/*
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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_clock.h"
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#include "mk_uwb.h"
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#include "mk_calib.h"
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#include "mk_misc.h"
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#include "ranging_custom.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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#if PDOA_3D_EN
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#include "lib_pdoa_3d.h"
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#endif
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#include "board.h"
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#define PRINT_PAYLOAD_EN 0
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#define PRINT_PDOA_IQ_EN 0
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#ifdef SE_DEMO_EN
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uint8_t master_apdu_send_status;
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uint8_t slave_apdu_resp_send_status;
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extern void master_process_apdu(const uint8_t *ptr, uint16_t rx_len_tmp);
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extern void slave_process_apdu(const uint8_t *ptr, uint16_t rx_len_tmp, uint8_t ack);
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#endif
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#if FILTER_EN
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static void ranging_result_filter(uint16_t *distance, int16_t *azimuth, int16_t *elevation)
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{
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if ((distance == NULL) || (azimuth == NULL) || (elevation == NULL))
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{
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return;
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}
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#if KF_EN
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float post_range, post_azimuth, post_elevation;
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float azimuth_meas = mk_q7_to_f32(*azimuth);
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float elevation_meas = mk_q7_to_f32(*elevation);
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float range_meas = (float)*distance / 100;
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// call filter
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uint16_t target_addr = uwbs_peer_short_addr_get();
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uint8_t mac_addr[8];
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memset(mac_addr, 0, 8);
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mac_addr[0] = target_addr & 0xff;
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mac_addr[1] = (target_addr >> 8) & 0xff;
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loc_kf_filter(range_meas, KF_DATA_TYPE_RANGING, mac_addr, &post_range);
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if (uwb_app_config.session_param.aoa_result_req)
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{
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loc_kf_filter(azimuth_meas, KF_DATA_TYPE_AZIMUTH, mac_addr, &post_azimuth);
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loc_kf_filter(elevation_meas, KF_DATA_TYPE_ELEVATION, mac_addr, &post_elevation);
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}
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else
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{
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post_azimuth = azimuth_meas;
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post_elevation = elevation_meas;
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}
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// update distance
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*distance = (uint16_t)(post_range * 100);
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// update angle
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*azimuth = mk_f32_to_q7(post_azimuth);
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*elevation = mk_f32_to_q7(post_elevation);
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// LOG_INFO(TRACE_MODULE_APP, "$%u %u %d %d %d %d;\r\n", (uint16_t)(range_meas*100),(uint16_t)(post_range*100),(int16_t)azimuth_meas,(int16_t)post_azimuth,
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// (int16_t)elevation_meas, (int16_t)post_elevation);
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#else
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float post_range, post_azimuth;
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int azimuth_meas = mk_q7_to_s16(*azimuth);
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float range_meas = (float)*distance;
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// call filter
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loc_post_filter(0, range_meas, azimuth_meas, &post_range, &post_azimuth);
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// update distance
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*distance = (uint16_t)(post_range);
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// update angle
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*azimuth = mk_f32_to_q7(post_azimuth);
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// LOG_INFO(TRACE_MODULE_APP, "$%u %u %d %d;\r\n", (uint16_t)(range_meas*100), (uint16_t)(post_range*100),(int16_t)azimuth_meas, (int16_t)post_azimuth);
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#endif
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}
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#endif
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/*************************************************************************************************/
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/*!
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* \brief WSF event handler for ranging task.
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*
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* \param event WSF event mask.
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* \param msg WSF message.
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*
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* \return None.
