/*
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* Copyright (c) 2019-2025 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 "uwb_api.h"
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#include "lib_aoa.h"
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#include "lib_ranging.h"
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#include "ranging_fira.h"
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#if FILTER_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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#if FILTER_EN
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extern void ranging_result_filter(uint8_t *mac_addr, uint16_t *distance, int16_t *azimuth, int16_t *elevation);
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#endif
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static const char *work_mode_table[5] = {"Unknown", "SS-TWR Deferred", "DS-TWR Deferred", "SS-TWR Non-deferred", "DS-TWR Non-deferred"};
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static const char *fira_fsm_table[7] = {"Unknown", "RCM", "Poll", "Response", "Final", "Report", "Result"};
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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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// board_led_on(BOARD_LED_1);
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static uint8_t defer_to_report = 0;
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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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if (ranging_env.count == ranging_env.count_last)
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{
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LOG_INFO(TRACE_MODULE_APP, "Ranging was suspended %u\r\n", ranging_env.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, ranging_env.count);
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ranging_env.count_last = ranging_env.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->status != UWB_TX_OK)
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{
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LOG_INFO(TRACE_MODULE_APP, "UWB TX fail 0x%04x\r\n", ind->status);
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break;
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}
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if (ind->slot_idx == 0)
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{
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ranging_env.range_data.sequence_num = (ranging_env.phy_sts_index - fira_key.phyStsIdxInit) / ranging_env.slots_per_block;
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uint8_t work_mode_idx = uwb_app_config.session_param.ranging_round_usage < 5 ? uwb_app_config.session_param.ranging_round_usage : 0;
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LOG_INFO(TRACE_MODULE_APP | TRACE_NO_OPTION, "\r\n");
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LOG_INFO(TRACE_MODULE_APP, "FiRa %s Controller SEQ NUM %u\r\n", work_mode_table[work_mode_idx], ranging_env.range_data.sequence_num);
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uwb_app_config.ranging_count++;
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// clear last round measurement
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ranging_measurements_clear();
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}
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uint8_t stage_idx = (ind->ranging_stage >= RANGING_RCM && ind->ranging_stage <= RANGING_RRRM) ? (ind->ranging_stage - RANGING_RCM + 1) : 0;
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LOG_INFO(TRACE_NO_REPORT_HOST | TRACE_MODULE_APP, "[TX][%u] %s\r\n", ind->tx_len, fira_fsm_table[stage_idx]);
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if (defer_to_report)
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{
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defer_to_report = 0;
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// output result (notify) at last packet
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uwbapi_report_ranging_data(&ranging_env.range_data);
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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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#if 0
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if (ind->tx_len)
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{
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if((payload_print_len + ind->tx_len) < PAYLOAD_BUF_MAX)
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{
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memcpy(payload_print_buf + payload_print_len, ind->tx_data, ind->tx_len);
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payload_print_len += ind->tx_len;
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}
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else
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{
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LOG_INFO(TRACE_NO_OPTION | TRACE_MODULE_APP, "Insufficient payload_print_buf, don't print out tx_data.\r\n");
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}
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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->slot_idx == 0)
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{
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uwb_app_config.ranging_count++;
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}
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// PDOA AOA CSI RSSI
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uint8_t responder_idx = ind->slot_idx;
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if (ind->status == UWB_RX_OK)
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{
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if (ind->slot_idx == 0)
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{
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uint8_t work_mode_idx = uwb_app_config.session_param.ranging_round_usage < 5 ? uwb_app_config.session_param.ranging_round_usage : 0;
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ranging_env.range_data.sequence_num = (ranging_env.phy_sts_index - fira_key.phyStsIdxInit) / ranging_env.slots_per_block;
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LOG_INFO(TRACE_NO_REPORT_HOST | TRACE_MODULE_APP | TRACE_NO_OPTION, "\r\n");
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LOG_INFO(TRACE_NO_REPORT_HOST | TRACE_MODULE_APP, "FiRa %s Controlee SEQ NUM %u\r\n", work_mode_table[work_mode_idx],
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ranging_env.range_data.sequence_num);
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// clear last round measurement
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ranging_measurements_clear();
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int32_t freq_offset = phy_freq_offset_get();
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ranging_env.freq_offset_filter = average_filter(freq_offset);
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LOG_INFO(TRACE_MODULE_APP, "CH Freq Offset %d\r\n", ranging_env.freq_offset_filter);
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#if (X38M4_AUTO_TUNE_EN == 1)
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int32_t ppm = ranging_env.freq_offset_filter / (int32_t)(uwb_ch_freq_table[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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}
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if (ind->ranging_stage == RANGING_RIM || ind->ranging_stage == RANGING_RRM)
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{
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struct TWR_MEASUREMENT_T *range_result = 0;
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if (ind->ranging_stage == RANGING_RIM)
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{
