/*
|
* Copyright (c) 2019-2023 Beijing Hanwei Innovation Technology Ltd. Co. and
|
* its subsidiaries and affiliates (collectly called MKSEMI).
|
*
|
* All rights reserved.
|
*
|
* Redistribution and use in source and binary forms, with or without
|
* modification, are permitted provided that the following conditions are met:
|
*
|
* 1. Redistributions of source code must retain the above copyright notice,
|
* this list of conditions and the following disclaimer.
|
*
|
* 2. Redistributions in binary form, except as embedded into an MKSEMI
|
* integrated circuit in a product or a software update for such product,
|
* must reproduce the above copyright notice, this list of conditions and
|
* the following disclaimer in the documentation and/or other materials
|
* provided with the distribution.
|
*
|
* 3. Neither the name of MKSEMI nor the names of its contributors may be used
|
* to endorse or promote products derived from this software without
|
* specific prior written permission.
|
*
|
* 4. This software, with or without modification, must only be used with a
|
* MKSEMI integrated circuit.
|
*
|
* 5. Any software provided in binary form under this license must not be
|
* reverse engineered, decompiled, modified and/or disassembled.
|
*
|
* THIS SOFTWARE IS PROVIDED BY MKSEMI "AS IS" AND ANY EXPRESS OR IMPLIED
|
* WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
|
* MERCHANTABILITY, NONINFRINGEMENT, AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
* DISCLAIMED. IN NO EVENT SHALL MKSEMI OR CONTRIBUTORS BE LIABLE FOR ANY
|
* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
|
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
|
* THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
*/
|
|
#include "mk_trace.h"
|
#include "mk_clock.h"
|
#include "mk_uwb.h"
|
#include "mk_calib.h"
|
#include "mk_misc.h"
|
#include "ranging_ccc.h"
|
#include "uwb_api.h"
|
#include "lib_ccc.h"
|
#include "lib_aoa.h"
|
#include "lib_ranging.h"
|
|
#if KF_EN
|
#include "lib_kf.h"
|
#endif
|
|
#if PDOA_3D_EN
|
#include "lib_pdoa_3d.h"
|
#endif
|
|
#include "board.h"
|
|
#define PRINT_PAYLOAD_EN 0
|
#define PRINT_PDOA_IQ_EN 0
|
|
#if FILTER_EN
|
static void ranging_result_filter(uint16_t *distance, int16_t *azimuth, int16_t *elevation)
|
{
|
if ((distance == NULL) || (azimuth == NULL) || (elevation == NULL))
|
{
|
return;
|
}
|
|
#if KF_EN
|
float post_range, post_azimuth, post_elevation;
|
float azimuth_meas = mk_q7_to_f32(*azimuth);
|
float elevation_meas = mk_q7_to_f32(*elevation);
|
float range_meas = (float)*distance / 100;
|
// call filter
|
uint16_t target_addr = uwbs_peer_short_addr_get();
|
uint8_t mac_addr[8];
|
memset(mac_addr, 0, 8);
