/*
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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_uwb.h"
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#include "mk_misc.h"
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#include "mk_power.h"
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#include "mk_sleep_timer.h"
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#include "lib_ranging.h"
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#include "board.h"
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#if defined(MK_DS_TWR_RESP)
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extern int simple_main(void);
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/* Ranging period */
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#define RANGING_PERIOD_MS (1000)
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/* This is the delay from Frame RX POLL frame to send RESP Frame */
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#define POLL_RX_TO_RESP_TX_DLY_US 750U
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#define RESP_TX_TO_FINAL_RX_DLY_US 500U
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/* RX sync window size 50 ms*/
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#define RX_SYNC_WIN_US 50000U
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/* Receive poll timeout 500us*/
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#define POLL_RX_TIMEOUT_US 500
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/* Receive final timeout 500us */
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#define FINAL_RX_TIMEOUT_US 500
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/* RX window open in advance */
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#define RX_WIN_IN_ADVANCE_US (150)
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/* Field index in frame */
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#define MSG_SEQ_NUM_IDX 2
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#define FINAL_MSG_POLL_TX_TS_IDX 10
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#define FINAL_MSG_RESP_RX_TS_IDX 14
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#define FINAL_MSG_FINAL_TX_TS_IDX 18
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/* Length of the common part of the message */
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#define MSG_COMMON_LEN 10
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struct mk_uwb_configure
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{
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uint8_t phy_work_mode; /* PHY_TX / PHY_RX / PHT_TX|PHY_RX */
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struct UWB_CONFIG_T phy_cfg;
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};
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/* Default communication configuration. */
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static struct mk_uwb_configure config = {
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.phy_work_mode = (uint8_t)(PHY_TX | PHY_RX),
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.phy_cfg.ch_num = 9, /* Channel number. */
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.phy_cfg.code_index = 9, /* TX preamble code. */
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.phy_cfg.mean_prf = MEAN_PRF_64M, /* Data rate 6.8M */
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.phy_cfg.data_bit_rate = DATA_BR_6M8, /* data rate 6.8M. */
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.phy_cfg.sync_sym = PREAM_LEN_128, /* Preamble duration, length of preamble 128 */
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.phy_cfg.sfd_sym = BPRF_NSFD2_8, /* Identifier for SFD sequence */
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.phy_cfg.ranging_bit = 1, /* ranging bit set. */
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.phy_cfg.trx_mode = TRX_MODE_15_4Z_BPRF, /* IEEE802.15.4z - BPRF mode */
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.phy_cfg.sts_pkt_cfg = STS_PKT_CFG_0, /* SP0 Frame */
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.phy_cfg.sts_segnum = STS_SEGNUM_BPRF_1, /* Number of STS segments in the frame */
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.phy_cfg.sts_seglen = STS_SEGLEN_BPRF_64, /* Number of symbols in an STS segment */
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.phy_cfg.rx_ant_id = UWB_RX_ANT_3, /* UWB RX antenna port */
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};
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/* Buffer to store received frame */
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static uint8_t rx_buf[128];
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/* Frames used in the ranging process
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* Poll message:
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* - byte 0 - 1: 0x8841 to indicate a data frame using 16-bit addressing.
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* - byte 2: sequence number, incremented for each new frame.
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* - byte 3 - 4: PAN Id 0x4B4d
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* - byte 5 - 6: Destination address
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* - byte 7 - 8: Source address
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* - byte 9: Message type (0x02 RANGING_POLL / 0x03 RANGING_RESPONSE / 0x04 RANGING_FINAL)
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* Response message:
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* - byte 10: activity code (0x07 to tell the initiator to go on with the ranging exchange)
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* Final message:
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* - byte 10 - 13: poll message transmission timestamp.
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* - byte 14 - 17: response message reception timestamp.
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* - byte 18 - 21: final message transmission timestamp.
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*/
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static uint8_t rx_poll_msg[] = {0x41, 0x88, 0, 0x4D, 0x4B, 0x53, 0x45, 0x4D, 0x49, 0x02};
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static uint8_t tx_resp_msg[] = {0x41, 0x88, 0, 0x4D, 0x4B, 0x4D, 0x49, 0x53, 0x45, 0x03, 0x07};
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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};
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/* Count value of phy counter when transmitting and receiving frames */
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static uint32_t poll_rx_en_start_u32;
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static uint32_t resp_tx_en_start_u32;
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/* 41 bits timestamps of frames transmission/reception. */
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static int64_t poll_rx_ts_i64;
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static int64_t resp_tx_ts_i64;
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static int64_t final_rx_ts_i64;
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/* Frame sequence number, incremented after each transmission. */
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static uint8_t frame_seq_nb = 0;
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/* MAC report data structure */
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static struct MAC_HW_REPORT_T rx_rpt;
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enum SIMPLE_FSM_T
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{
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SIMPLE_IDLE = 0,
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SIMPLE_POLL = 1,
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SIMPLE_RESPONSE = 2,
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SIMPLE_FINAL = 3,
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};
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static enum SIMPLE_FSM_T state = SIMPLE_IDLE;
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/**
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* @brief Correct TX timestamp of the ranging frame.