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*/
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/*************************************************************************************************/
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void ranging_handler(wsfEventMask_t event, const void *param)
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{
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const wsfMsgHdr_t *msg = (const wsfMsgHdr_t *)param;
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if (msg != NULL)
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{
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switch (msg->event)
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{
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case RANGING_DAEMON_TIMER_MSG:
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{
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uint8_t count = ranging_count_get();
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if (count == ranging_env.count_last)
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{
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LOG_INFO(TRACE_MODULE_APP, "Ranging was suspended %u\r\n", count);
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ranging_restart();
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}
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else
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{
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// LOG_INFO(TRACE_MODULE_APP, "Ranging count %u %u\r\n", ranging_env.count_last, count);
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ranging_env.count_last = count;
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}
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}
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break;
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case UWB_PKT_TX_DONE_MSG:
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{
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const struct UWB_PKT_TX_DONE_IND_T *ind = (const struct UWB_PKT_TX_DONE_IND_T *)param;
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if (ind->ranging_stage == RANGING_POLL)
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{
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uint16_t seq_num = READ_SHORT(&ind->tx_data[2]);
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#ifdef SE_DEMO_EN
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if (ind->tx_len > (MSG_HEADER_LEN + MSG_POLL_USER_DATA_IDX))
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{
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master_apdu_send_status = 1;
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}
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#endif
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LOG_INFO(TRACE_MODULE_APP | TRACE_NO_OPTION, "\r\n");
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if (uwb_app_config.ranging_flow_mode == (uint8_t)RANGING_FLOW_CONTENTION)
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{
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LOG_INFO(TRACE_MODULE_APP, "Custom DS-TWR Contention Initiator SEQ NUM %u\r\n", seq_num);
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}
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else
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{
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LOG_INFO(TRACE_MODULE_APP, "Custom DS-TWR Initiator SEQ NUM %u\r\n", seq_num);
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}
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LOG_INFO(TRACE_MODULE_APP, "[TX][%u] Poll %s\r\n", ind->tx_len, ind->status == UWB_TX_OK ? "" : "TX Fail");
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}
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else if (ind->ranging_stage == RANGING_RESPONSE)
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{
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#ifdef SE_DEMO_EN
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if (ind->tx_len > (MSG_HEADER_LEN + MSG_RESPONSE_USER_DATA_IDX))
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{
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slave_apdu_resp_send_status = 1;
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}
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#endif
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LOG_INFO(TRACE_MODULE_APP, "[TX][%u] Response %s\r\n", ind->tx_len, ind->status == UWB_TX_OK ? "" : "TX Fail");
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}
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else if (ind->ranging_stage == RANGING_FINAL)
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{
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LOG_INFO(TRACE_MODULE_APP, "[TX][%u] Final\r\n", ind->tx_len);
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// calculate_first_tap_power(1, 1);
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// print_preamble_chest(1, 1);
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// print_sts_ch_taps(1);
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}
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else if (ind->ranging_stage == RANGING_RESULT)
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{
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LOG_INFO(TRACE_MODULE_APP, "[TX][%u] Result\r\n", ind->tx_len);
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}
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#if PRINT_PAYLOAD_EN
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if (ind->tx_len)
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{
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LOG_INFO(TRACE_MODULE_APP, " ");
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for (uint8_t i = 0; i < ind->tx_len; i++)