|
mac_addr[0] = target_addr & 0xff;
|
mac_addr[1] = (target_addr >> 8) & 0xff;
|
loc_kf_filter(range_meas, KF_DATA_TYPE_RANGING, mac_addr, &post_range);
|
if (uwb_app_config.session_param.aoa_result_req)
|
{
|
loc_kf_filter(azimuth_meas, KF_DATA_TYPE_AZIMUTH, mac_addr, &post_azimuth);
|
loc_kf_filter(elevation_meas, KF_DATA_TYPE_ELEVATION, mac_addr, &post_elevation);
|
}
|
else
|
{
|
post_azimuth = azimuth_meas;
|
post_elevation = elevation_meas;
|
}
|
// update distance
|
*distance = (uint16_t)(post_range * 100);
|
// update angle
|
*azimuth = mk_f32_to_q7(post_azimuth);
|
*elevation = mk_f32_to_q7(post_elevation);
|
|
// LOG_INFO(TRACE_MODULE_APP, "$%u %u %d %d %d %d;\r\n", (uint16_t)(range_meas*100),(uint16_t)(post_range*100),(int16_t)azimuth_meas,(int16_t)post_azimuth,
|
// (int16_t)elevation_meas, (int16_t)post_elevation);
|
#else
|
float post_range, post_azimuth;
|
int azimuth_meas = mk_q7_to_s16(*azimuth);
|
float range_meas = (float)*distance;
|
// call filter
|
loc_post_filter(0, range_meas, azimuth_meas, &post_range, &post_azimuth);
|
// update distance
|
*distance = (uint16_t)(post_range);
|
// update angle
|
*azimuth = mk_f32_to_q7(post_azimuth);
|
|
// LOG_INFO(TRACE_MODULE_APP, "$%u %u %d %d;\r\n", (uint16_t)(range_meas*100), (uint16_t)(post_range*100),(int16_t)azimuth_meas, (int16_t)post_azimuth);
|
#endif
|
}
|
#endif
|
|
#if RANGING_FOM_FILTER_EN
|
static void ranging_report_debug_csi_while_failed(void)
|
{
|
if (ranging_debug_csi_en_get())
|
{
|
if (uwb_app_config.session_param.device_role == DEV_ROLE_RESPONDER)
|
{
|
uwbapi_report_debug_csi_data(&debug_csi);
|
}
|
}
|
else
|
{
|
LOG_INFO(TRACE_MODULE_APP, "debug_csi_en is disabled, message drop!!!\r\n");
|
}
|
}
|
|
static void ranging_report_debug_csi_while_successed(uint16_t distance, bool overflow)
|
{
|
if (ranging_debug_csi_en_get())
|
{
|
if (overflow)
|
{
|
// Transaction overflow, RESPONSE SP3 frame from this responder cannot be processed by the device
|
debug_csi.ranging_status = 0x01;
|
}
|
|
debug_csi.distance_cm = distance;
|
|
debug_csi.azimuth = ranging_env.azimuth;
|
debug_csi.ranging_fom = ranging_fom_calculate(&debug_csi, 0, NULL, 0);
|
debug_csi.azimuth_fom = ranging_env.azimuth_fom;
|
|
calculate_first_tap_power(4, 2);
|
// print_preamble_chest(4, 2);
|
|
uwbapi_report_debug_csi_data(&debug_csi);
|
}
|
else
|
{
|
LOG_INFO(TRACE_MODULE_APP, "debug_csi_en is disabled, message drop!!!\r\n");
|
}
|
}
|
#endif
|
|
/*************************************************************************************************/
|
/*!
|
* \brief WSF event handler for ranging task.
|
*
|
* \param event WSF event mask.
|
* \param msg WSF message.
|
*
|
* \return None.
