/*
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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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#ifndef RANGING_H_
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#define RANGING_H_
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#include "ranging_custom_task.h"
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#include "wsf_timer.h"
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#include "mk_mac.h"
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#include "uwb_api.h"
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#include "lib_ranging.h"
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#ifndef ASYNC_MODE_EN
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#define ASYNC_MODE_EN (0)
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#endif
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#ifndef RESPONDER_NUM
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#define RESPONDER_NUM (1)
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#endif
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#ifndef AOA_3D_EN
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#define AOA_3D_EN (0)
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#endif
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#ifndef PDOA_3D_EN
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#define PDOA_3D_EN (0)
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#endif
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#ifndef RANGING_RESULT_REPORT_EN
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#define RANGING_RESULT_REPORT_EN (0)
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#endif
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#ifndef RANGING_FOM_FILTER_EN
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// depends on CHEST_DUMP_EN
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#define RANGING_FOM_FILTER_EN (1)
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#endif
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#if RANGING_FOM_FILTER_EN
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#define RFRAME_INF_SIZE (4 + CIR_LEN / CE_WIN - 1)
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#else
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#define RFRAME_INF_SIZE (2)
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#endif
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#define MSG_SESSION_ID_IDX 0
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#define MSG_SEQ_NUM_IDX 2
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#define MSG_TYPE_IDX 4
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#define MSG_HEADER_LEN 5
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#define MSG_POLL_RESPONDER_NUM_IDX (0)
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// x : 0 ~ RESPONDER_NUM-1
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#define MSG_POLL_RESPONDER_ID_IDX(x) (1 + (x)*3)
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#define MSG_POLL_RESPONDER_SLOT_IDX(x) (1 + (x)*3 + 2)
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#define MSG_POLL_TX_PWR_IDX (1 + RESPONDER_NUM * 3)
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#define MSG_POLL_USER_DATA_IDX (1 + RESPONDER_NUM * 3 + 1)
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#define MSG_POLL_USER_DATA_LEN (125 - MSG_HEADER_LEN - MSG_POLL_USER_DATA_IDX)
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#define MSG_RESPONSE_RESPONDER_ID_IDX 0
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#define MSG_RESPONSE_TX_PWR_IDX (2)
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#define MSG_RESPONSE_USER_DATA_IDX (3)
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#define MSG_RESPONSE_USER_DATA_LEN (125 - MSG_HEADER_LEN - MSG_RESPONSE_USER_DATA_IDX)
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#define MSG_FINAL_RESPONDER_NUM_IDX 0
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#define MSG_FINAL_TREPLY_IDX 1
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// x : 0 ~ RESPONDER_NUM-1
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#define MSG_FINAL_TROUND_IDX(x) (6 + (x)*5)
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#define MSG_FINAL_FOM_IDX(x) (6 + RESPONDER_NUM * 5 + (x)*RFRAME_INF_SIZE)
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#define MSG_FINAL_NLOS_IDX(x) (MSG_FINAL_FOM_IDX(x) + 1)
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#define MSG_FINAL_FAP_VALID_IDX(x) (MSG_FINAL_FOM_IDX(x) + 2)
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#define MSG_FINAL_GAPS_NUM_IDX(x) (MSG_FINAL_FOM_IDX(x) + 3)
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#define MSG_FINAL_GAPS_IDX(x) (MSG_FINAL_FOM_IDX(x) + 4)
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#define MSG_FINAL_USER_DATA_IDX (MSG_FINAL_FOM_IDX(RESPONDER_NUM))
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#define MSG_FINAL_USER_DATA_LEN (125 - MSG_HEADER_LEN - MSG_FINAL_USER_DATA_IDX)
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#define MSG_RESULT_INFO_LEN (8)
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#if (MSG_POLL_USER_DATA_LEN < 0) || (MSG_RESPONSE_USER_DATA_LEN < 0) || (MSG_FINAL_USER_DATA_LEN < 0)
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#error "RESPONDER_NUM is out of range"
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#endif
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/*
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* The content of the ranging packet is customized by the user, but the first five bytes of
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* each data packet are fixed, 2 bytes of session-id, 2 bytes of seq-num, 1 byte of packet type
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* The length of the air interface data packet transmitted by the actual UWB shall prevail.
