/*
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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_power.h"
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#include "mk_gpio.h"
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#include "mk_uwb.h"
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#include "mk_clock.h"
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#include "wsf_msg.h"
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#include "ranging_ss_twr.h"
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#include "lib_aoa.h"
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#include "lib_ranging.h"
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#if KF_EN
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#include "lib_kf.h"
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#endif
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// #include "board.h"
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#if KF_EN && FILTER_EN
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#define KF_SUPPORT_NUM 6
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#define KF_TIMEOUT_MS 2000
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static struct KF_MAC_ADDR_T kf_mac_addr_cache[KF_SUPPORT_NUM];
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static struct KF_CHANNEL_CACHE_T kf_channel_cache[KF_SUPPORT_NUM];
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static struct KF_MAT_VALUE_CACHE_T kf_mat_value_cache[KF_SUPPORT_NUM];
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#endif
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static uint16_t user_poll_data_len = 0;
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static uint8_t user_poll_data[MSG_USER_DATA_LEN];
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static uint16_t user_response_data_len = 0;
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static uint8_t user_response_data[MSG_USER_DATA_LEN];
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struct RANGING_USER_PKT_T ranging_user_pkt;
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struct RANGING_ENV_T ranging_env;
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static struct RANGING_CB_T ranging_cb;
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static struct UWB_OP_T op = {
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.session_configure = ranging_configure,
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.session_start = ranging_start,
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.session_stop = ranging_stop,
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.session_local_addr_set = ranging_local_addr_set,
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.session_peer_addr_set = ranging_peer_addr_set,
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.session_responder_addr_add = NULL,
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.session_responder_list_clr = NULL,
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.session_dynamic_update_responder_list = NULL,
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.session_set_ccc_ursk = NULL,
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};
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static void ranging_timer_callback(void *dev, uint32_t time);
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static void uwb_pkt_tx_done_ind(const struct MAC_HW_REPORT_T *tx, enum RANGING_STAGE_T stage);
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static void uwb_pkt_rx_done_ind(const struct MAC_HW_REPORT_T *rx, enum RANGING_STAGE_T stage);
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static void ranging_tx_process(struct MAC_HW_REPORT_T *tx_report);
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static void ranging_rx_process(struct MAC_HW_REPORT_T *rx_report);
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void app_session_init(void);
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//------------------------------------------------------------------------------
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int ranging_init(uint8_t handle_id)
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{
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/* store handler ID */
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ranging_cb.handle_id = handle_id;
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/* init rx queue */
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WSF_QUEUE_INIT(&ranging_cb.msg_queue);
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ranging_cb.daemon_timer.handlerId = handle_id;
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ranging_cb.daemon_timer.msg.event = RANGING_DAEMON_TIMER_MSG;
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LOG_INFO(TRACE_MODULE_APP, "Ranging lib version: %s\r\n", MK8000_get_rangelib_version());
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LOG_INFO(TRACE_MODULE_APP, "AoA lib version: %s\r\n", MK8000_get_aoalib_version());
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return 0;
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}
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int ranging_deinit(void)
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{
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return 0;
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}
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// This function will be called by uwbapi_session_init()
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void app_session_init(void)
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{
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// register process handler for MAC TX done and RX done
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mac_register_process_handler(ranging_tx_process, ranging_rx_process);
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uwbs_handler_init(&op);
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}
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void ranging_configure(void)
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{
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ranging_env.ranging_period = MS_TO_PHY_TIMER_COUNT(uwb_app_config.session_param.ranging_interval);
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ranging_env.slot_interval = RSTU_TO_PHY_TIMER_COUNT(uwb_app_config.session_param.slot_duration);
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ranging_env.enable = 0;
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ranging_env.tof = 0;
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ranging_env.range_data.measurements_num = 0;
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for (uint8_t i = 0; i < MEASUREMENT_NUM_MAX; i++)
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{
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ranging_env.range_data.measurements[i].status = STATUS_VENDOR_RESERVED;
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}
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uwbs_configure(PHY_TX | PHY_RX, uwb_app_config.session_param.tx_power_level);
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#if CSI_EN
