x8000);
|
else
|
ranging_env.tag_resp_dly = US_TO_PHY_TIMER_COUNT(tmp_tag_resp_time);
|
|
uwb_app_config.ranging_stage = (RANGING_POLL);
|
}
|
}
|
|
if (uwb_app_config.ranging_stage == RANGING_POLL)
|
{
|
// tx poll set
|
ranging_env.base_point += ranging_env.ranging_period;
|
ranging_env.anchor_point = ranging_env.base_point;
|
}
|
else
|
{
|
// tx cfg again set
|
uwb_app_config.ranging_stage = (RANGING_SYNC);
|
ranging_env.base_point += ranging_env.ranging_period;
|
ranging_env.anchor_point = ranging_env.base_point;
|
}
|
}
|
break;
|
|
case RANGING_POLL:
|
{
|
// process rx-poll packet
|
uwb_pkt_tx_done_ind(ind, stage);
|
// rx resp set
|
ranging_env.base_point = ind->timestamp - phy_shr_duration();
|
ranging_env.anchor_point = ranging_env.base_point + ranging_env.anchor_resp_dly;
|
uwb_app_config.ranging_stage = (RANGING_RESPONSE);
|
}
|
break;
|
|
case RANGING_RESPONSE:
|
{
|
// process rx-response packet
|
uwb_pkt_rx_done_ind(ind, stage);
|
|
struct RANGING_COMMON_MSG_T *p_common_msg = (struct RANGING_COMMON_MSG_T *)&ind->pkt_data[0];
|
if ((ind->err_code == UWB_RX_OK) && p_common_msg->frameCtrl[0] == 0x41 && p_common_msg->frameCtrl[1] == 0xCC && p_common_msg->fcode == 0x10)
|
{
|
if (memcmp(p_common_msg->destAddr, uwbs_local_long_addr_get(), 8) == 0 &&
|
memcmp(p_common_msg->sourceAddr, uwbs_peer_long_addr_get(), 8) == 0)
|
{
|
if (p_common_msg->user_data[0] == 0x02)
|
{
|
uwb_app_config.ranging_stage = (RANGING_FINAL);
|
ranging_env.rx_response_time[0] = ranging_rx_time(ind);
|
}
|
else
|
ranging_env.enable = 0;
|
}
|
}
|
|
if (uwb_app_config.ranging_stage == RANGING_FINAL)
|
{
|
ranging_env.anchor_point += ranging_env.tag_resp_dly;
|
}
|
else
|
{
|
ranging_env.base_point += ranging_env.ranging_period;
|
ranging_env.anchor_point = ranging_env.base_point;
|
uwb_app_config.ranging_stage = (RANGING_POLL);
|
}
|
}
|
break;
|
|
case RANGING_FINAL:
|
{
|
uwb_pkt_tx_done_ind(ind, stage);
|
//
|
ranging_env.base_point += ranging_env.ranging_period;
|
ranging_env.anchor_point = ranging_env.base_point;
|
uwb_app_config.ranging_stage = (RANGING_POLL);
|
}
|
break;
|
|
default:
|
break;
|
}
|
}
|
else
|
{
|
switch (stage)
|
{
|
case RANGING_IDLE:
|
break;
|
case RANGING_SYNC:
|
{
|
struct RANGING_SYNC_MSG_T *p_sync_msg = (struct RANGING_SYNC_MSG_T *)&ind->pkt_data[0];
|
struct RANGING_COMMON_MSG_T *p_common_msg = (struct RANGING_COMMON_MSG_T *)&ind->pkt_data[0];
|
|
if ((ind->err_code == UWB_RX_OK) && p_sync_msg->frameCtrl[0] == 0xC5)
|
{ // recv sync
|
if (memcmp(p_sync_msg->tagID, uwbs_peer_long_addr_get(), 8) == 0)
|
{
|
uwbs_peer_long_addr_set(p_sync_msg->tagID);
|
uwb_app_config.ranging_stage = (RANGING_CFG);
|
}
|
}
|
else if ((ind->err_code == UWB_RX_OK) && p_common_msg->frameCtrl[0] == 0x41 && p_common_msg->frameCtrl[1] == 0xCC &&
|
p_common_msg->fcode == 0x21)