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*/
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struct RANGING_USER_PKT_T
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{
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uint16_t session_id;
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uint16_t seq_num;
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uint8_t msg_type;
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union
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{
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/* responder_num (1B) || [responder_id(2B) || responder_slot_idx(1B)] * RESPONDER_NUM || Tx power level (1B) || user data, poll-msg can be used to
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* transmit user private data
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*/
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uint8_t poll_msg[MSG_POLL_USER_DATA_IDX + MSG_POLL_USER_DATA_LEN];
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/* responder_id(2B) || Tx power level (1B) || user data, response-msg can be used to transmit user private data */
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uint8_t response_msg[MSG_RESPONSE_USER_DATA_IDX + MSG_RESPONSE_USER_DATA_LEN];
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/* responder_num (1B) || Ttotal (tx_final_time - tx_poll_time (5B, 0 ~ 17.2s)) || responder Tround1 (x*5B, x=(0 ~ RESPONDER_NUM-1)) || responder
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* Fom(1B) + NLoS(1B) [+ fap_valid(1B) + gaps_num(1B) + gaps(CIR_LEN/CE_WIN-1)] (x*RFRAME_INF_SIZE, x=(0 ~ RESPONDER_NUM-1))
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*/
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uint8_t final_msg[MSG_FINAL_USER_DATA_IDX + MSG_FINAL_USER_DATA_LEN];
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/* responder_id(2B) || ranging_distance(2B) || poll Fom (1B) + NLoS (1B) || Final Fom (1B) + NLoS (1B) */
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uint8_t result_msg[MSG_RESULT_INFO_LEN];
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} msg;
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} __PACKED;
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struct RANGING_FRAME_INF_T
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{
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uint8_t fom;
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uint8_t NLoS;
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#if RANGING_FOM_FILTER_EN
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uint8_t fap_valid;
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uint8_t gaps_num;
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uint8_t gaps[CIR_LEN / CE_WIN - 1];
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#endif
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} __PACKED;
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/* Custom ranging environment variable */
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struct RANGING_ENV_T
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{
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int64_t tx_poll_time;
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int64_t tx_response_time;
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int64_t tx_final_time;
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int64_t rx_poll_time;
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int64_t rx_response_time[RESPONDER_NUM];
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int64_t rx_final_time;
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struct RANGING_FRAME_INF_T frame[MAX(RESPONDER_NUM, 2)];
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uint32_t anchor_point;
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uint32_t ranging_period;
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uint32_t slot_interval;
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uint32_t tof;
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uint8_t lost_cnt;
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uint8_t enable;
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uint8_t count;
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uint8_t responder_num;
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uint16_t responder_list[RESPONDER_NUM];
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uint8_t responder_slot_idx;
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uint8_t responder_response_flag;
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uint8_t responder_final_flag;
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uint8_t initiator_result_flag;
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uint8_t synced;
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uint8_t slot_idx;
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uint8_t count_last;
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uint8_t main_ant_id;
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struct RANGE_DATA_T range_data;
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};
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/* Main control block of the ranging task */
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struct RANGING_CB_T
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{
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wsfQueue_t msg_queue;
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wsfHandlerId_t handle_id;
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wsfTimer_t daemon_timer;
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};
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#ifdef __cplusplus
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extern "C" {
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#endif
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extern struct RANGING_ENV_T ranging_env;
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/**
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* @brief Initialize ranging task.
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*
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* @param [in] handle_id Task handle ID
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*/
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int ranging_init(uint8_t handle_id);
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/**
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* @brief De-initialize ranging task.
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*/
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int ranging_deinit(void);
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/**
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* @brief Configure ranging environment variable, configure UWB subsystem.
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*/
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void ranging_configure(void);
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/**
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* @brief Start ranging procedure.
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*/
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void ranging_start(void);
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/**
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* @brief Stop ranging procedure.
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*/
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void ranging_stop(void);
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/**
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* @brief Restart ranging procedure.
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* @note This function can be called once detected link loss from peer device
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*/
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void ranging_restart(void);
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/**
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* @brief Get ranging UWB TX power.
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* @return ranging UWB TX power in dBm
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*/
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int8_t ranging_tx_power_get(void);
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/**
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* @brief Get ranging count for link loss detection.