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range_result = &ranging_env.range_data.measurements[0];
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range_result->status = STATUS_OK;
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}
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else if (ind->ranging_stage == RANGING_RRM)
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{
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if (uwb_app_config.session_param.ranging_round_usage == SS_TWR_DEFERRED ||
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uwb_app_config.session_param.ranging_round_usage == DS_TWR_DEFERRED)
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{
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responder_idx -= 2;
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}
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else if (uwb_app_config.session_param.ranging_round_usage == SS_TWR || uwb_app_config.session_param.ranging_round_usage == DS_TWR)
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{
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responder_idx -= 1;
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}
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// LOG_INFO(TRACE_MODULE_APP, "responder_idx: %d\r\n", responder_idx);
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ASSERT(responder_idx <= MEASUREMENT_NUM_MAX, "responder index is over range!");
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range_result = &ranging_env.range_data.measurements[responder_idx];
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// this status will be cleared after receive report packet
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range_result->status = STATUS_RANGING_RX_RESPONSE_OK;
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}
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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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// ~530us -- Keil (AoA - ranging_performance_mode == 3)
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// board_led_on(BOARD_LED_2);
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aoa_calculate(&range_result->aoa_elevation, &range_result->aoa_azimuth);
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// board_led_off(BOARD_LED_2);
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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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// ~410us -- Keil
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// board_led_on(BOARD_LED_2);
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pdoa_3d_calculate(range_result->mac_addr, &range_result->aoa_elevation, &range_result->aoa_azimuth);
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// board_led_off(BOARD_LED_2);
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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_result_get(0, 3);
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// pdoa[1] = pdoa_result_get(1, 3);
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// pdoa[2] = pdoa_result_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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#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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uint8_t NLoS, FoM;
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ranging_fom_get(&NLoS, &FoM);
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range_result->NLoS = NLoS;
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// LOG_INFO(TRACE_MODULE_APP, "NLoS: %u, FoM: %u\r\n", NLoS, FoM);
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}
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else if (ind->ranging_stage == RANGING_RFM)
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{
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struct TWR_MEASUREMENT_T *range_result = &ranging_env.range_data.measurements[0];
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uint8_t NLoS, FoM;
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ranging_fom_get(&NLoS, &FoM);
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if (NLoS > range_result->NLoS)
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{
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range_result->NLoS = NLoS;
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}
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// LOG_INFO(TRACE_MODULE_APP, "NLoS: %u, FoM: %u\r\n", NLoS, FoM);
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}
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#if DYNAMIC_UPDATE_MAIN_ANTENNA_EN
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else if (ind->ranging_stage == RANGING_RRRM)
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{
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uint8_t initiator_tx_slot_count;
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if (uwb_app_config.session_param.ranging_round_usage == DS_TWR_DEFERRED)
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{
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initiator_tx_slot_count = 4; // rcm + poll + final + report
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}
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else if (uwb_app_config.session_param.ranging_round_usage == SS_TWR_DEFERRED)
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{
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initiator_tx_slot_count = 3; // rcm + poll + report
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}
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else if (uwb_app_config.session_param.ranging_round_usage == DS_TWR)
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{
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initiator_tx_slot_count = 2; // poll + final
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}
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else // SS_TWR
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{
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initiator_tx_slot_count = 1; // poll
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}
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responder_idx = ind->slot_idx - ranging_env.responder_num - initiator_tx_slot_count;
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}
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#endif
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if ((ind->ranging_stage == RANGING_RRM && uwb_app_config.session_param.ranging_round_usage == SS_TWR) ||
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(ind->ranging_stage == RANGING_RFM && uwb_app_config.session_param.ranging_round_usage == DS_TWR) ||
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(ind->ranging_stage == RANGING_MRM && uwb_app_config.session_param.ranging_round_usage == DS_TWR_DEFERRED) ||
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(ind->ranging_stage == RANGING_MRM && uwb_app_config.session_param.ranging_round_usage == SS_TWR_DEFERRED))
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{
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int res = measure_report_handler(ind);
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if (res)
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{
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// LOG_INFO(TRACE_MODULE_APP, "ToF %d\r\n", ranging_env.tof);
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struct TWR_MEASUREMENT_T *range_result = &ranging_env.range_data.measurements[0];
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ranging_env.range_data.measurements_num = 1;
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range_result->status = STATUS_OK;
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if (uwb_app_config.session_param.aoa_result_req == 0)
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{