|
*/
|
/*************************************************************************************************/
|
void ranging_handler(wsfEventMask_t event, const void *param)
|
{
|
const wsfMsgHdr_t *msg = (const wsfMsgHdr_t *)param;
|
|
if (msg != NULL)
|
{
|
switch (msg->event)
|
{
|
case RANGING_DAEMON_TIMER_MSG:
|
{
|
if (ranging_env.count == ranging_env.count_last)
|
{
|
LOG_INFO(TRACE_MODULE_APP, "Ranging was suspended %u\r\n", ranging_env.count);
|
ranging_restart();
|
}
|
else
|
{
|
// LOG_INFO(TRACE_MODULE_APP, "Ranging count %u %u\r\n", ranging_env.count_last, count);
|
ranging_env.count_last = ranging_env.count;
|
}
|
}
|
break;
|
|
case RANGING_UPDATE_KEYS:
|
{
|
const struct RANGING_UPD_KEYS_T *upd_keys = (const struct RANGING_UPD_KEYS_T *)param;
|
ranging_update_keys(upd_keys->sts_idx, upd_keys->key_type);
|
}
|
break;
|
|
case UWB_PKT_TX_DONE_MSG:
|
{
|
const struct UWB_PKT_TX_DONE_IND_T *ind = (const struct UWB_PKT_TX_DONE_IND_T *)param;
|
|
if (ind->ranging_stage == RANGING_PRE_POLL)
|
{
|
LOG_INFO(TRACE_MODULE_APP | TRACE_NO_OPTION, "\r\n");
|
LOG_INFO(TRACE_MODULE_APP, "CCC DS-TWR Deferred Initiator SEQ NUM %u ridx %u sidx %u\r\n", ind->block_idx, ind->round_idx, ind->sts_idx);
|
LOG_INFO(TRACE_MODULE_APP, "[TX][%u] Pre-Poll\r\n", ind->tx_len);
|
}
|
else if (ind->ranging_stage == RANGING_POLL)
|
{
|
LOG_INFO(TRACE_MODULE_APP, "[TX][%u] Poll\r\n", ind->tx_len);
|
}
|
else if (ind->ranging_stage == RANGING_RESPONSE)
|
{
|
LOG_INFO(TRACE_MODULE_APP, "[TX][%u] Response\r\n", ind->tx_len);
|
}
|
else if (ind->ranging_stage == RANGING_FINAL)
|
{
|
LOG_INFO(TRACE_MODULE_APP, "[TX][%u] Final\r\n", ind->tx_len);
|
}
|
else if (ind->ranging_stage == RANGING_FINAL_DATA)
|
{
|
LOG_INFO(TRACE_MODULE_APP, "[TX][%u] Final-Data\r\n", ind->tx_len);
|
}
|
else
|
{
|
LOG_ERROR(TRACE_MODULE_APP, "unknown stage 0x%x\r\n", ind->ranging_stage);
|
}
|
|
#if PRINT_PAYLOAD_EN
|
if (ind->tx_len)
|
{
|
LOG_INFO(TRACE_MODULE_APP, " ");
|
for (uint8_t i = 0; i < ind->tx_len; i++)
|
{
|
LOG_INFO(TRACE_NO_OPTION | TRACE_MODULE_APP, "%02x ", ind->tx_data[i]);
|
}
|
LOG_INFO(TRACE_NO_OPTION | TRACE_MODULE_APP, "\r\n");
|
}
|
#endif
|
}
|
break;
|
|
case UWB_PKT_RX_DONE_MSG:
|
{
|
const struct UWB_PKT_RX_DONE_IND_T *ind = (const struct UWB_PKT_RX_DONE_IND_T *)param;
|
|
if (ind->status == UWB_RX_OK)
|
{
|
if (ind->ranging_stage == RANGING_PRE_POLL)
|
{
|
LOG_INFO(TRACE_MODULE_APP | TRACE_NO_OPTION, "\r\n");
|
LOG_INFO(TRACE_MODULE_APP, "CCC DS-TWR Deferred Responder SEQ NUM %u ridx %u sidx %u\r\n", ind->block_idx, ind->round_idx,
|
ind->sts_idx);
|