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{
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LOG_INFO(TRACE_NO_OPTION | TRACE_MODULE_APP, "%02x ", ind->tx_data[i]);
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}
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LOG_INFO(TRACE_NO_OPTION | TRACE_MODULE_APP, "\r\n");
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}
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#endif
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}
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break;
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case UWB_PKT_RX_DONE_MSG:
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{
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const struct UWB_PKT_RX_DONE_IND_T *ind = (const struct UWB_PKT_RX_DONE_IND_T *)param;
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if (ind->status == UWB_RX_OK)
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{
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const struct RANGING_USER_PKT_T *usr_pkt = (const struct RANGING_USER_PKT_T *)ind->rx_data;
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if ((ind->ranging_stage == RANGING_POLL) && ranging_env.synced)
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{
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ranging_env.range_data.sequence_num = usr_pkt->seq_num;
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LOG_INFO(TRACE_MODULE_APP | TRACE_NO_OPTION, "\r\n");
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if (uwb_app_config.ranging_flow_mode == (uint8_t)RANGING_FLOW_CONTENTION)
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{
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LOG_INFO(TRACE_MODULE_APP, "Custom DS-TWR Contention Responder SEQ NUM %u\r\n", ranging_env.range_data.sequence_num);
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}
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else
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{
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LOG_INFO(TRACE_MODULE_APP, "Custom DS-TWR Responder SEQ NUM %u\r\n", ranging_env.range_data.sequence_num);
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}
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LOG_INFO(TRACE_MODULE_APP, "[RX][%u][%d] Poll\r\n", ind->rx_len, ranging_env.main_ant_id);
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// LOG_INFO(TRACE_MODULE_APP, "[RX]Peer Tx Power Level %d\r\n", usr_pkt->msg.poll_msg[MSG_POLL_TX_PWR_IDX]);
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int32_t freq_offset = phy_freq_offset_get();
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int32_t freq_offset_filter = average_filter(freq_offset);
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LOG_INFO(TRACE_MODULE_APP, "CH Freq Offset %d\r\n", freq_offset_filter);
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#if XTAL_AUTO_TUNE_EN
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int32_t ppm = freq_offset_filter / (int32_t)(ch_center_freq_map[uwb_app_config.ppdu_params.ch_num] * 1e-6);
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calib_xtal38m4_load_cap_auto_tune(ppm);
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#endif
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#if USER_DEFINED_DATA_REPORT_EN
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uint8_t user_data_len = (uint8_t)(ind->rx_len - MSG_HEADER_LEN - MSG_POLL_USER_DATA_IDX);
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if (user_data_len)
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{
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uwbapi_report_user_defined_data(user_data_len, &usr_pkt->msg.poll_msg[MSG_POLL_USER_DATA_IDX]);
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}
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#endif
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#ifdef SE_DEMO_EN
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uint8_t se_poll_data_len = (uint8_t)(ind->rx_len - MSG_HEADER_LEN - MSG_POLL_USER_DATA_IDX);
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if (se_poll_data_len)
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{
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slave_process_apdu(&usr_pkt->msg.poll_msg[MSG_POLL_USER_DATA_IDX], se_poll_data_len, 0);
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}
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#endif
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#if RSSI_EN
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LOG_INFO(TRACE_MODULE_APP, "RSSI: %ddBm, SNR: %ddB \r\n", ind->rssi, ind->snr);
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#endif
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#if CSI_EN
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struct RANGING_TAPS_INF_T taps_inf;
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ranging_taps_inf_get(&taps_inf);
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ranging_env.frame[0].NLoS = taps_inf.NLoS;
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ranging_env.frame[0].fom = taps_inf.FoM;
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LOG_INFO(TRACE_MODULE_APP, "NLoS %u FoM %u\r\n", taps_inf.NLoS, taps_inf.FoM);
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#else
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ranging_fom_get(&ranging_env.frame[0].NLoS, &ranging_env.frame[0].fom);
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#endif
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}
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else if (ind->ranging_stage == RANGING_RESPONSE)
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{
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uint16_t responder_addr = READ_SHORT(&usr_pkt->msg.response_msg[MSG_RESPONSE_RESPONDER_ID_IDX]);