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*
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* @param[in] timestamp PHY timer count of TX
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* @return TX timestamp (unit: 15.65ps)
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*/
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static int64_t ranging_tx_time_correct(uint32_t timestamp)
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{
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int64_t tx_timestamp = ranging_tx_time(timestamp);
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// correct antenna delay (TX using the same antenna as RX)
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tx_timestamp += ranging_ant_delays_get(config.phy_cfg.rx_ant_id) / 2;
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return tx_timestamp;
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}
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/**
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* @brief Correct RX timestamp of the ranging frame.
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*
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* @param[in] ind MAC RX report
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* @return RX timestamp (unit: 15.65ps)
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*/
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static int64_t ranging_rx_time_correct(const struct MAC_HW_REPORT_T *ind)
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{
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int64_t rx_timestamp = ranging_rx_time(ind);
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// correct antenna delay
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rx_timestamp -= ranging_ant_delays_get(config.phy_cfg.rx_ant_id) / 2;
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return rx_timestamp;
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}
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/* RX done process handler. */
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static void rx_int_callback(struct MAC_HW_REPORT_T *rx_report)
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{
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// Power off radio
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power_off_radio();
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/** UWB RX success */
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if (rx_report->err_code == UWB_RX_OK)
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{
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/* Received data does not contain FCS */
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memcpy(rx_buf, rx_report->pkt_data, rx_report->pkt_len);
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memcpy(&rx_rpt, rx_report, sizeof(struct MAC_HW_REPORT_T));
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}
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else
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{
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/* UWB_PLD_ERR payload error */
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/* UWB_PHR_ERR PHR error */
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/* UWB_SFD_ERR Sfd error */
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/* UWB_BD_ERR Preamble detection error */
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/* UWB_TO_ERR Receive timeout */
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/* UWB_STS_ERR STS error */
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memcpy(&rx_rpt, rx_report, sizeof(struct MAC_HW_REPORT_T));
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}
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}
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/* TX done process handler. */
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static void tx_int_callback(struct MAC_HW_REPORT_T *tx_report)
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{
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// Power off radio
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power_off_radio();
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/** UWB TX success */
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if (tx_report->err_code == UWB_TX_OK)
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{
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}
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}
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int simple_main(void)
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{
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// The following peripherals will be initialized in the uwb_open function
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// phy/mac/aes/lsp/phy timers initialized
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uwb_open();
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// Set calibration parameters
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uwb_calibration_params_set(config.phy_cfg.ch_num);
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// set advanced parameters
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struct PHY_ADV_CONFIG_T adv_config = {
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.thres_fap_detect = 40,
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.nth_scale_factor = 4,
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.ranging_performance_mode = 0,
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.skip_weakest_port_en = 0,
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};
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phy_adv_params_configure(&adv_config);
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// uwb configure
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uwb_configure(config.phy_work_mode, board_param.tx_power_fcc[CALIB_CH(config.phy_cfg.ch_num)], &config.phy_cfg);
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ranging_lib_init();
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ranging_frame_type_set(config.phy_cfg.sts_pkt_cfg);
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// Register rx interrupt callback function
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mac_register_process_handler(tx_int_callback, rx_int_callback);
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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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// Enable sleep timer
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sleep_timer_open(true, SLEEP_TIMER_MODE_ONESHOT, NULL);
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#endif
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state = SIMPLE_IDLE;
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while (1)
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{
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switch (state)
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{
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case SIMPLE_IDLE:
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case SIMPLE_POLL:
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{
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// Target time equals 0 means recv immediately
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// Program the MAC to receive UWB packet
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if (state == SIMPLE_IDLE)
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{
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uwb_rx(0, 0, RX_SYNC_WIN_US);
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}
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else
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{
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poll_rx_en_start_u32 += MS_TO_PHY_TIMER_COUNT(RANGING_PERIOD_MS);
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uwb_rx(1, poll_rx_en_start_u32 - US_TO_PHY_TIMER_COUNT(RX_WIN_IN_ADVANCE_US), POLL_RX_TIMEOUT_US);
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}
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// Check the MAC busy state
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while (mac_is_busy())
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{
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}
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if (rx_rpt.err_code == UWB_RX_OK)
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{