LOG_INFO(TRACE_MODULE_APP, "[RX][%u] Pre-Poll\r\n", ind->rx_len);
|
|
int32_t freq_offset = phy_freq_offset_get();
|
int32_t freq_offset_filter = average_filter(freq_offset);
|
LOG_INFO(TRACE_MODULE_APP, "CH Freq Offset %d\r\n", freq_offset_filter);
|
|
#if XTAL_AUTO_TUNE_EN
|
int32_t ppm = freq_offset_filter / (int32_t)(ch_center_freq_map[uwb_app_config.ppdu_params.ch_num] * 1e-6);
|
calib_xtal38m4_load_cap_auto_tune(ppm);
|
#endif
|
}
|
else if (ind->ranging_stage == RANGING_POLL)
|
{
|
#if DYNAMIC_UPDATE_MAIN_ANTENNA_EN
|
LOG_INFO(TRACE_MODULE_APP, "[%u][%u][RX][%u] Poll\r\n", ranging_env.responder_slot_idx, ranging_env.main_ant_id[0], ind->rx_len);
|
#else
|
LOG_INFO(TRACE_MODULE_APP, "[RX][%u] Poll\r\n", ind->rx_len);
|
#endif
|
}
|
else if (ind->ranging_stage == RANGING_RESPONSE)
|
{
|
#if DYNAMIC_UPDATE_MAIN_ANTENNA_EN
|
LOG_INFO(TRACE_MODULE_APP, "[%u][%u][RX][%u] Response\r\n", ind->slot_idx + 1, ranging_env.main_ant_id[ind->slot_idx], ind->rx_len);
|
#else
|
LOG_INFO(TRACE_MODULE_APP, "[RX][%u] Response\r\n", ind->rx_len);
|
#endif
|
}
|
else if (ind->ranging_stage == RANGING_FINAL)
|
{
|
#if DYNAMIC_UPDATE_MAIN_ANTENNA_EN
|
LOG_INFO(TRACE_MODULE_APP, "[%u][%u][RX][%u] Final\r\n", ranging_env.responder_slot_idx, ranging_env.main_ant_id[0], ind->rx_len);
|
#else
|
LOG_INFO(TRACE_MODULE_APP, "[RX][%u] Final\r\n", ind->rx_len);
|
#endif
|
if (uwb_app_config.session_param.aoa_result_req)
|
{
|
#if AOA_EN
|
// update PDoA IQ and calculate AoA angles (depends on aoa_aux_cfg)
|
// ~960us -- Keil (AoA - ranging_performance_mode == 0)
|
// ~1ms -- Keil (AoA - ranging_performance_mode == 3)
|
// ~458us -- Keil (PDoA - ranging_performance_mode == 3)
|
// board_led_on(BOARD_LED_1);
|
aoa_calculate(&ranging_env.elevation, &ranging_env.azimuth);
|
// board_led_off(BOARD_LED_1);
|
aoa_fom_get(&ranging_env.elevation_fom, &ranging_env.azimuth_fom);
|
#elif PDOA_3D_EN
|
// calculate PDoA angles
|
// 324us ~ 349us -- Keil
|
// board_led_on(BOARD_LED_1);
|
pdoa_3d_calculate(uwbs_local_long_addr_get(), &ranging_env.elevation, &ranging_env.azimuth);
|
// board_led_off(BOARD_LED_1);
|
pdoa_fom_get(&ranging_env.elevation_fom, &ranging_env.azimuth_fom);
|
#endif
|
|
#if PRINT_PDOA_IQ_EN
|
#if AOA_EN || PDOA_3D_EN
|
float *iq = sts_first_path_iq_get();
|
#else
|
float *iq = NULL;
|
pdoa_iq_get(&iq);
|
#endif
|
////////// need to increase slot duration for log printing
|
if (RX_ANT_PORTS_NUM == 2)
|
{
|
LOG_INFO(TRACE_MODULE_APP, "ANT IQ: %f %f\r\n", iq[0], iq[1]);
|
LOG_INFO(TRACE_MODULE_APP, "ANT IQ: %f %f\r\n", iq[2], iq[3]);
|
}
|
