/*
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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_wdt.h"
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#include "mk_reset.h"
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#include "mk_gpio.h"
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#include "mk_misc.h"
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#include "mk_sleep_timer.h"
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#include "mk_power.h"
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#include "mk_uwb.h"
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#include "mk_calib.h"
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#include "mk_flash.h"
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#include "board.h"
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#include "pal_sys.h"
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#include "wsf_os.h"
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#include "wsf_timer.h"
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#include "wsf_buf.h"
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#include "wsf_nvm.h"
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#include "app.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 "libc_rom.h"
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#define UT_TAG_ID (0xAAA1)
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#define UT_SYNC_ANCHOR_ID (0xAAA2)
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#define UT_ANCHOR_ID0 (0xAAA3)
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#define UT_ANCHOR_ID1 (0xAAA4)
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#define UT_ANCHOR_ID2 (0xAAA5)
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#define UT_TX_DEV_NUM_MAX 3
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struct UL_TDOA_DEV_INF_T
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{
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uint16_t dev_id;
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uint64_t tx_timestamp;
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uint64_t rx_timestamp;
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};
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static struct UL_TDOA_DEV_INF_T ul_tdoa_dev_list[UT_TX_DEV_NUM_MAX] = {0};
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//*****************************************************************************
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//
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// WSF buffer pools.
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//
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//*****************************************************************************
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#define WSF_BUF_POOLS 5
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// Default pool descriptor.
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static wsfBufPoolDesc_t poolDescriptors[WSF_BUF_POOLS] = {
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{32, 26}, {64, 24}, {128, 4}, {256 + 32, 4}, {1024 + 32, 2},
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};
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static void sleep_timer_callback(void *dev, uint32_t time)
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{
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// LOG_INFO(TRACE_MODULE_APP, "Wake up by sleep timer %d\r\n", time);
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}
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static void app_ul_tdoa_report_callback(void *report)
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{
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struct UL_TDOA_MEASUREMENT_T *rpt = (struct UL_TDOA_MEASUREMENT_T *)report;
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uint16_t peer = READ_SHORT(rpt->dev_id);
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uint16_t local = uwbs_local_short_addr_get();
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LOG_INFO(TRACE_MODULE_APP | TRACE_NO_OPTION, "\r\n");
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LOG_INFO(TRACE_MODULE_APP, "Frame type %u, Frame number %u\r\n", rpt->frame_type, rpt->frame_number);
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LOG_INFO(TRACE_MODULE_APP, "Peer %X, Local %X, TX timestamp 0x%llx, RX timestamp 0x%llx\r\n", peer, local, rpt->tx_timestamp.ts_u64,
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rpt->rx_timestamp.ts_u64);
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LOG_INFO(TRACE_MODULE_APP, "Clock SYNC offset %lld\r\n", (rpt->rx_timestamp.ts_u64 - rpt->tx_timestamp.ts_u64)); // need to be corrected by ToF
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uint8_t dev_found = 0;
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for (int i = 0; i < UT_TX_DEV_NUM_MAX; i++)
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{
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if (peer == ul_tdoa_dev_list[i].dev_id)
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{
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LOG_INFO(TRACE_MODULE_APP, "Clock offset %d (15.65ps) in 1s\r\n",
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(int32_t)((rpt->rx_timestamp.ts_u64 - ul_tdoa_dev_list[i].rx_timestamp) - (rpt->tx_timestamp.ts_u64 - ul_tdoa_dev_list[i].tx_timestamp)));
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ul_tdoa_dev_list[i].tx_timestamp = rpt->tx_timestamp.ts_u64;
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ul_tdoa_dev_list[i].rx_timestamp = rpt->rx_timestamp.ts_u64;
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dev_found = 1;
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break;
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}
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}
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// add device into the list
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if (dev_found == 0)
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{
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for (int i = 0; i < UT_TX_DEV_NUM_MAX; i++)
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{
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if (0 == ul_tdoa_dev_list[i].dev_id)
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{
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ul_tdoa_dev_list[i].dev_id = peer;
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ul_tdoa_dev_list[i].tx_timestamp = rpt->tx_timestamp.ts_u64;
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ul_tdoa_dev_list[i].rx_timestamp = rpt->rx_timestamp.ts_u64;
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break;
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}
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}
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}
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}
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static void board_init(void)
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{
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// Clock configuration
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board_clock_run();
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// Pin configuration
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board_pins_config();
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// Trace configuration
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board_debug_console_open(TRACE_PORT_UART0);
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// Reset reason
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reset_cause_get();
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reset_cause_clear();
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// Load calibration parameters from NVM
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uint32_t internal_flash = (REG_READ(0x40000018) >> 17) & 0x1;
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uint32_t external_flash = (REG_READ(0x40010030) >> 28) & 0x3;
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if (internal_flash || external_flash == 1)
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{
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WsfNvmInit();
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board_calibration_params_load();
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flash_close(FLASH_ID0);
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}
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else
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{
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board_calibration_params_default();
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}
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// Chip calibration
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calib_chip();
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// Configure IO_02 for role selection
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gpio_open();
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gpio_pin_set_dir(IO_PIN_2, GPIO_DIR_IN, 0);
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io_pull_set(IO_PIN_2, IO_PULL_UP, IO_PULL_UP_LEVEL1);
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board_led_init();
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board_configure();
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}
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int main(void)
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{
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// Initialize MCU system
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board_init();
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// Disable watchdog timer
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wdt_close(WDT_ID0);
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LOG_INFO(TRACE_MODULE_APP, "UL-TDoA example\r\n");
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// Platform init for WSF
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PalSysInit();
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// Initialize os
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//
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// Set up timers for the WSF scheduler.