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uint8_t responder_idx = ranging_responder_idx_get(responder_addr);
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LOG_INFO(TRACE_MODULE_APP, "[RX][%u] Response\r\n", ind->rx_len);
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// LOG_INFO(TRACE_MODULE_APP, "[RX]Peer Tx Power Level %d\r\n", usr_pkt->msg.response_msg[MSG_RESPONSE_TX_PWR_IDX]);
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#ifdef SE_DEMO_EN
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uint8_t se_resp_data_len = (uint8_t)(ind->rx_len - MSG_HEADER_LEN - MSG_RESPONSE_USER_DATA_IDX);
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// Must call master_process_apdu when se_data_len == 0
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master_process_apdu(&usr_pkt->msg.response_msg[MSG_RESPONSE_USER_DATA_IDX], se_resp_data_len);
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#endif
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#if RSSI_EN
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LOG_INFO(TRACE_MODULE_APP, "RSSI: %ddBm, SNR: %ddB\r\n", ind->rssi, ind->snr);
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#endif
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#if CSI_EN
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struct RANGING_TAPS_INF_T taps_inf;
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ranging_taps_inf_get(&taps_inf);
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ranging_env.frame[responder_idx].NLoS = taps_inf.NLoS;
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ranging_env.frame[responder_idx].fom = taps_inf.FoM;
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LOG_INFO(TRACE_MODULE_APP, "NLoS %u FoM %u\r\n", taps_inf.NLoS, taps_inf.FoM);
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#else
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ranging_fom_get(&ranging_env.frame[responder_idx].NLoS, &ranging_env.frame[responder_idx].fom);
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#endif
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}
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else if (ind->ranging_stage == RANGING_FINAL)
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{
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LOG_INFO(TRACE_MODULE_APP, "[RX][%u][%d] Final\r\n", ind->rx_len, ranging_env.main_ant_id);
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int64_t Tround1 = 0;
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int64_t Tround2 = 0;
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int64_t Treply1 = 0;
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int64_t Treply2 = 0;
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if (ranging_env.responder_final_flag)
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{
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Tround2 = ranging_tround(DEV_ROLE_RESPONDER, 0);
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Treply1 = ranging_treply(DEV_ROLE_RESPONDER, 0);
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// Ttotal
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for (int i = 4; i >= 0; i--)
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{
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Treply2 = (Treply2 << 8) | usr_pkt->msg.final_msg[MSG_FINAL_TREPLY_IDX + i];
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}
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// Tround1
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for (int i = 4; i >= 0; i--)
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{
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Tround1 = (Tround1 << 8) | usr_pkt->msg.final_msg[MSG_FINAL_TROUND_IDX(ranging_env.responder_slot_idx) + i];
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}
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// Treply2
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Treply2 = Treply2 - Tround1;
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}
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// LOG_INFO(TRACE_MODULE_APP, "Tround1 %u Treply1 %u Tround2 %u Treply2 %u\r\n", (uint32_t)Tround1, (uint32_t)Treply1,
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// (uint32_t)Tround2, (uint32_t)Treply2);
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if ((Tround1) && (Treply1) && (Tround2) && (Treply2))
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{
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int64_t tof_i = (Tround1 * Tround2 - Treply1 * Treply2) / (Tround1 + Tround2 + Treply1 + Treply2);
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// outlier filter
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if (tof_i < 0)
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{
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tof_i = 0;
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}
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ranging_env.tof = (uint32_t)tof_i;
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double tof_f = (double)TIMESTAMP_UNIT_TO_NS(ranging_env.tof);
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uint32_t distance = (uint32_t)(tof_f * 0.299702547 * VP_VAL - RANGING_CORR);
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// update distance result
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struct RANGING_MEASUREMENT_T *range_result = &ranging_env.range_data.measurements[0];
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range_result->status = STATUS_OK;
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range_result->distance = (uint16_t)distance;
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if (uwb_app_config.session_param.aoa_result_req)
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{