|
{ // recv poll
|
if (memcmp(p_common_msg->destAddr, uwbs_local_long_addr_get(), 8) == 0 &&
|
memcmp(p_common_msg->sourceAddr, uwbs_peer_long_addr_get(), 8) == 0)
|
{
|
ranging_env.rx_poll_time = ranging_rx_time(ind);
|
// uwb_app_config.ranging_stage = (RANGING_POLL);
|
uwb_app_config.ranging_stage = (RANGING_RESPONSE);
|
}
|
}
|
|
if (uwb_app_config.ranging_stage == RANGING_CFG)
|
{
|
uwb_pkt_rx_done_ind(ind, stage);
|
ranging_env.base_point = ind->timestamp - phy_shr_duration();
|
ranging_env.anchor_point = ranging_env.base_point + ranging_env.anchor_resp_dly;
|
}
|
else if (uwb_app_config.ranging_stage == RANGING_RESPONSE)
|
{
|
uwb_pkt_rx_done_ind(ind, RANGING_POLL);
|
ranging_env.base_point = ind->timestamp - phy_shr_duration();
|
ranging_env.anchor_point = ranging_env.base_point + ranging_env.anchor_resp_dly;
|
}
|
else
|
{
|
uwb_pkt_rx_done_ind(ind, stage);
|
// receive sync again
|
power_on_radio(0, 1);
|
mac_rx(EVT_MODE_MAC_PHY_ASAP, 0, ranging_env.ranging_period);
|
mac_start();
|
|
return stage;
|
}
|
}
|
break;
|
|
case RANGING_CFG:
|
{
|
uwb_pkt_tx_done_ind(ind, stage);
|
uwb_app_config.ranging_stage = (RANGING_SYNC);
|
ranging_env.base_point += ranging_env.ranging_period;
|
ranging_env.anchor_point = ranging_env.base_point;
|
}
|
break;
|
|
case RANGING_POLL:
|
{
|
uwb_pkt_rx_done_ind(ind, stage);
|
ranging_env.responder_final_flag = 0;
|
|
struct RANGING_COMMON_MSG_T *p_common_msg = (struct RANGING_COMMON_MSG_T *)&ind->pkt_data[0];
|
if ((ind->err_code == UWB_RX_OK) && p_common_msg->frameCtrl[0] == 0x41 && p_common_msg->frameCtrl[1] == 0xCC && p_common_msg->fcode == 0x21)
|
{
|
if (memcmp(p_common_msg->destAddr, uwbs_local_long_addr_get(), 8) == 0 &&
|
memcmp(p_common_msg->sourceAddr, uwbs_peer_long_addr_get(), 8) == 0)
|
{
|
ranging_env.rx_poll_time = ranging_rx_time(ind);
|
uwb_app_config.ranging_stage = (RANGING_RESPONSE);
|
}
|
}
|
|
if (uwb_app_config.ranging_stage == RANGING_RESPONSE)
|
{
|
ranging_env.base_point = ind->timestamp - phy_shr_duration();
|
ranging_env.anchor_point = ranging_env.base_point + ranging_env.anchor_resp_dly;
|
}
|
else
|
{
|
// receive poll
|
power_on_radio(0, 1);
|
mac_rx(EVT_MODE_MAC_PHY_ASAP, 0, UWB_RX_WINDOW);
|
mac_start();
|
|
return stage;
|
}
|
}
|
break;
|
|
case RANGING_RESPONSE:
|
{
|
uwb_pkt_tx_done_ind(ind, stage);
|
ranging_env.anchor_point += ranging_env.tag_resp_dly;
|
uwb_app_config.ranging_stage = (RANGING_FINAL);
|
}
|
break;
|
|
case RANGING_FINAL:
|
{
|
// process rx-final packet
|
uwb_pkt_rx_done_ind(ind, stage);
|
|
struct RANGING_COMMON_MSG_T *p_common_msg = (struct RANGING_COMMON_MSG_T *)&ind->pkt_data[0];
|
if ((ind->err_code == UWB_RX_OK) && p_common_msg->frameCtrl[0] == 0x41 && p_common_msg->frameCtrl[1] == 0xCC && p_common_msg->fcode == 0x29)
|
{
|