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ranging_aux_out_opt_set(CH_LEN_DEFAULT, 3);
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#endif
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#if AOA_EN
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aoa_aux_info_set(AOA_AUX_ANT_IQ_RSSI_PDOA_AOA_FOM);
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aoa_steering_vector_set((const float *)((uint32_t)((uwb_app_config.ppdu_params.ch_num == 9) ? svec_ch9_ptr : svec_ch5_ptr) | SRAM_BASE));
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#else
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aoa_aux_info_set(AOA_AUX_ANT_IQ_RSSI);
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#endif
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aoa_param_config();
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#if FILTER_EN
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if (uwb_app_config.filter_en)
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{
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#if KF_EN
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loc_post_kf_config(uwb_app_config.session_param.ranging_interval, kf_mac_addr_cache, kf_channel_cache, kf_mat_value_cache, KF_SUPPORT_NUM,
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KF_TIMEOUT_MS);
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#else
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loc_post_filter_config(uwb_app_config.session_param.ranging_interval, 1, uwb_app_config.session_param.aoa_result_req);
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#endif
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}
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#endif
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ranging_user_pkt.session_id = (uint16_t)uwb_app_config.session_id;
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}
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void ranging_start(void)
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{
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ranging_env.enable = 1;
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ranging_env.anchor_point = phy_timer_count_get();
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enum DEV_ROLE_T dev_role = uwb_app_config.session_param.device_role;
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if (dev_role == DEV_ROLE_INITIATOR)
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{
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uwb_app_config.ranging_stage = RANGING_POLL;
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phy_timer_target_set(ranging_env.anchor_point + ranging_env.slot_interval - UWB_PERIOD_PREFETCH_TIME, ranging_timer_callback);
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power_mode_request(POWER_UNIT_APP, POWER_MODE_POWER_DOWN);
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}
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else
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{
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uwb_app_config.ranging_stage = RANGING_SYNC;
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phy_timer_target_set(ranging_env.anchor_point + ranging_env.slot_interval - UWB_PERIOD_PREFETCH_TIME, ranging_timer_callback);
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power_mode_request(POWER_UNIT_APP, POWER_MODE_SLEEP);
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}
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ranging_env.count = 0;
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ranging_env.count_last = 0;
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ranging_env.lost_cnt = 0;
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WsfTimerStartMs(&ranging_cb.daemon_timer, uwb_app_config.session_param.ranging_interval * 10, WSF_TIMER_PERIODIC);
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LOG_INFO(TRACE_MODULE_APP, "Ranging start, role %d\r\n", dev_role);
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}
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void ranging_stop(void)
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{
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ranging_env.enable = 0;
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WsfTimerStop(&ranging_cb.daemon_timer);
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}
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void ranging_restart(void)
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{
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ranging_stop();
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mac_restart();
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ranging_start();
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LOG_INFO(TRACE_MODULE_APP, "Ranging restart\r\n");
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}
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int8_t ranging_tx_power_get(void)
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{
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return uwb_tx_power_get(uwb_app_config.ppdu_params.ch_num, uwb_app_config.session_param.tx_power_level);
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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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uwbs_local_short_addr_set(short_addr);
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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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uwbs_peer_short_addr_set(short_addr);
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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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user_poll_data_len = sizeof(user_poll_data);
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if (user_poll_data_len > data_len)
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{
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user_poll_data_len = data_len;
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}
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for (uint8_t ii = 0; ii < user_poll_data_len; ii++)
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{
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user_poll_data[ii] = data[ii];
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}
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// The return value is 0, the poll message is set successfully
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// The return value is 1 is set failed
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return (user_poll_data_len == data_len) ? 0 : 1;
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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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user_response_data_len = sizeof(user_response_data);
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if (user_response_data_len > data_len)
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{
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user_response_data_len = data_len;
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}
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for (uint8_t ii = 0; ii < user_response_data_len; ii++)