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//
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WsfOsInit();
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WsfTimerInit();
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sys_tick_callback_set(WsfTimerUpdateTicks);
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//
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// Initialize a buffer pool for WSF dynamic memory needs.
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//
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uint32_t wsfBufMemLen = WsfBufInit(WSF_BUF_POOLS, poolDescriptors);
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if (wsfBufMemLen > FREE_MEM_SIZE)
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{
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LOG_INFO(TRACE_MODULE_APP, "Memory pool is not enough %d\r\n", wsfBufMemLen - FREE_MEM_SIZE);
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}
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//
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// Create app task
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//
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wsfHandlerId_t handlerId = WsfOsSetNextHandler(app_handler);
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app_init(handlerId);
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//
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// Create Uplink TDoA task
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//
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handlerId = WsfOsSetNextHandler(ul_tdoa_handler);
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ul_tdoa_init(handlerId);
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uwb_open();
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// set advanced parameters
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struct PHY_ADV_CONFIG_T adv_config = {
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.thres_fap_detect = 40,
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.nth_scale_factor = 4,
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.ranging_performance_mode = 0,
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.skip_weakest_port_en = 0,
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};
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phy_adv_params_configure(&adv_config);
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// which RX ports will be used for AoA/PDoA
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phy_rx_ant_mode_set(RX_ANT_PORTS_COMBINATION);
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uwb_app_config.ranging_flow_mode = (uint8_t)(RANGING_FLOW_CUSTOM);
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uwb_app_config.session_param.tx_power_level = board_param.tx_power_fcc[CALIB_CH(uwb_app_config.ppdu_params.ch_num)];
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uwb_app_config.ppdu_params.rx_ant_id = (uint8_t)(RX_MAIN_ANT_PORT);
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// Initialize OWR session
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uint32_t session_id = 0x0001;
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uwbapi_session_init(session_id, SESSION_TYPE_RANGING);
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// Initialize OWR parameters
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struct APP_CFG_PARAM_T param = {0};
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param.ch_num = UWB_CH_NUM;
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param.prf_mode = UWB_MEAN_PRF;
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param.preamble_code_index = UWB_PREAMBLE_CODE_IDX;
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param.preamble_duration = UWB_PREAMBLE_DURATION;
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param.sfd_id = UWB_SFD_ID;
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param.psdu_data_rate = UWB_PSDU_DATA_RATE;
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param.sts_segment_num = UWB_STS_SEGMENT_NUM;
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param.sts_segment_len = UWB_STS_SEGMENT_LEN;
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param.aoa_result_req = 0;
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param.rframe_config = UWB_RFRAME_TYPE;
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param.sts_config = STS_STATIC;
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param.multi_node_mode = ONE_TO_MANY;
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param.ranging_round_usage = OWR_UL_TDOA;
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param.mac_address_mode = ARRD_SHORT_USE_SHORT;
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param.result_report_config = 0x0F;
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param.ranging_round_control = 0x3;
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param.ul_tdoa_tx_interval = UWB_UL_TDOA_INTERVAL;
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param.ul_tdoa_random_window = UWB_UL_TDOA_RAND_WINDOW;
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param.ul_tdoa_ntf_report_config[0] = 0;
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param.ul_tdoa_ntf_report_config[1] = 1;
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param.ul_tdoa_ntf_report_config[2] = 0;
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param.ul_tdoa_device_id[0] = 0x01;
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// Select role by IO_02
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if (gpio_pin_get_val(IO_PIN_2) == 0)
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{
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#if 1
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param.device_role = DEV_ROLE_UT_SYNC_ANCHOR;
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param.ul_tdoa_device_id[1] = UT_SYNC_ANCHOR_ID & 0xff;
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param.ul_tdoa_device_id[2] = (UT_SYNC_ANCHOR_ID >> 8) & 0xff;
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#else
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param.device_role = DEV_ROLE_UT_TAG;
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param.ul_tdoa_device_id[1] = UT_TAG_ID & 0xff;
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param.ul_tdoa_device_id[2] = (UT_TAG_ID >> 8) & 0xff;
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#endif
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}
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else
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{
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param.device_role = DEV_ROLE_UT_ANCHOR;
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param.ul_tdoa_device_id[1] = UT_ANCHOR_ID0 & 0xff;
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param.ul_tdoa_device_id[2] = (UT_ANCHOR_ID0 >> 8) & 0xff;
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}
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// local address
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param.src_dev_mac_addr[0] = param.ul_tdoa_device_id[1];
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param.src_dev_mac_addr[1] = param.ul_tdoa_device_id[2];
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param.ul_tdoa_tx_timestamp = 0x02; // 64-bit TX timestamp
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// Configure ranging parameters
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uwbapi_session_set_app_config(session_id, ¶m);
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// Start TDoA
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uwbapi_session_start(session_id, app_ul_tdoa_report_callback);
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// Initialize low power mode
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power_init();
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#if LOW_POWER_EN
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power_mode_request(POWER_UNIT_USER, POWER_MODE_POWER_DOWN);
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#else
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power_mode_request(POWER_UNIT_USER, POWER_MODE_SLEEP);
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#endif
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// Enable sleep timer
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sleep_timer_open(true, SLEEP_TIMER_MODE_ONESHOT, sleep_timer_callback);
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while (1)
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{
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wsfOsDispatcher();
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power_manage();
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}
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}
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void app_restore_from_power_down(void)
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{
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}
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