/*
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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_wdt.h"
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#include "mk_reset.h"
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#include "mk_gpio.h"
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#include "mk_misc.h"
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#include "mk_sleep_timer.h"
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#include "mk_power.h"
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#include "mk_uwb.h"
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#include "mk_calib.h"
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#include "mk_flash.h"
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#include "board.h"
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#include "pal_sys.h"
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#include "wsf_os.h"
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#include "wsf_timer.h"
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#include "wsf_buf.h"
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#include "wsf_nvm.h"
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#include "app.h"
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#include "ranging_fira.h"
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#include "uwb_api.h"
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#include "lib_ranging.h"
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#include "libc_rom.h"
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#define INITIATOR_ADDR (0xAAA1)
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#define RESPONDER0_ADDR (0xAAA2)
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#define RESPONDER1_ADDR (0xAAA3)
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#define RESPONDER2_ADDR (0xAAA4)
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#define RESPONDER3_ADDR (0xAAA5)
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#define RESPONDER4_ADDR (0xAAA6)
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#define RESPONDER_NUM (5)
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static uint32_t session_id = 0x0001;
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static uint8_t ranging_on_flag = 0;
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//*****************************************************************************
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//
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// WSF buffer pools.
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//
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//*****************************************************************************
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#define WSF_BUF_POOLS 5
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// Default pool descriptor.
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static wsfBufPoolDesc_t poolDescriptors[WSF_BUF_POOLS] = {
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{32, 26}, {64, 24}, {128, 4}, {256 + 32, 4}, {1024 + 32, 2},
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};
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static void sleep_timer_callback(void *dev, uint32_t time)
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{
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// LOG_INFO(TRACE_MODULE_APP, "Wake up by sleep timer %d\r\n", time);
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}
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static void app_ranging_report_callback(void *report)
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{
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struct RANGE_DATA_T *rpt = (struct RANGE_DATA_T *)report;
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// LOG_INFO(TRACE_MODULE_APP, "Report measurements number %d\r\n", rpt->measurements_num);
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#if PDOA_3D_EN
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int8_t type_str[] = "PDoA";
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#elif AOA_EN
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int8_t type_str[] = "AoA";
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#endif
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for (uint8_t i = 0; i < RESPONDER_NUM; i++)
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{
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if ((rpt->mac_addr_mode == MAC_ADDR_SHORT) && (rpt->measurements[i].status == STATUS_OK))
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{
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struct RANGING_MEASUREMENT_T *p_measurement = &rpt->measurements[i];
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#if PDOA_3D_EN || AOA_EN
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if (uwb_app_config.session_param.device_role != DEV_ROLE_INITIATOR)
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{
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LOG_INFO(TRACE_MODULE_APP, "Peer %X, Distance %ucm, %s Azimuth %d Elevation %d Azimuth FoM %d\r\n", READ_SHORT(p_measurement->mac_addr),
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p_measurement->distance, type_str, mk_q7_to_s16(p_measurement->aoa_azimuth), mk_q7_to_s16(p_measurement->aoa_elevation),
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p_measurement->aoa_azimuth_fom);
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}
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else
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{
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LOG_INFO(TRACE_MODULE_APP,
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"Peer %X, Distance %ucm, %s Azimuth %d Elevation %d Azimuth FoM %d, Dst-Azimuth %d Dst-Elevation %d Dst-Azimuth FoM %d\r\n",
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READ_SHORT(p_measurement->mac_addr), p_measurement->distance, type_str, mk_q7_to_s16(p_measurement->aoa_azimuth),
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mk_q7_to_s16(p_measurement->aoa_elevation), p_measurement->aoa_azimuth_fom, mk_q7_to_s16(p_measurement->aoa_dst_azimuth),
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mk_q7_to_s16(p_measurement->aoa_dst_elevation), p_measurement->aoa_dst_azimuth_fom);
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}
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#else
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LOG_INFO(TRACE_MODULE_APP, "Peer %X, Distance %ucm\r\n", READ_SHORT(p_measurement->mac_addr), p_measurement->distance);
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#endif
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}
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}
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}
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//
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// Button Handlers
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//
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static void GPIO_UserHandler(enum IO_PIN_T pin)
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{
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// LOG_INFO(TRACE_MODULE_APP, "GPIO Interrupt happen\r\n");
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if (pin == BOARD_SW_1)
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{
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app_button_event_set(APP_BUTTON1_EVT);
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}
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}
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void app_process_handle(uint8_t msg_id, const void *param)
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{
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switch (msg_id)
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{
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case APP_DEBOUNCE_TIMER1_MSG:
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{
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if (gpio_pin_get_val(BOARD_SW_1))
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{
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return;
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}
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LOG_INFO(TRACE_MODULE_APP, "DEBOUNCE TIMER1\r\n");
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if (ranging_on_flag)
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{
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uwbapi_session_stop(session_id);
