/*
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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 "ul_tdoa.h"
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#include "uwb_api.h"
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#include "lib_ranging.h"
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#include "lib_aoa.h"
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static struct UL_TDOA_MEASUREMENT_T report;
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/*************************************************************************************************/
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/*!
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* \brief WSF event handler for ul_tdoa 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 ul_tdoa_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 UL_TDOA_RX_IND_MSG:
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{
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const struct UL_TDOA_RX_IND_T *ind = (const struct UL_TDOA_RX_IND_T *)param;
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report.rx_timestamp.ts_u64 = (uint64_t)ind->rx_timestamp;
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report.tx_timestamp.ts_u8[0] = ind->rx_data[41];
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report.tx_timestamp.ts_u8[1] = ind->rx_data[42];
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report.tx_timestamp.ts_u8[2] = ind->rx_data[43];
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report.tx_timestamp.ts_u8[3] = ind->rx_data[44];
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report.tx_timestamp.ts_u8[4] = ind->rx_data[45];
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report.tx_timestamp.ts_u8[5] = ind->rx_data[46];
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report.tx_timestamp.ts_u8[6] = ind->rx_data[47];
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report.tx_timestamp.ts_u8[7] = ind->rx_data[48];
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report.dev_id[0] = ind->rx_data[39];
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report.dev_id[1] = ind->rx_data[40];
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report.frame_number = READ_WORD(&ind->rx_data[35]);
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report.frame_type = (ind->rx_data[33] >> 4) & 0xf;
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uwbapi_report_ranging_data(&report);
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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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