/*
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* Copyright (c) 2019-2025 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_power.h"
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#include "mk_uwb.h"
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#include "mk_calib.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 "mk_timer_list.h"
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#include "wsf_buf.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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#include "mk_adc.h"
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#include "UART.h"
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#include "Usart.h"
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#include "global_param.h"
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#include <serial_at_cmd_app.h>
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#define TEST_UART_POLL_MODE 0
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#define TEST_UART_INTERUPT_MODE 1
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#define TEST_UART_DMA_MODE 2
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#define TEST_UART_MODE TEST_UART_DMA_MODE
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struct ADC_CFG_T usr_adc_cfg = {
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.mode = ADC_MODE_CONTINUE, /* Selected single conversion mode */
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.clk_sel = ADC_CLK_HIGH, /* Selected 62.4M high speed clock */
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.vref_sel = ADC_SEL_VREF_INT, /* Using internal reference voltage (1.2V)*/
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.rate = 500000, /* ADC works at high frequency system clock, the maximum sampling rate is 2M */
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.channel_p = ADC_IN_EXTPIN0, /* ADC positive channel --> GPIO0 */
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.channel_n = ADC_IN_VREF, /* ADC negative channel --> Vref */
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.int_en = false,
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.dma_en = false, /* DMA support only in continue mode */
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.acc_num = 0,
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.high_pulse_time = 4,
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.settle_time = 1,
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};
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typedef enum
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{ UN_BIND=0,
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LINK_SUCCESS,
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SEARCH_DEV,
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} Operation_step;
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Operation_step UWB_work_state;
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struct UART_CFG_T test_uart_cfg =
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{
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.parity = UART_PARITY_NONE,
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.stop = UART_STOP_BITS_1,
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.data = UART_DATA_BITS_8,
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.flow = UART_FLOW_CONTROL_NONE,
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.rx_level = UART_RXFIFO_CHAR_1,
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.tx_level = UART_TXFIFO_EMPTY,
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.baud = BAUD_115200,
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#if (TEST_UART_MODE == TEST_UART_POLL_MODE)
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.dma_en = false,
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.int_rx = false,
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.int_tx = false,
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#elif (TEST_UART_MODE == TEST_UART_INTERUPT_MODE)
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.dma_en = false,
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.int_rx = true,
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.int_tx = true,
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#elif (TEST_UART_MODE == TEST_UART_DMA_MODE)
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.dma_en = true,
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.int_rx = false,
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.int_tx = false,
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#endif
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};
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void uart0_receive_callback(void *dev, uint32_t err_code)
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{
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uart_receive(UART_ID0,m_EUART0_DMA_RXBuf,EUART0_RX_BUF_SIZE,uart0_receive_callback);
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}
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void uart1_receive_callback(void *dev, uint32_t err_code)
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{
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uart_receive(UART_ID1,m_EUART1_DMA_RXBuf,EUART1_RX_BUF_SIZE,uart1_receive_callback);
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}
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uint32_t dev_id;
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uint8_t group_id;
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uint16_t tag_frequency;
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uint16_t disoffset;
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uint8_t bind_flag;
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uint16_t warning_distance,prewarning_distance;
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int16_t fVoltage_mv,first_search_flag;
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uint8_t bat_percent,g_start_send_flag=1;
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uint8_t link_success_flag,motor_count;
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uint8_t flag_sleeptimer,flag_secondtask,secondtask_count,log_4g_enable_flag;
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uint16_t gps_wait_count,gps_wait_count2;
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extern uint16_t ip0,ip1,ip2,ip3,port;
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uint8_t TCP_reconnect_timer,flag_TCP_reconnectting = 1,flag_alam_state = 0,userkey_state;
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uint8_t gps_enable_flag,motor_open_air_flag,moter_open_uwb_flag,flag_fenli_alarm = 0,fenli_alarm_count,delaysleep_count,enbale_blink_flag;
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uint8_t motor_power_state=1,uwb_state,air780_power_state,gps_success_state,red_charge_state,green_charge_state,air780_success_state,first_motor_in_flag;
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void Program_Init(void)
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{
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Usart1ParseDataCallback = Usart1ParseDataHandler;//Ðè¸ÄΪĬÈÏΪgps´¦Àí£¬Usart1ParseDataHandlerΪÉý¼¶´¦Àíµ±µ÷ÊÔʱºò¸ÄΪ
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Usart0ParseDataCallback=Usart0ParseDataHandler;
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parameter_init_anchor();//g_com_map±í³õʼ»¯½ÇɫĬÈÏΪ»ùÕ¾
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dev_id=g_com_map[DEV_ID];//ÕâÀﲻ̫¶Ô
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group_id=g_com_map[GROUP_ID];//×éID
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memcpy(&disoffset,&g_com_map[DIST_OFFSET],2);
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g_com_map[MODBUS_MODE] = 0;
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log_4g_enable_flag=g_com_map[LOG_4G_ENABLE];
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ip0 = (g_com_map[TCP_IP_0]>>12&0xf)*1000+(g_com_map[TCP_IP_0]>>8&0xf)*100+(g_com_map[TCP_IP_0]>>4&0xf)*10+(g_com_map[TCP_IP_0]&0xf);
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ip1 = (g_com_map[TCP_IP_1]>>12&0xf)*1000+(g_com_map[TCP_IP_1]>>8&0xf)*100+(g_com_map[TCP_IP_1]>>4&0xf)*10+(g_com_map[TCP_IP_1]&0xf);