if (memcmp(p_common_msg->destAddr, uwbs_local_long_addr_get(), 8) == 0 &&
|
memcmp(p_common_msg->sourceAddr, uwbs_peer_long_addr_get(), 8) == 0)
|
{
|
ranging_env.rx_final_time = ranging_rx_time(ind);
|
ranging_env.responder_final_flag = 1;
|
}
|
}
|
|
uwb_app_config.ranging_stage = (RANGING_POLL);
|
ranging_env.base_point += ranging_env.ranging_period;
|
ranging_env.anchor_point = ranging_env.base_point;
|
}
|
break;
|
|
default:
|
break;
|
}
|
}
|
|
stage = uwb_app_config.ranging_stage;
|
if (RANGING_POLL == stage)
|
{
|
power_mode_request(POWER_UNIT_APP, POWER_MODE_POWER_DOWN);
|
}
|
|
phy_timer_target_set(ranging_env.anchor_point - UWB_EVT_PREFETCH_TIME, ranging_timer_callback);
|
}
|
else
|
{
|
power_mode_clear(POWER_UNIT_APP);
|
LOG_INFO(TRACE_MODULE_APP, "Ranging stop\r\n");
|
}
|
// board_led_off(BOARD_LED_1);
|
|
return stage;
|
}
|
#if defined(__ARMCC_VERSION) && (__ARMCC_VERSION >= 6010050)
|
#pragma clang diagnostic pop
|
#endif
|
|
static void uwb_pkt_tx_done_ind(const struct MAC_HW_REPORT_T *tx, enum RANGING_STAGE_T stage)
|
{
|
struct UWB_PKT_TX_DONE_IND_T *ind;
|
if ((ind = WsfMsgAlloc(sizeof(struct UWB_PKT_TX_DONE_IND_T) + tx->pkt_len)) != NULL)
|
{
|
ind->hdr.event = UWB_PKT_TX_DONE_MSG;
|
ind->ranging_stage = (uint8_t)stage;
|
ind->status = tx->err_code;
|
|
ind->tx_len = tx->pkt_len;
|
|
if ((ind->tx_len) && (tx->pkt_data != NULL))
|
{
|
memcpy(ind->tx_data, tx->pkt_data, tx->pkt_len);
|
}
|
|
// Send the message
|
WsfMsgSend(ranging_cb.handle_id, ind);
|
}
|
else
|
{
|
LOG_WARNING(TRACE_MODULE_UWB, "memory is not enough for UWB_PKT_TX_DONE_IND_T\r\n");
|
}
|
}
|
|
#if defined(__ARMCC_VERSION) && (__ARMCC_VERSION >= 6010050)
|
#pragma clang diagnostic push
|
#pragma clang diagnostic ignored "-Wcast-qual"
|
#endif
|
static void uwb_pkt_rx_done_ind(const struct MAC_HW_REPORT_T *rx, enum RANGING_STAGE_T stage)
|
{
|
// send an indication to application
|
struct UWB_PKT_RX_DONE_IND_T *ind = WsfMsgAlloc(sizeof(struct UWB_PKT_RX_DONE_IND_T) + rx->pkt_len);
|
|
if (ind != NULL)
|
{
|
ind->hdr.event = UWB_PKT_RX_DONE_MSG;
|
ind->ranging_stage = (uint8_t)stage;
|
ind->status = rx->err_code;
|
ind->rssi = rx->rssi;
|
ind->snr = rx->snr;
|
|
ind->rx_len = rx->pkt_len;
|
|
if ((rx->pkt_len) && (rx->pkt_data != NULL))
|
{
|
memcpy(ind->rx_data, rx->pkt_data, rx->pkt_len);
|
}
|
|
// Send the message
|
WsfMsgSend(ranging_cb.handle_id, ind);
|
}
|
else
|
{
|
LOG_WARNING(TRACE_MODULE_UWB, "memory is not enough for UWB_PKT_RX_DONE_IND_T %d\r\n", rx->pkt_len);
|
}
|
}
|
#if defined(__ARMCC_VERSION) && (__ARMCC_VERSION >= 6010050)
|
#pragma clang diagnostic pop
|
#endif
|
|
static void ranging_tx_process(struct MAC_HW_REPORT_T *tx_report)
|
{
|
ranging_fsm(tx_report);
|
}
|
|
static void ranging_rx_process(struct MAC_HW_REPORT_T *rx_report)
|
{
|
ranging_fsm(rx_report);
|
}
|
