/*
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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_simple_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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#ifndef RESPONDER_NUM
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#define RESPONDER_NUM (1)
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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) (3 + (x)*3)
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#define MSG_POLL_USER_DATA_IDX(n) (MSG_POLL_RESPONDER_ID_IDX(n))
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#define MSG_POLL_USER_DATA_LEN (100)
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#define MSG_RESPONSE_RESPONDER_ID_IDX 0
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#define MSG_RESPONSE_USER_DATA_IDX (2)
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#define MSG_RESPONSE_USER_DATA_LEN (100)
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#define MSG_FINAL_RESPONDER_NUM_IDX 0
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#define MSG_TREPLY_IDX 1
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// x : 0 ~ RESPONDER_NUM-1
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#define MSG_TROUND_IDX(x) (6 + (x)*5)
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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 || user data, poll-msg can be used to transmit user private data
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*/
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uint8_t poll_msg[MSG_POLL_USER_DATA_IDX(RESPONDER_NUM) + MSG_POLL_USER_DATA_LEN];
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/* responder_id(2B) || user data, response-msg can be used to transmit user private data */
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uint8_t response_msg[MSG_RESPONSE_USER_DATA_LEN];
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/* responder_num (1B) || Ttotal (= tx_final_time - tx_poll_time (5B, 0 ~ 17.2s)) || responder 0 ~ N-1 Tround1 (N*5B, N=responder_num), final-msg is used
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* to transmit timestamp data */
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uint8_t final_msg[6 + RESPONDER_NUM * 5];
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} msg;
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} __PACKED;
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/* Simple ranging sync packet structure */
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struct RANGING_SYNC_MSG_T
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{
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uint8_t frameCtrl[1]; // frame control bytes 00
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uint8_t seqNum; // sequence_number 01
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uint8_t tagID[8]; // 02-09 64 bit addresses
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uint8_t fcs[2];
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} __PACKED;
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/* Simple ranging packet common structure */
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struct RANGING_COMMON_MSG_T
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{
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uint8_t frameCtrl[2]; // frame control bytes 00-01
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uint8_t seqNum; // sequence_number 02
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uint8_t panID[2]; // PAN ID 03-04
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uint8_t destAddr[8]; // 05-12 or using 64 bit addresses (05-12)
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uint8_t sourceAddr[8]; // 13-20 or using 64 bit addresses (13-20)
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uint8_t fcode;
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uint8_t user_data[30];
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} __PACKED;
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/* Simple 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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uint32_t base_point;
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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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uint32_t anchor_resp_dly;
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uint32_t tag_resp_dly;
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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 slot_idx;
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uint8_t count_last;
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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 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 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 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 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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