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ranging_on_flag = 0;
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}
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else
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{
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uwbapi_session_start(session_id, app_ranging_report_callback);
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ranging_on_flag = 1;
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}
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}
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break;
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default:
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break;
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}
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}
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static void board_init(void)
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{
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// Clock configuration
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board_clock_run();
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// Pin configuration
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board_pins_config();
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// Trace configuration
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board_debug_console_open(TRACE_PORT_UART0);
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// Reset reason
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reset_cause_get();
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reset_cause_clear();
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// Load calibration parameters from NVM
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uint32_t internal_flash = (REG_READ(0x40000018) >> 17) & 0x1;
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uint32_t external_flash = (REG_READ(0x40010030) >> 28) & 0x3;
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if (internal_flash || external_flash == 1)
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{
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WsfNvmInit();
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board_calibration_params_load();
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flash_close(FLASH_ID0);
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}
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else
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{
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board_calibration_params_default();
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}
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// Chip calibration
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calib_chip();
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// Configure IO_02 for role selection
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gpio_open();
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gpio_pin_set_dir(IO_PIN_2, GPIO_DIR_IN, 0);
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io_pull_set(IO_PIN_2, IO_PULL_UP, IO_PULL_UP_LEVEL1);
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board_led_init();
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board_led_on(BOARD_LED_1);
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board_button_init(GPIO_UserHandler);
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board_configure();
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}
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int main(void)
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{
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// Initialize MCU system
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board_init();
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// Disable watchdog timer
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wdt_close(WDT_ID0);
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LOG_INFO(TRACE_MODULE_APP, "Ranging AoA FiRa example\r\n");
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// Platform init for WSF
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PalSysInit();
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// Initialize os
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//
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// Set up timers for the WSF scheduler.
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//
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WsfOsInit();
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WsfTimerInit();
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sys_tick_callback_set(WsfTimerUpdateTicks);
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//
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// Initialize a buffer pool for WSF dynamic memory needs.
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//
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uint32_t wsfBufMemLen = WsfBufInit(WSF_BUF_POOLS, poolDescriptors);
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if (wsfBufMemLen > FREE_MEM_SIZE)
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{
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LOG_INFO(TRACE_MODULE_APP, "Memory pool is not enough %d\r\n", wsfBufMemLen - FREE_MEM_SIZE);
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}
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//
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// Create app task
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//
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wsfHandlerId_t handlerId = WsfOsSetNextHandler(app_handler);
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app_init(handlerId);
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//
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// Create ranging task
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//
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handlerId = WsfOsSetNextHandler(ranging_handler);
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ranging_init(handlerId);
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uwb_open();
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// set advanced parameters
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struct PHY_ADV_CONFIG_T adv_config =
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{
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// RPM0: 40, RPM3: 60
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.thres_fap_detect = 40,
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// RPM0: 4, RPM3: 8
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.nth_scale_factor = 4,
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// RFrame SP0: 0/1, Others: 0/1/2/3
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.ranging_performance_mode = 0,
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#if RX_ANT_PORTS_NUM == 4
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.skip_weakest_port_en = 1,
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#else
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.skip_weakest_port_en = 0,
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#endif
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};
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phy_adv_params_configure(&adv_config);
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// which RX ports will be used for AoA/PDoA
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phy_rx_ant_mode_set(RX_ANT_PORTS_COMBINATION);
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uwbs_init();
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uwb_app_config.ranging_flow_mode = (uint8_t)(RANGING_FLOW_FIRA);
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uwb_app_config.filter_en = (uint8_t)(FILTER_EN);
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uwb_app_config.session_param.tx_power_level = board_param.tx_power_fcc[CALIB_CH(uwb_app_config.ppdu_params.ch_num)];
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uwb_app_config.ppdu_params.rx_ant_id = (uint8_t)(RX_MAIN_ANT_PORT);
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// Initialize ranging session
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uwbapi_session_init(session_id, SESSION_TYPE_RANGING);
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// Initialize ranging parameters
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struct APP_CFG_PARAM_T param = {0};
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param.ch_num = UWB_CH_NUM;
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param.prf_mode = UWB_MEAN_PRF;