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{
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user_response_data[ii] = data[ii];
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}
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// The return value is 0, the response message is set successfully
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// The return value is 1 is set failed
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return (user_response_data_len == data_len) ? 0 : 1;
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}
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// ts_a - ts_b
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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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if (ts_a < ts_b)
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{
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return (0x20000000000 - ts_b + ts_a);
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}
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else
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{
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return (ts_a - ts_b);
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}
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}
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// unit: 15.6ps
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int64_t ranging_tround(void)
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{
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int64_t tx_timestamp = ranging_env.tx_poll_time;
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int64_t rx_timestamp = ranging_env.rx_response_time;
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int64_t tround = ranging_timestamp_diff(rx_timestamp, tx_timestamp);
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// correct antenna delay
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tround -= ranging_ant_delays_get(uwb_app_config.ppdu_params.rx_ant_id);
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return tround;
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}
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// unit: 15.6ps
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int64_t ranging_treply(void)
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{
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int64_t tx_timestamp = ranging_env.tx_response_time;
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int64_t rx_timestamp = ranging_env.rx_poll_time;
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int64_t treply = ranging_timestamp_diff(tx_timestamp, rx_timestamp);
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// correct antenna delay
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treply += ranging_ant_delays_get(uwb_app_config.ppdu_params.rx_ant_id);
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return treply;
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}
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#if defined(__ARMCC_VERSION) && (__ARMCC_VERSION >= 6010050)
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#pragma clang diagnostic push
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#pragma clang diagnostic ignored "-Wswitch-enum"
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#pragma clang diagnostic ignored "-Wunreachable-code-break"
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#pragma clang diagnostic ignored "-Wcast-align"
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#endif
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static void ranging_timer_callback(void *dev, uint32_t time)
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{
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// board_led_on(BOARD_LED_2);
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if (ranging_env.enable)
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{
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enum RANGING_STAGE_T stage = uwb_app_config.ranging_stage;
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if (uwb_app_config.session_param.device_role == DEV_ROLE_INITIATOR)
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{
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switch (stage)
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{
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case RANGING_IDLE:
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ASSERT(0, "RANGING_IDLE\r\n");
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break;
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case RANGING_POLL:
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{
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ranging_env.anchor_point += ranging_env.ranging_period;
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ranging_user_pkt.seq_num++;
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// send poll
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ranging_user_pkt.msg_type = RANGING_POLL;
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memcpy(ranging_user_pkt.msg.poll_msg, user_poll_data, user_poll_data_len);
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power_on_radio(1, 0);
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mac_tx(EVT_MODE_MAC_ASAP_PHY_FIX, ranging_env.anchor_point, 0, (uint8_t *)&ranging_user_pkt, user_poll_data_len + MSG_HEADER_LEN);
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// Store tx timestamp
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ranging_env.tx_poll_time = ranging_tx_time(ranging_env.anchor_point + phy_shr_duration());
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}
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break;
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case RANGING_RESPONSE:
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{
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power_on_radio(0, 1);
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// receive response
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mac_rx(EVT_MODE_MAC_ASAP_PHY_FIX, ranging_env.anchor_point + ranging_env.slot_interval - UWB_RX_OPEN_IN_ADVANCE, UWB_RX_WINDOW);
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}
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break;
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default:
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ASSERT(0, "UNKNOWN STAGE\r\n");
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break;
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}
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}
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else
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{
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switch (stage)
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{
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case RANGING_IDLE:
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ASSERT(0, "RANGING_IDLE\r\n");
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break;
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case RANGING_SYNC:
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{
