/*
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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_simple.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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#include "board.h"
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#define PRINT_PAYLOAD_EN 0
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#define PDOA_PRINT_EN 0
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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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uint8_t flag_print = 1;
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switch (ind->ranging_stage)
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{
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case RANGING_SYNC:
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{
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LOG_INFO(TRACE_MODULE_APP | TRACE_NO_OPTION, "\r\n");
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LOG_INFO(TRACE_MODULE_APP, "[TX][%u] Sync ", ind->tx_len);
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}
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break;
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case RANGING_CFG:
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{
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LOG_INFO(TRACE_MODULE_APP, "[TX][%u] Config ", ind->tx_len);
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}
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break;
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case RANGING_POLL:
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{
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LOG_INFO(TRACE_NO_OPTION | TRACE_MODULE_APP, "\r\n");
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struct RANGING_COMMON_MSG_T *p_msg = (struct RANGING_COMMON_MSG_T *)ind->tx_data;
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LOG_INFO(TRACE_MODULE_APP, "DS-TWR Initiator SEQ NUM %u\r\n", p_msg->seqNum);
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LOG_INFO(TRACE_MODULE_APP, "[TX][%u] Poll ", ind->tx_len);
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}
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break;
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case RANGING_RESPONSE:
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{
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LOG_INFO(TRACE_MODULE_APP, "[TX][%u] Response ", ind->tx_len);
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}
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break;
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case RANGING_FINAL:
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{
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LOG_INFO(TRACE_MODULE_APP, "[TX][%u] Final", ind->tx_len);
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}
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break;
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default:
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flag_print = 2;
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break;
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}
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if (flag_print == 1)
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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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}
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#endif
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LOG_INFO(TRACE_NO_OPTION | TRACE_MODULE_APP, "\r\n");
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}
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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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uint8_t flag_print = 1;
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switch (ind->ranging_stage)
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{
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case RANGING_SYNC:
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{
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LOG_INFO(TRACE_MODULE_APP | TRACE_NO_OPTION, "\r\n");
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LOG_INFO(TRACE_MODULE_APP, "[RX][%u] Sync ", ind->rx_len);
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}
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break;
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case RANGING_CFG:
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{
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LOG_INFO(TRACE_MODULE_APP, "[RX][%u] Config ", ind->rx_len);
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}
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break;
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case RANGING_POLL:
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{
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LOG_INFO(TRACE_NO_OPTION | TRACE_MODULE_APP, "\r\n");
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LOG_INFO(TRACE_MODULE_APP, "[RX][%u] Poll ", ind->rx_len);
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}
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break;
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case RANGING_RESPONSE:
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{
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LOG_INFO(TRACE_MODULE_APP, "[RX][%u] Response ", ind->rx_len);
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}
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break;
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case RANGING_FINAL:
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{
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LOG_INFO(TRACE_MODULE_APP, "[RX][%u] Final ", ind->rx_len);
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}
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break;
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default:
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flag_print = 2;
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break;
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}
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if (flag_print == 1)
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{
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#if PRINT_PAYLOAD_EN
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for (uint8_t ii = 0; ii < ind->rx_len; ii++)
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{
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LOG_INFO(TRACE_NO_OPTION | TRACE_MODULE_APP, "%02x ", ind->rx_data[ii]);
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}
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#endif
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LOG_INFO(TRACE_NO_OPTION | TRACE_MODULE_APP, "\r\n");
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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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}
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if (ind->ranging_stage == RANGING_POLL)
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{
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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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struct RANGING_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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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_RESPONSE)
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{
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uint8_t NLoS, FoM;
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ranging_fom_get(&NLoS, &FoM);
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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_FINAL)
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{
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struct RANGING_COMMON_MSG_T *p_final_msg = (struct RANGING_COMMON_MSG_T *)ind->rx_data;
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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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// recv tx_poll_timestamp, rx_response_timestamp, tx_final_timestamp
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int64_t buff_timestamp[3] = {0};
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for (int j = 0; j < 3; j++)
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{
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for (int i = 4; i >= 0; i--)
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{
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buff_timestamp[j] = (buff_timestamp[j] << 8) | p_final_msg->user_data[j * 5 + i];
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}
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}
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Tround1 = buff_timestamp[1] - buff_timestamp[0];
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Treply2 = buff_timestamp[2] - buff_timestamp[1];
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}
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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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struct RANGING_MEASUREMENT_T *range_result = &ranging_env.range_data.measurements[0];
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// update distance result
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range_result->distance = (uint16_t)(tof_f * 0.299702547 * VP_VAL - RANGING_CORR);
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range_result->status = STATUS_OK;
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if (ranging_frame_type_get() == SP1)
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{
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range_result->status = sts_valid_check() ? STATUS_OK : STATUS_FAILED;
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}
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// STS valid
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if (range_result->status == STATUS_OK)
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{
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#if AOA_EN || PDOA_PRINT_EN
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// update PDoA IQ and calculate AoA angles (depends on aoa_aux_cfg)
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aoa_calculate(NULL, &range_result->aoa_azimuth);
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#endif
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#if PDOA_PRINT_EN
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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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// float *iq = sts_first_path_iq_get();
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// LOG_INFO(TRACE_MODULE_APP, "ANT0 IQ: %f %f\r\n", iq[0], iq[1]);
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// LOG_INFO(TRACE_MODULE_APP, "ANT1 IQ: %f %f\r\n", iq[2], iq[3]);
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// LOG_INFO(TRACE_MODULE_APP, "ANT2 IQ: %f %f\r\n", iq[4], iq[5]);
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// LOG_INFO(TRACE_MODULE_APP, "ANT3 IQ: %f %f\r\n", iq[6], iq[7]);
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#endif
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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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uint8_t aoa_en = uwb_app_config.session_param.aoa_result_req;
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if (aoa_en)
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{
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uint8_t fom;
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aoa_fom_get(NULL, &fom);
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board_ranging_result_correct(&range_result->distance, &range_result->aoa_azimuth, &range_result->aoa_elevation);
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LOG_INFO(TRACE_MODULE_APP, "Distance %ucm, AoA Azimuth %d FoM %u\r\n", range_result->distance,
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mk_q7_to_s16(range_result->aoa_azimuth), fom);
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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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LOG_INFO(TRACE_MODULE_APP, "Raw Distance %ucm\r\n", range_result->distance);
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}
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struct RANGE_DATA_T *range_data = &ranging_env.range_data;
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range_data->mac_addr_mode = MAC_ADDR_LONG;
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range_data->measurements_num = 1;
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memcpy(range_result->mac_addr, uwbs_peer_long_addr_get(), 8);
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range_result->slot_idx = ranging_env.responder_slot_idx;
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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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#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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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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#endif
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// output result
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uwbapi_report_ranging_data(range_data);
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}
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else
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{
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LOG_INFO(TRACE_MODULE_APP, "STS Invalid\r\n");
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}
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}
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else
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{
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LOG_INFO(TRACE_MODULE_APP, "Timestamp error\r\n");
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}
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}
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}
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else
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{
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LOG_INFO(TRACE_MODULE_APP, "UWB RX fail 0x%04x, stage %d\r\n", ind->status, ind->ranging_stage);
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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 if (event)
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{
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}
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}
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