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ip2 = (g_com_map[TCP_IP_2]>>12&0xf)*1000+(g_com_map[TCP_IP_2]>>8&0xf)*100+(g_com_map[TCP_IP_2]>>4&0xf)*10+(g_com_map[TCP_IP_2]&0xf);
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ip3 = (g_com_map[TCP_IP_3]>>12&0xf)*1000+(g_com_map[TCP_IP_3]>>8&0xf)*100+(g_com_map[TCP_IP_3]>>4&0xf)*10+(g_com_map[TCP_IP_3]&0xf);
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port = g_com_map[TCP_PORT];
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g_com_map[VERSION] = (1<<8)|0;
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gpio_pin_set(CHANGE_UART_PIN);//£»À¸ß´òÓ¡Êä³ö
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LOG_INFO(TRACE_MODULE_APP,"É豸ID: %x .\r\n",dev_id);
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LOG_INFO(TRACE_MODULE_APP,"¹Ì¼þ°æ±¾:MK_ÎÞ¸ÐÕ¢»ú V%d.%d. \r\n",g_com_map[VERSION]>>8,g_com_map[VERSION]&0xff);
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LOG_INFO(TRACE_MODULE_APP,"·þÎñÆ÷µØÖ·: %d.%d.%d.%d:%d.\r\n",ip0,ip1,ip2,ip3,port);
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while(uart_tx_in_progress(UART_ID0));
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gpio_pin_clr(CHANGE_UART_PIN);//£»ÀµÍÊäÈë
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}
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void boot_deinit(void)
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{
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//½«bootÖд®¿Ú·µ»ØÆÕͨgpio
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// UART0 TX/RX
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io_pin_mux_set(IO_PIN_5, IO_FUNC0);
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io_pin_mux_set(IO_PIN_6, IO_FUNC0);
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// UART1 RX/TX
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io_pin_mux_set(IO_PIN_10, IO_FUNC0);
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io_pin_mux_set(IO_PIN_9, IO_FUNC0);
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uart_close(UART_ID1);//½â°óÔÀ´´®¿Ú1
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uart_close(UART_ID0);//½â°óÔÀ´´®¿Ú0
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}
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void IdleTask(void)
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{
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//if(read_5v_input_pca())
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// {
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// if(state5v==0)
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// {
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// state5v=1;
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// state5V_prase_flag=state5v;
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// gps_prase_flag=0;//½â³ýgps½âÎö
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// uart1_change_from_gps_to_debug();//²âÊÔ
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// PCA9555_Set_One_Value_Output(MCU_A,1);//Êä³ö¸ßµçƽÇл»Îª5VÊäÈë
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// }
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// }else {
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// if(state5v==1)
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// {
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// g_com_map[MODBUS_MODE] = 0;
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// state5v=0;
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// state5V_prase_flag=state5v;
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// gps_prase_flag=1;//»Ö¸´gps½âÎö
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// uart1_change_from_debug_to_gps();//²âÊÔ
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// PCA9555_Set_One_Value_Output(MCU_A,0);//Êä³öµÍµçƽÇл»ÎªGPS
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// }
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// }
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UART0_CheckReceive();
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UART_CheckReceive();
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}
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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 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%02x%02x%02x%02x%02x%02x%02x%02x, RX timestamp 0x%02x%02x%02x%02x%02x%02x%02x%02x\r\n", peer,
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local, rpt->tx_timestamp.ts_u8[7], rpt->tx_timestamp.ts_u8[6], rpt->tx_timestamp.ts_u8[5], rpt->tx_timestamp.ts_u8[4], rpt->tx_timestamp.ts_u8[3],
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rpt->tx_timestamp.ts_u8[2], rpt->tx_timestamp.ts_u8[1], rpt->tx_timestamp.ts_u8[0], rpt->rx_timestamp.ts_u8[7], rpt->rx_timestamp.ts_u8[6],
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rpt->rx_timestamp.ts_u8[5], rpt->rx_timestamp.ts_u8[4], rpt->rx_timestamp.ts_u8[3], rpt->rx_timestamp.ts_u8[2], rpt->rx_timestamp.ts_u8[1],
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rpt->rx_timestamp.ts_u8[0]);
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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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boot_deinit();
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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_baud(TRACE_PORT_UART0,BAUD_115200);
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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
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board_calibration_params_load();
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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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Program_Init();
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uart_open(UART_ID1, &test_uart_cfg);
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uart_receive(UART_ID1,m_EUART1_DMA_RXBuf,EUART1_RX_BUF_SIZE,uart1_receive_callback);
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uart_receive(UART_ID0,m_EUART0_DMA_RXBuf,EUART0_RX_BUF_SIZE,uart0_receive_callback);
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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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WsfOsInit();
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mk_timer_list_init();
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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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{
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.thres_fap_detect = 40,
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.nth_scale_factor = 1,
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.ranging_performance_mode = 0,
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#if RX_ANT_PORTS_NUM == 4
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.skip_weakest_port_en = 1,
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#else
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.skip_weakest_port_en = 0,
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#endif
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};
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phy_adv_params_configure(&adv_config);
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uwbs_init();
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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_main_ant = (uint8_t)(RX_MAIN_ANT_PORT);
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uwb_app_config.ppdu_params->rx_ant_mode = (uint8_t)(RX_ANT_PORTS_COMBINATION);
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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 = ADDR_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 (1)
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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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while (1)
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{
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wsfOsDispatcher();
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power_manage();
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IdleTask();
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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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