#include "mk_trace.h"
|
#include "mk_uwb.h"
|
#include "mk_phy.h"
|
#include "mk_misc.h"
|
#include "mk_power.h"
|
#include "mk_sleep_timer.h"
|
#include "lib_ranging.h"
|
|
#include "board.h"
|
|
#if defined(MK_SS_TWR_DW_RESP)
|
|
extern int simple_main(void);
|
|
/* Ranging period */
|
#define RANGING_PERIOD_MS (1000)
|
|
/* This is the delay from Frame RX POLL frame to send RESP Frame */
|
#define POLL_RX_TO_RESP_TX_DLY_US 750U
|
|
#define RESP_TX_TO_FINAL_RX_DLY_US 500U
|
|
/* RX sync window size 50 ms*/
|
#define RX_SYNC_WIN_US 50000U
|
|
/* Receive poll timeout 500us*/
|
#define POLL_RX_TIMEOUT_US 500
|
|
/* Receive final timeout 500us */
|
#define FINAL_RX_TIMEOUT_US 500
|
|
/* RX window open in advance */
|
#define RX_WIN_IN_ADVANCE_US (150)
|
|
/* Field index in frame */
|
#define MSG_SEQ_NUM_IDX 2
|
#define FINAL_MSG_POLL_TX_TS_IDX 10
|
#define FINAL_MSG_RESP_RX_TS_IDX 14
|
#define FINAL_MSG_FINAL_TX_TS_IDX 18
|
|
/* Length of the common part of the message */
|
#define MSG_COMMON_LEN 10
|
|
struct mk_uwb_configure
|
{
|
uint8_t phy_work_mode; /* PHY_TX / PHY_RX / PHT_TX|PHY_RX */
|
struct UWB_CONFIG_T phy_cfg;
|
};
|
|
/* Default communication configuration. */
|
static struct mk_uwb_configure config = {
|
.phy_work_mode = (uint8_t)(PHY_TX | PHY_RX),
|
.phy_cfg.ch_num = 5, /* Channel number. */
|
.phy_cfg.code_index = 9, /* TX preamble code. */
|
.phy_cfg.mean_prf = MEAN_PRF_64M, /* Data rate 6.8M */
|
.phy_cfg.data_bit_rate = DATA_BR_6M8, /* data rate 6.8M. */
|
.phy_cfg.sync_sym = PREAM_LEN_128, /* Preamble duration, length of preamble 128 */
|
.phy_cfg.sfd_sym = BPRF_NSFD2_8, /* Identifier for SFD sequence */
|
.phy_cfg.ranging_bit = 1, /* ranging bit set. */
|
.phy_cfg.trx_mode = TRX_MODE_15_4Z_BPRF, /* IEEE802.15.4z - BPRF mode */
|
.phy_cfg.sts_pkt_cfg = STS_PKT_CFG_0, /* SP0 Frame */
|
.phy_cfg.sts_segnum = STS_SEGNUM_BPRF_1, /* Number of STS segments in the frame */
|
.phy_cfg.sts_seglen = STS_SEGLEN_BPRF_64, /* Number of symbols in an STS segment */
|
.phy_cfg.rx_ant_id = UWB_RX_ANTENNA_3, /* UWB RX antenna port */
|
};
|
|
/* Buffer to store received frame */
|
static uint8_t rx_buf[128];
|
|
/* Frames used in the ranging process
|
* Poll message:
|
* - byte 0 - 1: 0x8841 to indicate a data frame using 16-bit addressing.
|
* - byte 2: sequence number, incremented for each new frame.
|
* - byte 3 - 4: PAN Id 0x4B4d
|
* - byte 5 - 6: Destination address
|
* - byte 7 - 8: Source address
|
* - byte 9: Message type (0x02 RANGING_POLL / 0x03 RANGING_RESPONSE / 0x04 RANGING_FINAL)
|
* Response message:
|
* - byte 10: activity code (0x07 to tell the initiator to go on with the ranging exchange)
|
* Final message:
|
* - byte 10 - 13: poll message transmission timestamp.
|
* - byte 14 - 17: response message reception timestamp.
|
* - byte 18 - 21: final message transmission timestamp.