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power_on_radio(0, 1);
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// receive sync
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mac_rx(EVT_MODE_MAC_PHY_ASAP, 0, ranging_env.ranging_period);
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}
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break;
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case RANGING_POLL:
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{
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ranging_env.anchor_point += ranging_env.ranging_period;
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power_on_radio(0, 1);
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// receive poll
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mac_rx(EVT_MODE_MAC_ASAP_PHY_FIX, ranging_env.anchor_point - UWB_RX_OPEN_IN_ADVANCE, UWB_RX_WINDOW);
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}
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break;
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case RANGING_RESPONSE:
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{
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ranging_user_pkt.msg_type = RANGING_RESPONSE;
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// Store tx timestamp
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ranging_env.tx_response_time = ranging_tx_time(ranging_env.anchor_point + ranging_env.slot_interval + phy_shr_duration());
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// update reply time in response packet
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int64_t treply = ranging_treply();
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for (int i = 0; i < 5; i++)
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{
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ranging_user_pkt.msg.response_msg[MSG_TREPLY_IDX - MSG_HEADER_LEN + i] = (treply >> (i * 8)) & 0xff;
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}
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memcpy(&ranging_user_pkt.msg.response_msg[MSG_TIMESTAMP_LEN], user_response_data, user_response_data_len);
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power_on_radio(1, 0);
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// send response
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mac_tx(EVT_MODE_MAC_ASAP_PHY_FIX, ranging_env.anchor_point + ranging_env.slot_interval, 0, (uint8_t *)&ranging_user_pkt,
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user_response_data_len + MSG_HEADER_LEN + MSG_TIMESTAMP_LEN);
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}
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break;
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default:
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ASSERT(0, "UNKNOWN STAGE\r\n");
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break;
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}
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}
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mac_start();
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}
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else
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{
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power_mode_clear(POWER_UNIT_APP);
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LOG_INFO(TRACE_MODULE_APP, "Ranging stop\r\n");
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}
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// board_led_off(BOARD_LED_2);
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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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{
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struct RANGING_USER_PKT_T *ranging_recv_pkt = (struct RANGING_USER_PKT_T *)&ind->pkt_data[0];
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enum RANGING_STAGE_T stage = uwb_app_config.ranging_stage;
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// LOG_INFO(TRACE_MODULE_APP, "ranging_fsm %d\r\n", stage);
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// board_led_on(BOARD_LED_2);
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power_off_radio();
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ranging_env.count++;
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if (uwb_app_config.session_param.device_role == DEV_ROLE_INITIATOR)
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{
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switch (stage)
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{
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case RANGING_IDLE:
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break;
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case RANGING_POLL:
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{
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// process tx-poll packet
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uwb_pkt_tx_done_ind(ind, stage);
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uwb_app_config.ranging_stage = RANGING_RESPONSE;
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}
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break;
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case RANGING_RESPONSE:
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{
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// process rx-response packet
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uwb_pkt_rx_done_ind(ind, stage);
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if ((ind->err_code == UWB_RX_OK) && (ranging_recv_pkt->session_id == ranging_user_pkt.session_id) &&
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(ranging_recv_pkt->msg_type == RANGING_RESPONSE))
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{
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ranging_env.rx_response_time = ranging_rx_time(ind);
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}
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uwb_app_config.ranging_stage = (RANGING_POLL);
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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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else
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{
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switch (stage)
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{
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case RANGING_IDLE:
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break;
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case RANGING_SYNC:
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{
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if ((ind->err_code == UWB_RX_OK) && (ranging_recv_pkt->session_id == ranging_user_pkt.session_id) &&
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(ranging_recv_pkt->msg_type == RANGING_POLL))
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{
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// update anchor point
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ranging_env.anchor_point = ind->timestamp - phy_shr_duration();