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state = SIMPLE_RESPONSE;
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}
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else if (state == SIMPLE_POLL)
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{
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state = SIMPLE_IDLE;
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}
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}
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break;
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case SIMPLE_RESPONSE:
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{
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rx_buf[MSG_SEQ_NUM_IDX] = rx_poll_msg[MSG_SEQ_NUM_IDX];
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// if (0 == memcmp(rx_poll_msg, rx_buf, MSG_COMMON_LEN))
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// {
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poll_rx_en_start_u32 = rx_rpt.timestamp - phy_shr_duration();
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poll_rx_ts_i64 = ranging_rx_time_correct(&rx_rpt);
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// (resp_tx_en_start_u32) is the moment when TX enable
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resp_tx_en_start_u32 = poll_rx_en_start_u32 + US_TO_PHY_TIMER_COUNT(POLL_RX_TO_RESP_TX_DLY_US);
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tx_resp_msg[MSG_SEQ_NUM_IDX] = frame_seq_nb++;
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//uwb_tx(tx_resp_msg, sizeof(tx_resp_msg), 1, resp_tx_en_start_u32);yuan
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uwb_tx(tx_resp_msg, sizeof(tx_resp_msg), 0,0);
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// resp_tx_ts_i64 is the timestamp(RMARKER) of the TX response packet
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resp_tx_ts_i64 = ranging_tx_time_correct(resp_tx_en_start_u32 + phy_shr_duration());
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// Check the MAC busy state
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while (mac_is_busy())
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{
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}
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state = SIMPLE_IDLE;// yuan final
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// }
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// else
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// {
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// state = SIMPLE_IDLE;
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// }
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}
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break;
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case SIMPLE_FINAL:
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{
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uint32_t final_rx_en_start_u32 = resp_tx_en_start_u32 + US_TO_PHY_TIMER_COUNT(RESP_TX_TO_FINAL_RX_DLY_US);
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uwb_rx(1, final_rx_en_start_u32, FINAL_RX_TIMEOUT_US);
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// Check the MAC busy state
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while (mac_is_busy())
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{
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}
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if (rx_rpt.err_code == UWB_RX_OK)
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{
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uint8_t seq_num = rx_buf[MSG_SEQ_NUM_IDX];
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rx_buf[MSG_SEQ_NUM_IDX] = rx_final_msg[MSG_SEQ_NUM_IDX];
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if (0 == memcmp(rx_final_msg, rx_buf, MSG_COMMON_LEN))
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{
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final_rx_ts_i64 = ranging_rx_time_correct(&rx_rpt);
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int32_t poll_tx_ts = 0;
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int32_t resp_rx_ts = 0;
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int32_t final_tx_ts = 0;
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int32_t poll_rx_ts_i32 = 0;
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int32_t resp_tx_ts_i32 = 0;
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int32_t final_rx_ts_i32 = 0;
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double tof;
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int64_t Ra, Rb, Da, Db, tof_dtu;
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uint32_t distance;
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for (int32_t i = 0; i < 4; i++)
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{
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poll_tx_ts += ((int32_t)rx_buf[FINAL_MSG_POLL_TX_TS_IDX + i] << (i * 8));
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}
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for (int32_t i = 0; i < 4; i++)
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{
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resp_rx_ts += ((int32_t)rx_buf[FINAL_MSG_RESP_RX_TS_IDX + i] << (i * 8));
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}
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for (int32_t i = 0; i < 4; i++)
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{
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final_tx_ts += ((int32_t)rx_buf[FINAL_MSG_FINAL_TX_TS_IDX + i] << (i * 8));
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}
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poll_rx_ts_i32 = (int32_t)poll_rx_ts_i64;
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resp_tx_ts_i32 = (int32_t)resp_tx_ts_i64;
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final_rx_ts_i32 = (int32_t)final_rx_ts_i64;
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Ra = (int64_t)(resp_rx_ts - poll_tx_ts);
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Rb = (int64_t)(final_rx_ts_i32 - resp_tx_ts_i32);
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Da = (int64_t)(final_tx_ts - resp_rx_ts);
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Db = (int64_t)(resp_tx_ts_i32 - poll_rx_ts_i32);
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tof_dtu = (int64_t)((Ra * Rb - Da * Db) / (Ra + Rb + Da + Db));
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if (tof_dtu < 0)
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{
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tof_dtu = 0;
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}
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tof = (double)tof_dtu * (1.0 / 499.2e6 / 128.0);
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distance = (uint32_t)((tof * 299702547) * VP_VAL);
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LOG_INFO(TRACE_MODULE_APP, "SEQ NUM %u Distance %ucm\r\n", seq_num, distance);
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}
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}
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state = SIMPLE_POLL;
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}
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break;
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}
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if (state == SIMPLE_POLL)
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{
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#if LOW_POWER_EN
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trace_flush();
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uint32_t lock = int_lock();
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sleep_timer_start(__MS_TO_32K_CNT(RANGING_PERIOD_MS - 4));
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power_enter_power_down_mode(0);
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int_unlock(lock);
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#else
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/* Execute a delay between ranging exchanges. */
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sys_timer_delay_ms(RANGING_PERIOD_MS - 4);
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#endif
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}
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}
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}
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#endif
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