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* @return ranging count
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*/
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uint8_t ranging_count_get(void);
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/**
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* @brief Set local device short address.
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* @param[in] short_addr Device short address
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*/
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void ranging_local_addr_set(uint16_t short_addr);
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/**
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* @brief Set peer device short address.
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* @param[in] short_addr Device short address
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*/
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void ranging_peer_addr_set(uint16_t short_addr);
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/**
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* @brief Add responder device into responder device list for one-to-many case.
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* @param[in] addr Device short address
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* @return 1: successful, 0: fail
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*/
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uint8_t ranging_responder_addr_add(uint16_t addr);
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/**
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* @brief Set responder device into responder device list.
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* @param[in] idx Responder device index
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* @param[in] addr Device short address
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* @return 1: successful, 0: fail
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*/
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uint8_t ranging_responder_addr_set(uint8_t idx, uint16_t addr);
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/**
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* @brief Clear responder list.
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*/
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void ranging_responder_list_clr(void);
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/**
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* @brief Get responder short address from responder device list.
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* @param[in] idx Responder device index
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* @return short address of responder
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*/
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uint16_t ranging_responder_addr_get(uint8_t idx);
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/**
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* @brief Get responder index by device address.
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* @param[in] addr Responder device address
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* @return 0xFF if the device not found else return responder index
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*/
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uint8_t ranging_responder_idx_get(uint16_t addr);
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/**
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* @brief Get responder devices number.
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* @return number of responder
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*/
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uint8_t ranging_responder_num_get(void);
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/**
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* @brief Set user data for poll packet.
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* @param[in] data_len User data length
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* @param[in] data Pointer of user data
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* @return 0: successful, 1: fail
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*/
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uint8_t ranging_poll_msg_set(uint16_t data_len, const uint8_t *data);
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/**
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* @brief Set user data for response packet.
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* @param[in] data_len User data length
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* @param[in] data Pointer of user data
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* @return 0: successful, 1: fail
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*/
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uint8_t ranging_response_msg_set(uint16_t data_len, const uint8_t *data);
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/**
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* @brief Calculate timestamp difference.
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* @param[in] ts_a Ranging timestamp a
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* @param[in] ts_b Ranging timestamp b
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* @return ts_a - ts_b
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*/
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int64_t ranging_timestamp_diff(int64_t ts_a, int64_t ts_b);
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/**
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* @brief Calculate ranging Tround.
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* @param[in] role Device role @enum DEV_ROLE_T
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* @param[in] dev_idx Device index in one-to-many case
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* @return Tround value, unit: 15.6ps
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*/
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int64_t ranging_tround(enum DEV_ROLE_T role, uint8_t dev_idx);
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/**
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* @brief Calculate ranging Treply.
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* @param[in] role Device role @enum DEV_ROLE_T
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* @param[in] dev_idx Device index in one-to-many case
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* @return Treply value, unit: 15.6ps
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*/
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int64_t ranging_treply(enum DEV_ROLE_T role, uint8_t dev_idx);
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/**
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* @brief Construct ranging poll packet.
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*/
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void ranging_poll_pkt_construct(void);
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/**
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* @brief Construct ranging response packet.
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*/
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void ranging_response_pkt_construct(void);
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/**
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* @brief Construct ranging final packet.
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*/
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void ranging_final_pkt_construct(void);
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/**
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* @brief Construct ranging result packet.
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*/
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void ranging_result_pkt_construct(void);
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/**
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* @brief Process ranging poll packet.
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* @param[in] pkt_data Pointer of poll packet data
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* @param[in] pkt_len Poll packet length
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* @return 1: poll packet parse successful
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*/
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uint8_t ranging_poll_pkt_process(uint8_t *pkt_data, uint16_t pkt_len);
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/**
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* @brief Ranging FSM, to process MAC TX or RX done event in MAC interrupt handler.
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* @param[in] ind Pointer of MAC HW report
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* @return next ranging stage
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*/
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enum RANGING_STAGE_T ranging_fsm(const struct MAC_HW_REPORT_T *ind);
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#ifdef __cplusplus
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}
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#endif
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#endif /* RANGING_H_ */
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