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range_result->aoa_azimuth = 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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int16_t *azimuth = (uwb_app_config.session_param.aoa_result_req ? &range_result->aoa_azimuth : NULL);
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int16_t *elevation = NULL;
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#if PDOA_3D_EN
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if (ANT_PATTERN != ANT_PATTERN_LINEAR)
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{
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elevation = (uwb_app_config.session_param.aoa_result_req ? &range_result->aoa_elevation : NULL);
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}
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#endif
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// filter process
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ranging_result_filter(range_result->mac_addr, &range_result->distance, azimuth, 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 PDOA_3D_EN
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LOG_INFO(TRACE_NO_REPORT_HOST | TRACE_MODULE_APP, "Distance %ucm, PDoA Azimuth %d Elevation %d Azimuth FoM %u\r\n",
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range_result->distance, mk_q7_to_s16(range_result->aoa_azimuth), mk_q7_to_s16(range_result->aoa_elevation),
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range_result->aoa_azimuth_fom);
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#elif AOA_EN
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LOG_INFO(TRACE_NO_REPORT_HOST | TRACE_MODULE_APP, "Distance %ucm, AoA Azimuth %d Elevation %d Azimuth FoM %u\r\n",
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range_result->distance, mk_q7_to_s16(range_result->aoa_azimuth), mk_q7_to_s16(range_result->aoa_elevation),
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range_result->aoa_azimuth_fom);
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#else
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LOG_INFO(TRACE_NO_REPORT_HOST | TRACE_MODULE_APP, "Distance %ucm\r\n", (int16_t)range_result->distance);
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#endif
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#endif
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uint16_t peer_addr = ranging_initiator_addr_get();
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range_result->mac_addr[0] = peer_addr & 0xff;
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range_result->mac_addr[1] = (peer_addr >> 8) & 0xff;
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if ((uwb_app_config.session_param.ranging_round_usage == DS_TWR_DEFERRED) ||
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(uwb_app_config.session_param.ranging_round_usage == SS_TWR_DEFERRED))
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{
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defer_to_report = 1;
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}
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else
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{
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// output result (notify)
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uwbapi_report_ranging_data(&ranging_env.range_data);
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}
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// calculate_first_tap_power(1, 2);
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// print_preamble_cir(ranging_env.range_data.sequence_num, 1, 2);
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// print_sts_cir(1, 2);
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}
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}
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uint8_t stage_idx = (ind->ranging_stage >= RANGING_RCM && ind->ranging_stage <= RANGING_RRRM) ? (ind->ranging_stage - RANGING_RCM + 1) : 0;
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#if DYNAMIC_UPDATE_MAIN_ANTENNA_EN
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if ((ind->ranging_stage == RANGING_RRM) || (ind->ranging_stage == RANGING_RRRM))
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{
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uint8_t main_ant = ranging_env.responder_list[responder_idx].main_ant_id;
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LOG_INFO(TRACE_NO_REPORT_HOST | TRACE_MODULE_APP, "[RX][%u][%u] %s\r\n", ind->rx_len, main_ant, fira_fsm_table[stage_idx]);
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}
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else
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#endif
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{
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LOG_INFO(TRACE_NO_REPORT_HOST | TRACE_MODULE_APP, "[RX][%u] %s\r\n", ind->rx_len, fira_fsm_table[stage_idx]);
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}
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#if PRINT_PAYLOAD_EN
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if (ind->rx_len)
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{
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LOG_INFO(TRACE_NO_REPORT_HOST | TRACE_MODULE_APP, " ");
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for (uint8_t i = 0; i < ind->rx_len; i++)
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{
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LOG_INFO(TRACE_NO_OPTION | TRACE_MODULE_APP, "%02x ", ind->rx_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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else
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{
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#if DYNAMIC_UPDATE_MAIN_ANTENNA_EN
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LOG_INFO(TRACE_MODULE_APP, "[%u] UWB RX fail 0x%04x\r\n", ranging_env.responder_list[responder_idx].main_ant_id, ind->status);
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#else
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LOG_INFO(TRACE_MODULE_APP, "UWB RX fail 0x%04x\r\n", ind->status);
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#endif
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#if RSSI_EN
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if (ind->status != 0x0830)
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{
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LOG_INFO(TRACE_MODULE_APP, "RSSI: %ddBm, SNR: %ddB \r\n", ind->rssi, ind->snr);
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}
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#endif
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}
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if ((ind->ranging_stage == RANGING_RRRM) && (ranging_env.result_flag & 0xFF))
|
{
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int res = ranging_result_report_handler(ind);
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if (res)
|
{
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// output result (notify)
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uwbapi_report_ranging_data(&ranging_env.range_data);
|
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// calculate_first_tap_power(0, 1);
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// print_preamble_cir(ranging_env.range_data.sequence_num, 0, 1);
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// print_sts_cir(0, 1);
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}
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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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// Handle events
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else
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{
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}
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// board_led_off(BOARD_LED_1);
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}
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