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#if AOA_EN
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// update PDoA IQ and calculate AoA angles (depends on aoa_aux_cfg)
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aoa_calculate(&range_result->aoa_elevation, &range_result->aoa_azimuth);
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aoa_fom_get(&range_result->aoa_elevation_fom, &range_result->aoa_azimuth_fom);
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#elif PDOA_3D_EN
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// calculate PDoA angles
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pdoa_3d_calculate(range_result->mac_addr, &range_result->aoa_elevation, &range_result->aoa_azimuth);
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pdoa_fom_get(&range_result->aoa_elevation_fom, &range_result->aoa_azimuth_fom);
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#endif
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#if PRINT_PDOA_IQ_EN
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#if AOA_EN || PDOA_3D_EN
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float *iq = sts_first_path_iq_get();
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#else
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float *iq = NULL;
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pdoa_iq_get(&iq);
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#endif
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////////// need to increase slot duration for log printing
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if (RX_ANT_PORTS_NUM == 2)
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{
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LOG_INFO(TRACE_MODULE_APP, "ANT IQ: %f %f\r\n", iq[0], iq[1]);
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LOG_INFO(TRACE_MODULE_APP, "ANT IQ: %f %f\r\n", iq[2], iq[3]);
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}
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else if (RX_ANT_PORTS_NUM == 3)
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{
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LOG_INFO(TRACE_MODULE_APP, "ANT IQ: %f %f\r\n", iq[0], iq[1]);
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LOG_INFO(TRACE_MODULE_APP, "ANT IQ: %f %f\r\n", iq[2], iq[3]);
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LOG_INFO(TRACE_MODULE_APP, "ANT IQ: %f %f\r\n", iq[4], iq[5]);
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}
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else if (RX_ANT_PORTS_NUM == 4)
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{
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LOG_INFO(TRACE_MODULE_APP, "ANT IQ: %f %f\r\n", iq[0], iq[1]);
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LOG_INFO(TRACE_MODULE_APP, "ANT IQ: %f %f\r\n", iq[2], iq[3]);
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LOG_INFO(TRACE_MODULE_APP, "ANT IQ: %f %f\r\n", iq[4], iq[5]);
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LOG_INFO(TRACE_MODULE_APP, "ANT IQ: %f %f\r\n", iq[6], iq[7]);
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}
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// float pdoa[3];
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// pdoa[0] = pdoa_select_get(0, 3);
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// pdoa[1] = pdoa_select_get(1, 3);
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// pdoa[2] = pdoa_select_get(2, 3);
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// LOG_INFO(TRACE_MODULE_APP, "PDOA: %f %f %f\r\n", pdoa[0], pdoa[1], pdoa[2]);
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// float *sts_rssi = sts_rssi_output_get();
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// LOG_INFO(TRACE_MODULE_APP, "STS RSSI: %f %f %f %f\r\n", sts_rssi[0], sts_rssi[1], sts_rssi[2], sts_rssi[3]);
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#endif
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}
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else
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{
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range_result->aoa_azimuth = 0;
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range_result->aoa_elevation = 0;
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}
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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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// filter process
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ranging_result_filter(&range_result->distance, &range_result->aoa_azimuth, &range_result->aoa_elevation);
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}
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#endif
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if (uwb_app_config.session_param.aoa_result_req)
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{
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board_ranging_result_correct(&range_result->distance, &range_result->aoa_azimuth, &range_result->aoa_elevation);
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}
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#ifdef UWB_UCI_TEST_EN
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#if AOA_EN
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LOG_INFO(TRACE_MODULE_APP, "Distance %ucm, AoA Azimuth %d Elevation %d Azimuth FoM %u\r\n", distance,
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mk_q7_to_s16(range_result->aoa_azimuth), mk_q7_to_s16(range_result->aoa_elevation), range_result->aoa_azimuth_fom);
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#elif PDOA_3D_EN
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LOG_INFO(TRACE_MODULE_APP, "Distance %ucm, PDoA Azimuth %d Elevation %d Azimuth FoM %u\r\n", distance,