else if (RX_ANT_PORTS_NUM == 3)
|
{
|
LOG_INFO(TRACE_MODULE_APP, "ANT IQ: %f %f\r\n", iq[0], iq[1]);
|
LOG_INFO(TRACE_MODULE_APP, "ANT IQ: %f %f\r\n", iq[2], iq[3]);
|
LOG_INFO(TRACE_MODULE_APP, "ANT IQ: %f %f\r\n", iq[4], iq[5]);
|
}
|
else if (RX_ANT_PORTS_NUM == 4)
|
{
|
LOG_INFO(TRACE_MODULE_APP, "ANT IQ: %f %f\r\n", iq[0], iq[1]);
|
LOG_INFO(TRACE_MODULE_APP, "ANT IQ: %f %f\r\n", iq[2], iq[3]);
|
LOG_INFO(TRACE_MODULE_APP, "ANT IQ: %f %f\r\n", iq[4], iq[5]);
|
LOG_INFO(TRACE_MODULE_APP, "ANT IQ: %f %f\r\n", iq[6], iq[7]);
|
}
|
|
// float pdoa[3];
|
// pdoa[0] = pdoa_select_get(0, 3);
|
// pdoa[1] = pdoa_select_get(1, 3);
|
// pdoa[2] = pdoa_select_get(2, 3);
|
// LOG_INFO(TRACE_MODULE_APP, "PDOA: %f %f %f\r\n", pdoa[0], pdoa[1], pdoa[2]);
|
|
// float *sts_rssi = sts_rssi_output_get();
|
// 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]);
|
#endif
|
}
|
|
#if CSI_EN
|
struct RANGING_TAPS_INF_T taps_inf;
|
ranging_taps_inf_get(&taps_inf);
|
LOG_INFO(TRACE_MODULE_APP, "fap: %d, %f\r\n", taps_inf.fap_loc, taps_inf.fap_pow);
|
LOG_INFO(TRACE_MODULE_APP, "tap1: %d, %f\r\n", taps_inf.tap1_loc, taps_inf.tap1_pow);
|
LOG_INFO(TRACE_MODULE_APP, "tap2: %d, %f\r\n", taps_inf.tap2_loc, taps_inf.tap2_pow);
|
LOG_INFO(TRACE_MODULE_APP, "tap3: %d, %f\r\n", taps_inf.tap3_loc, taps_inf.tap3_pow);
|
#endif
|
}
|
else if (ind->ranging_stage == RANGING_FINAL_DATA)
|
{
|
LOG_INFO(TRACE_MODULE_APP, "[RX][%u] Final-Data\r\n", ind->rx_len);
|
}
|
else
|
{
|
LOG_ERROR(TRACE_MODULE_APP, "unknown stage 0x%x\r\n", ind->ranging_stage);
|
}
|
|
#if PRINT_PAYLOAD_EN
|
if (ind->rx_len)
|
{
|
LOG_INFO(TRACE_MODULE_APP, " ");
|
for (uint8_t i = 0; i < ind->rx_len; i++)
|
{
|
LOG_INFO(TRACE_NO_OPTION | TRACE_MODULE_APP, "%02x ", ind->rx_data[i]);
|
}
|
LOG_INFO(TRACE_NO_OPTION | TRACE_MODULE_APP, "\r\n");
|
}
|
#endif
|
}
|
else
|
{
|
#if DYNAMIC_UPDATE_MAIN_ANTENNA_EN
|
LOG_INFO(TRACE_MODULE_APP, "[%u][%u] UWB RX fail 0x%04x\r\n", ind->slot_idx + 1, ranging_env.main_ant_id[ind->slot_idx], ind->status);
|
#else
|
LOG_INFO(TRACE_MODULE_APP, "UWB RX fail 0x%04x\r\n", ind->status);
|
#endif
|
|
#if RANGING_FOM_FILTER_EN
|
ranging_report_debug_csi_while_failed();
|
|
memset(&debug_csi, 0x00, sizeof(debug_csi));
|
#endif
|
}
|
|
#if RSSI_EN
|
LOG_INFO(TRACE_MODULE_APP, "RSSI: %ddBm, SNR: %ddB \r\n", ind->rssi, ind->snr);
|
#endif
|
}
|
break;
|
|
case RANGING_REPORT_MSG:
|
{
|
const struct RANGING_REPORT_IND_T *ind = (const struct RANGING_REPORT_IND_T *)param;
|
|
int64_t tof_i = (ind->Tround1 * ind->Tround2 - ind->Treply1 * ind->Treply2) / (ind->Tround1 + ind->Tround2 + ind->Treply1 + ind->Treply2);