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param.preamble_code_index = UWB_PREAMBLE_CODE_IDX;
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param.preamble_duration = UWB_PREAMBLE_DURATION;
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param.sfd_id = UWB_SFD_ID;
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param.psdu_data_rate = UWB_PSDU_DATA_RATE;
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param.sts_segment_num = UWB_STS_SEGMENT_NUM;
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param.sts_segment_len = UWB_STS_SEGMENT_LEN;
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param.rframe_config = UWB_RFRAME_TYPE;
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param.sts_config = STS_STATIC;
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memcpy(param.session_key, (uint8_t *)SESSION_KEY_DYNAMIC_STS_TEST, 16);
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param.key_rotation = 0;
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param.key_rotation_rate = 8;
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param.ranging_round_usage = DS_TWR_DEFERRED;
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param.mac_address_mode = ARRD_SHORT_USE_SHORT;
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param.controlees_num = RESPONDER_NUM;
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param.multi_node_mode = param.controlees_num > 1 ? ONE_TO_MANY : UNICAST;
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param.result_report_config = 0x0F;
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param.ranging_round_control = 0x3;
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// Load local & peer short address
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uint16_t local_addr = 0;
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uint16_t peer_addr = 0;
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if (gpio_pin_get_val(IO_PIN_2) == 0)
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{
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param.device_role = DEV_ROLE_INITIATOR;
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local_addr = INITIATOR_ADDR;
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if (board_param.flag & (1 << BOARD_LOCAL_SHORT_ADDR))
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{
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local_addr = board_param.local_short_addr;
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}
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param.src_dev_mac_addr[0] = local_addr & 0xff;
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param.src_dev_mac_addr[1] = (local_addr >> 8) & 0xff;
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peer_addr = RESPONDER0_ADDR;
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param.dst_dev_mac_addr[0] = peer_addr & 0xff;
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param.dst_dev_mac_addr[1] = (peer_addr >> 8) & 0xff;
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peer_addr = RESPONDER1_ADDR;
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param.dst_dev_mac_addr[2] = peer_addr & 0xff;
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param.dst_dev_mac_addr[3] = (peer_addr >> 8) & 0xff;
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peer_addr = RESPONDER2_ADDR;
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param.dst_dev_mac_addr[4] = peer_addr & 0xff;
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param.dst_dev_mac_addr[5] = (peer_addr >> 8) & 0xff;
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peer_addr = RESPONDER3_ADDR;
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param.dst_dev_mac_addr[6] = peer_addr & 0xff;
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param.dst_dev_mac_addr[7] = (peer_addr >> 8) & 0xff;
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peer_addr = RESPONDER4_ADDR;
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param.dst_dev_mac_addr[8] = peer_addr & 0xff;
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param.dst_dev_mac_addr[9] = (peer_addr >> 8) & 0xff;
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}
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else
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{
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param.device_role = DEV_ROLE_RESPONDER;
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local_addr = RESPONDER0_ADDR;
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if (board_param.flag & (1 << BOARD_LOCAL_SHORT_ADDR))
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{
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local_addr = board_param.local_short_addr;
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}
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param.src_dev_mac_addr[0] = local_addr & 0xff;
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param.src_dev_mac_addr[1] = (local_addr >> 8) & 0xff;
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peer_addr = INITIATOR_ADDR;
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if (board_param.flag & (1 << BOARD_PEER_SHORT_ADDR))
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{
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peer_addr = board_param.peer_short_addr;
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}
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param.dst_dev_mac_addr[0] = peer_addr & 0xff;
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param.dst_dev_mac_addr[1] = (peer_addr >> 8) & 0xff;
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}
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param.device_type = (param.device_role == DEV_ROLE_INITIATOR ? DEV_TYPE_CONTROLLER : DEV_TYPE_CONTROLEE);
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param.aoa_result_req = (MEASURE_ANGLE_ON_ROLE & (1 << param.device_role) ? 1 : 0);
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if (param.ranging_round_usage == DS_TWR_DEFERRED)
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{
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param.slots_per_round = SLOT_NUM_PER_ROUND(param.controlees_num);
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}
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else if (param.ranging_round_usage == SS_TWR_DEFERRED)
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{
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param.slots_per_round = SLOT_NUM_PER_ROUND_FOR_SS_TWR(param.controlees_num);
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}
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param.slot_duration = UWB_RANGING_SLOT_DURATION;
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param.ranging_interval = UWB_RANGING_INTERVAL;
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// Configure ranging parameters
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uwbapi_session_set_app_config(session_id, ¶m);
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// Start ranging
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uwbapi_session_start(session_id, app_ranging_report_callback);
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ranging_on_flag = 1;
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// Initialize low power mode
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power_init();
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#if LOW_POWER_EN
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power_mode_request(POWER_UNIT_USER, POWER_MODE_POWER_DOWN);
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#else
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power_mode_request(POWER_UNIT_USER, POWER_MODE_SLEEP);
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#endif
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// Enable sleep timer
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sleep_timer_open(true, SLEEP_TIMER_MODE_ONESHOT, sleep_timer_callback);
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while (1)
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{
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wsfOsDispatcher();
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power_manage();
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}
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}
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void app_restore_from_power_down(void)
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{
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}
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