|
*/
|
static uint8_t rx_poll_msg[] = {0x41, 0x88, 0, 0x4D, 0x4B, 0x53, 0x45, 0x4D, 0x49, 0x02};
|
static uint8_t tx_resp_msg[] = {0x41, 0x88, 0, 0x4D, 0x4B, 0x4D, 0x49, 0x53, 0x45, 0x03, 0x07};
|
static uint8_t rx_final_msg[] = {0x41, 0x88, 0, 0x4D, 0x4B, 0x53, 0x45, 0x4D, 0x49, 0x04, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
|
|
/* Count value of phy counter when transmitting and receiving frames */
|
static uint32_t poll_rx_en_start_u32;
|
static uint32_t resp_tx_en_start_u32;
|
|
/* 41 bits timestamps of frames transmission/reception. */
|
static int64_t poll_rx_ts_i64;
|
static int64_t resp_tx_ts_i64;
|
static int64_t final_rx_ts_i64;
|
|
/* Frame sequence number, incremented after each transmission. */
|
static uint8_t frame_seq_nb = 0;
|
|
/* MAC report data structure */
|
static struct MAC_HW_REPORT_T rx_rpt;
|
|
enum SIMPLE_FSM_T
|
{
|
SIMPLE_IDLE = 0,
|
SIMPLE_POLL = 1,
|
SIMPLE_RESPONSE = 2,
|
SIMPLE_FINAL = 3,
|
};
|
|
static enum SIMPLE_FSM_T state = SIMPLE_IDLE;
|
|
/**
|
* @brief Correct TX timestamp of the ranging frame.
|
*
|
* @param[in] timestamp PHY timer count of TX
|
* @return TX timestamp (unit: 15.65ps)
|
*/
|
static int64_t ranging_tx_time_correct(uint32_t timestamp)
|
{
|
int64_t tx_timestamp = ranging_tx_time(timestamp);
|
|
// correct antenna delay (TX using the same antenna as RX)
|
tx_timestamp += ranging_ant_delays_get(config.phy_cfg.rx_ant_id) / 2;
|
|
return tx_timestamp;
|
}
|
|
/**
|
* @brief Correct RX timestamp of the ranging frame.
|
*
|
* @param[in] ind MAC RX report
|
* @return RX timestamp (unit: 15.65ps)
|
*/
|
static int64_t ranging_rx_time_correct(const struct MAC_HW_REPORT_T *ind)
|
{
|
int64_t rx_timestamp = ranging_rx_time(ind);
|
|
// correct antenna delay
|
rx_timestamp -= ranging_ant_delays_get(config.phy_cfg.rx_ant_id) / 2;
|
|
return rx_timestamp;
|
}
|
|
/* RX done process handler. */
|
static void rx_int_callback(struct MAC_HW_REPORT_T *rx_report)
|
{
|
// Power off radio
|
power_off_radio();
|
|
/** UWB RX success */
|
if (rx_report->err_code == UWB_RX_OK)
|
{
|
/* Received data does not contain FCS */
|
memcpy(rx_buf, rx_report->pkt_data, rx_report->pkt_len);
|
memcpy(&rx_rpt, rx_report, sizeof(struct MAC_HW_REPORT_T));
|
}
|
else
|
{
|
/* UWB_PLD_ERR payload error */
|
/* UWB_PHR_ERR PHR error */
|
/* UWB_SFD_ERR Sfd error */
|
/* UWB_BD_ERR Preamble detection error */
|
/* UWB_TO_ERR Receive timeout */
|
/* UWB_STS_ERR STS error */
|
memcpy(&rx_rpt, rx_report, sizeof(struct MAC_HW_REPORT_T));
|
}
|
}
|
|
/* TX done process handler. */
|
static void tx_int_callback(struct MAC_HW_REPORT_T *tx_report)
|
{
|
// Power off radio
|
power_off_radio();
|
|
/** UWB TX success */
|
if (tx_report->err_code == UWB_TX_OK)
|
{
|
}
|
}
|
|
int simple_main(void)
|
{
|
// The following peripherals will be initialized in the uwb_open function
|
// phy/mac/aes/lsp/phy timers initialized
|
uwb_open();
|
|
// Set calibration parameters
|
uwb_calibration_params_set(config.phy_cfg.ch_num);
|
|
// set advanced parameters
|
struct PHY_ADV_CONFIG_T adv_config = {
|
.thres_fap_detect = 40,
|
.nth_scale_factor = 4,
|
.ranging_performance_mode = 0,
|
.dynamic_port_sel_en = 0,
|
};
|
phy_adv_params_configure(&adv_config);
|
|
// uwb configure
|
uwb_configure(config.phy_work_mode, board_param.tx_power_fcc[CALIB_CH(config.phy_cfg.ch_num)], &config.phy_cfg);
|
|
ranging_frame_type_set(config.phy_cfg.sts_pkt_cfg);
|
|
// Register rx interrupt callback function
|
mac_register_process_handler(tx_int_callback, rx_int_callback);
|
|
}
|
#endif
|