|
|
// outlier filter
|
if (tof_i < 0)
|
{
|
tof_i = 0;
|
}
|
|
double tof_f = (double)TIMESTAMP_UNIT_TO_NS((uint32_t)tof_i);
|
|
uint16_t distance = (uint16_t)(tof_f * 0.299702547 * VP_VAL - RANGING_CORR);
|
|
#if FILTER_EN
|
if (uwb_app_config.filter_en)
|
{
|
// filter process
|
LOG_INFO(TRACE_MODULE_APP, "Raw Distance %ucm\r\n", distance);
|
|
ranging_result_filter(&distance, &ranging_env.azimuth, &ranging_env.elevation);
|
}
|
#endif
|
if (uwb_app_config.session_param.aoa_result_req)
|
{
|
board_ranging_result_correct(&distance, &ranging_env.azimuth, &ranging_env.elevation);
|
|
LOG_INFO(TRACE_MODULE_APP, "Peer %X, Slot idx %d, Distance %ucm Azimuth %d FoM %d\r\n", uwbs_peer_short_addr_get(),
|
ranging_env.responder_slot_idx, distance, mk_q7_to_s16(ranging_env.azimuth), ranging_env.azimuth_fom);
|
}
|
else
|
{
|
LOG_INFO(TRACE_MODULE_APP, "Peer %X, Slot idx %d, Distance %ucm\r\n", uwbs_peer_short_addr_get(), ranging_env.responder_slot_idx, distance);
|
}
|
|
if (!ranging_debug_csi_en_get())
|
{
|
struct RANGE_DATA_T *range_data = &ranging_env.range_data;
|
struct RANGING_MEASUREMENT_T *range_result = &range_data->measurements[0];
|
|
range_result->NLoS = MAX(ranging_env.poll_nlos, ranging_env.final_nlos);
|
range_result->distance = distance;
|
range_result->aoa_azimuth = ranging_env.azimuth;
|
range_result->aoa_azimuth_fom = ranging_env.azimuth_fom;
|
|
range_data->measurements_num = 1;
|
range_data->ranging_type = 0x01;
|
range_data->mac_addr_mode = 0;
|
range_data->sequence_num = ind->block_idx;
|
range_data->session_id = ranging_env.session_id;
|
range_data->ranging_interval = PHY_TIMER_COUNT_TO_MS(ranging_env.block_duration);
|
|
uint16_t target_addr = ranging_responder_addr_get(0);
|
range_result->mac_addr[0] = target_addr & 0xff;
|
range_result->mac_addr[1] = (target_addr >> 8) & 0xff;
|
|
range_result->slot_idx = ranging_env.responder_slot_idx;
|
range_result->status = STATUS_OK;
|
|
// output result
|
uwbapi_report_ranging_data(range_data);
|
}
|
|
#if RANGING_FOM_FILTER_EN
|
ranging_report_debug_csi_while_successed(distance, (ind->status == 0) && (distance == 0));
|
|
LOG_INFO(TRACE_MODULE_APP, "Poll-FoM %d, Response-FoM %d Final-FoM %d, Poll-NLoS %d, Response-NLoS %d Final-NLoS %d, C-FoM %d\r\n",
|
ranging_env.poll_fom, ind->resp_fom, ranging_env.final_fom, ranging_env.poll_nlos, 0, ranging_env.final_nlos, debug_csi.ranging_fom);
|
|
memset(&debug_csi, 0x00, sizeof(debug_csi));
|
#endif
|
}
|
break;
|
|
default:
|
break;
|
}
|
}
|
// Handle events
|
else if (event)
|
{
|
}
|
}
|