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mk_q7_to_s16(range_result->aoa_azimuth), mk_q7_to_s16(range_result->aoa_elevation), range_result->aoa_azimuth_fom);
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#else
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LOG_INFO(TRACE_MODULE_APP, "Distance %ucm\r\n", distance);
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#endif
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#endif
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struct RANGE_DATA_T *range_data = &ranging_env.range_data;
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range_data->measurements_num = 1;
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uint16_t target_addr = uwbs_peer_short_addr_get();
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range_result->mac_addr[0] = target_addr & 0xff;
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range_result->mac_addr[1] = (target_addr >> 8) & 0xff;
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range_result->slot_idx = ranging_env.responder_slot_idx;
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#if CSI_EN
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// need to increase slot duration for log printing
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struct RANGING_TAPS_INF_T taps_inf;
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ranging_taps_inf_get(&taps_inf);
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ranging_env.frame[1].NLoS = taps_inf.NLoS;
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ranging_env.frame[1].fom = taps_inf.FoM;
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LOG_INFO(TRACE_MODULE_APP, "NLoS %u FoM %u\r\n", taps_inf.NLoS, taps_inf.FoM);
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// LOG_INFO(TRACE_MODULE_APP, "fap: %d, %f\r\n", taps_inf.fap_loc, taps_inf.fap_pow);
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// LOG_INFO(TRACE_MODULE_APP, "tap1: %d, %f\r\n", taps_inf.tap1_loc, taps_inf.tap1_pow);
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// LOG_INFO(TRACE_MODULE_APP, "tap2: %d, %f\r\n", taps_inf.tap2_loc, taps_inf.tap2_pow);
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// LOG_INFO(TRACE_MODULE_APP, "tap3: %d, %f\r\n", taps_inf.tap3_loc, taps_inf.tap3_pow);
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// float chtaps_re[128];
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// float chtaps_im[128];
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// ranging_multi_taps_iq_get(chtaps_re, chtaps_im, 128);
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// for (uint8_t i = 0; i < 128; i++)
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// {
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// LOG_INFO(TRACE_NO_OPTION | TRACE_MODULE_APP, "%f, %f\r\n", chtaps_re[i], chtaps_im[i]);
|
// }
|
#else
|
ranging_fom_get(&ranging_env.frame[1].NLoS, &ranging_env.frame[1].fom);
|
#endif
|
|
// Retrieve Response-FoM and Response-NLoS from final packet
|
uint8_t FoM = usr_pkt->msg.final_msg[MSG_FINAL_FOM_IDX(ranging_env.responder_slot_idx)];
|
uint8_t NLoS = usr_pkt->msg.final_msg[MSG_FINAL_NLOS_IDX(ranging_env.responder_slot_idx)];
|
#if RANGING_FOM_FILTER_EN
|
uint8_t fap_valid = usr_pkt->msg.final_msg[MSG_FINAL_FAP_VALID_IDX(ranging_env.responder_slot_idx)];
|
uint8_t gaps_num = usr_pkt->msg.final_msg[MSG_FINAL_GAPS_NUM_IDX(ranging_env.responder_slot_idx)];
|
uint8_t gaps[CIR_LEN / CE_WIN - 1];
|
memcpy(gaps, &usr_pkt->msg.final_msg[MSG_FINAL_GAPS_IDX(ranging_env.responder_slot_idx)], (CIR_LEN / CE_WIN - 1));
|
debug_csi.ranging_fom = ranging_fom_calculate(&debug_csi, fap_valid, gaps, gaps_num);
|
#endif
|
|
LOG_INFO(TRACE_MODULE_APP, "Poll-FoM %d, Response-FoM %d Final-FoM %d, Poll-NLoS %d, Response-NLoS %d Final-NLoS %d\r\n",
|
ranging_env.frame[0].fom, FoM, ranging_env.frame[1].fom, ranging_env.frame[0].NLoS, NLoS, ranging_env.frame[1].NLoS);
|
|
range_result->NLoS = MAX(NLoS, MAX(ranging_env.frame[0].NLoS, ranging_env.frame[1].NLoS));
|
|
// output result
|
uwbapi_report_ranging_data(range_data);
|
|
// int8_t expected_rssi = ranging_expected_rssi_get(ranging_tx_power_get(), range_result->distance, 2, 0);
|
// LOG_INFO(TRACE_MODULE_APP, "Expected RSSI: %ddBm\r\n", expected_rssi);
|
}
|
else
|
{
|
LOG_INFO(TRACE_MODULE_APP, "Timestamp error\r\n");
|
}
|
#ifdef SE_DEMO_EN
|
slave_process_apdu(NULL, 0, 1);
|
#endif
|
#if RSSI_EN
|
LOG_INFO(TRACE_MODULE_APP, "RSSI: %ddBm, SNR: %ddB \r\n", ind->rssi, ind->snr);
|
#endif
|
|
// calculate_first_tap_power(2, 2);
|
// print_preamble_chest(2, 2);
|
// print_sts_ch_taps(2);
|
}
|
#if RANGING_RESULT_REPORT_EN
|
else if (ind->ranging_stage == RANGING_RESULT)
|
{
|
LOG_INFO(TRACE_MODULE_APP, "[RX][%u][%d] Result\r\n", ind->rx_len, ranging_env.main_ant_id);
|
|
uint16_t responder_addr = READ_SHORT(&usr_pkt->msg.result_msg[MSG_RESPONSE_RESPONDER_ID_IDX]);
|
uint8_t responder_idx = ranging_responder_idx_get(responder_addr);
|
|
if (ranging_env.initiator_result_flag & (1 << responder_idx))
|
{
|
uint16_t distance = READ_SHORT(&usr_pkt->msg.result_msg[2]);
|
LOG_INFO(TRACE_MODULE_APP,
|
"Address %X, Distance %ucm, Poll-FoM %d, Response-FoM %d Final-FoM %d, Poll-NLoS %d, Response-NLoS %d Final-NLoS %d\r\n",
|
responder_addr, distance, usr_pkt->msg.result_msg[4], ranging_env.frame[responder_idx].fom, usr_pkt->msg.result_msg[6],
|
usr_pkt->msg.result_msg[5], ranging_env.frame[responder_idx].NLoS, usr_pkt->msg.result_msg[7]);
|
}
|
}
|
#endif
|
|
#if PRINT_PAYLOAD_EN
|
if (ind->rx_len)
|
{
|
LOG_INFO(TRACE_MODULE_APP, " ");
|
for (uint8_t i = 0; i < ind->rx_len; i++)
|
{
|
LOG_INFO(TRACE_NO_OPTION | TRACE_MODULE_APP, "%02x ", ind->rx_data[i]);
|
}
|
LOG_INFO(TRACE_NO_OPTION | TRACE_MODULE_APP, "\r\n");
|
}
|
#endif
|
}
|
else
|
{
|
LOG_INFO(TRACE_MODULE_APP, "UWB RX fail 0x%04x\r\n", ind->status);
|
}
|
}
|
break;
|
|
default:
|
break;
|
}
|
}
|
// Handle events
|
else if (event)
|
{
|
}
|
}
|