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ranging_env.rx_poll_time = ranging_rx_time(ind);
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ranging_env.lost_cnt = 0;
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ranging_user_pkt.seq_num = ranging_recv_pkt->seq_num;
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uwb_app_config.ranging_stage = (RANGING_RESPONSE);
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// process rx-poll packet
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uwb_pkt_rx_done_ind(ind, RANGING_POLL);
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}
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else
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{
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// process rx-poll packet
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uwb_pkt_rx_done_ind(ind, RANGING_POLL);
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if (ranging_env.enable)
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{
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power_on_radio(0, 1);
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// receive sync again
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mac_rx(EVT_MODE_MAC_PHY_ASAP, 0, ranging_env.ranging_period);
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mac_start();
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return stage;
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}
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}
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}
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break;
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case RANGING_POLL:
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{
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if ((ind->err_code == UWB_RX_OK) && (ranging_recv_pkt->session_id == ranging_user_pkt.session_id) &&
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(ranging_recv_pkt->msg_type == RANGING_POLL))
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{
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// update anchor point
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ranging_env.anchor_point = ind->timestamp - phy_shr_duration();
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ranging_env.rx_poll_time = ranging_rx_time(ind);
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ranging_env.lost_cnt = 0;
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ranging_user_pkt.seq_num = ranging_recv_pkt->seq_num;
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uwb_app_config.ranging_stage = (RANGING_RESPONSE);
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}
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else
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{
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ranging_env.lost_cnt++;
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if (ranging_env.lost_cnt > 3)
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{
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// receive sync again
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uwb_app_config.ranging_stage = RANGING_SYNC;
|
}
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}
|
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// process rx-poll packet
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uwb_pkt_rx_done_ind(ind, RANGING_POLL);
|
}
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break;
|
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case RANGING_RESPONSE:
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{
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uwb_app_config.ranging_stage = RANGING_POLL;
|
|
// process tx-response packet
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uwb_pkt_tx_done_ind(ind, stage);
|
}
|
break;
|
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case RANGING_MRM:
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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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stage = uwb_app_config.ranging_stage;
|
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if (ranging_env.enable)
|
{
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if (RANGING_POLL == stage)
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{
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phy_timer_target_set(ranging_env.anchor_point + ranging_env.ranging_period - UWB_PERIOD_PREFETCH_TIME, ranging_timer_callback);
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power_mode_request(POWER_UNIT_APP, POWER_MODE_POWER_DOWN);
|
}
|
else
|
{
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phy_timer_target_set(ranging_env.anchor_point + ranging_env.slot_interval - UWB_PERIOD_PREFETCH_TIME, ranging_timer_callback);
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power_mode_request(POWER_UNIT_APP, POWER_MODE_SLEEP);
|
}
|
}
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else
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{
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power_mode_clear(POWER_UNIT_APP);
|
LOG_INFO(TRACE_MODULE_APP, "Ranging stop\r\n");
|
}
|
|
// board_led_off(BOARD_LED_2);
|
|
return stage;
|
}
|
#if defined(__ARMCC_VERSION) && (__ARMCC_VERSION >= 6010050)
|
#pragma clang diagnostic pop
|
#endif
|
|
static void uwb_pkt_tx_done_ind(const struct MAC_HW_REPORT_T *tx, enum RANGING_STAGE_T stage)
|
{
|
struct UWB_PKT_TX_DONE_IND_T *ind;
|
if ((ind = WsfMsgAlloc(sizeof(struct UWB_PKT_TX_DONE_IND_T) + tx->pkt_len)) != NULL)
|
{
|
ind->hdr.event = UWB_PKT_TX_DONE_MSG;
|
ind->ranging_stage = (uint8_t)stage;
|
ind->status = tx->err_code;
|
|
ind->tx_len = tx->pkt_len;
|
|
if ((ind->tx_len) && (tx->pkt_data != NULL))
|
{
|
memcpy(ind->tx_data, tx->pkt_data, tx->pkt_len);
|
}
|
|
// Send the message
|
WsfMsgSend(ranging_cb.handle_id, ind);
|
}
|
else
|
{
|
LOG_WARNING(TRACE_MODULE_UWB, "memory is not enough for UWB_PKT_TX_DONE_IND_T\r\n");
|
}
|
}
|
|
#if defined(__ARMCC_VERSION) && (__ARMCC_VERSION >= 6010050)
|
#pragma clang diagnostic push
|
#pragma clang diagnostic ignored "-Wcast-qual"
|
#endif
|
static void uwb_pkt_rx_done_ind(const struct MAC_HW_REPORT_T *rx, enum RANGING_STAGE_T stage)
|
{
|
// send an indication to application
|
struct UWB_PKT_RX_DONE_IND_T *ind = WsfMsgAlloc(sizeof(struct UWB_PKT_RX_DONE_IND_T) + rx->pkt_len);
|
|
if (ind != NULL)
|
{
|
ind->hdr.event = UWB_PKT_RX_DONE_MSG;
|
ind->ranging_stage = (uint8_t)stage;
|
ind->status = rx->err_code;
|
ind->rssi = rx->rssi;
|
ind->snr = rx->snr;
|
|
ind->rx_len = rx->pkt_len;
|
|
if ((rx->pkt_len) && (rx->pkt_data != NULL))
|
{
|
memcpy(ind->rx_data, rx->pkt_data, rx->pkt_len);
|
}
|
|
// Send the message
|
WsfMsgSend(ranging_cb.handle_id, ind);
|
}
|
else
|
{
|
LOG_WARNING(TRACE_MODULE_UWB, "memory is not enough for UWB_PKT_RX_DONE_IND_T %d\r\n", rx->pkt_len);
|
}
|
}
|
#if defined(__ARMCC_VERSION) && (__ARMCC_VERSION >= 6010050)
|
#pragma clang diagnostic pop
|
#endif
|
|
static void ranging_tx_process(struct MAC_HW_REPORT_T *tx_report)
|
{
|
ranging_fsm(tx_report);
|
}
|
|
static void ranging_rx_process(struct MAC_HW_REPORT_T *rx_report)
|
{
|
ranging_fsm(rx_report);
|
}
|
