ChinaUWBProject.git

			@@ -1,5 +1,5 @@
			/*
			* Copyright (c) 2019-2023 Beijing Hanwei Innovation Technology Ltd. Co. and
			* Copyright (c) 2019-2025 Beijing Hanwei Innovation Technology Ltd. Co. and
			* its subsidiaries and affiliates (collectly called MKSEMI).
			*
			* All rights reserved.
			@@ -49,12 +49,12 @@
			#include "ranging_ss_twr.h"
			#include "lib_aoa.h"
			#include "lib_ranging.h"
			#if KF_EN
			#if FILTER_EN
			#include "lib_kf.h"
			#endif
			// #include "board.h"

			#if KF_EN && FILTER_EN
			#if FILTER_EN
			#define KF_SUPPORT_NUM 6
			#define KF_TIMEOUT_MS 2000
			static struct KF_MAC_ADDR_T kf_mac_addr_cache[KF_SUPPORT_NUM];
			@@ -141,28 +141,18 @@

			uwbs_configure(PHY_TX \| PHY_RX, uwb_app_config.session_param.tx_power_level);

			#if CSI_EN
			ranging_aux_out_opt_set(CH_LEN_DEFAULT, 3);
			#endif

			#if AOA_EN
			aoa_aux_info_set(AOA_AUX_ANT_IQ_RSSI_PDOA_AOA_FOM);
			aoa_steering_vector_set((const float *)((uint32_t)((uwb_app_config.ppdu_params.ch_num == 9) ? svec_ch9_ptr : svec_ch5_ptr) \| SRAM_BASE));
			sts_param_config(uwb_app_config.ppdu_params->sts_pkt_cfg, STS_AUX_ANT_IQ_RSSI_PDOA_AOA_FOM, STS_BUF_NUM, STS_BUF_SIZE);
			aoa_steering_vector_set((const float *)((uint32_t)((uwb_app_config.ppdu_params->ch_num == 9) ? svec_ch9_ptr : svec_ch5_ptr) \| SRAM_BASE));
			#else
			aoa_aux_info_set(AOA_AUX_ANT_IQ_RSSI);
			sts_param_config(uwb_app_config.ppdu_params->sts_pkt_cfg, STS_AUX_ANT_IQ_RSSI, STS_BUF_NUM, STS_BUF_SIZE);
			#endif

			aoa_param_config();

			#if FILTER_EN
			if (uwb_app_config.filter_en)
			{
			#if KF_EN
			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,
			KF_TIMEOUT_MS);
			#else
			loc_post_filter_config(uwb_app_config.session_param.ranging_interval, 1, uwb_app_config.session_param.aoa_result_req);
			#endif
			uint32_t update_period_ms = uwb_app_config.session_param.ranging_interval;
			loc_post_kf_config(update_period_ms, kf_mac_addr_cache, kf_channel_cache, kf_mat_value_cache, KF_SUPPORT_NUM, KF_TIMEOUT_MS);
			}
			#endif

			@@ -191,14 +181,14 @@
			ranging_env.count_last = 0;
			ranging_env.lost_cnt = 0;

			WsfTimerStartMs(&ranging_cb.daemon_timer, uwb_app_config.session_param.ranging_interval * 10, WSF_TIMER_PERIODIC);
			mk_timer_list_start_timer(&ranging_cb.daemon_timer, uwb_app_config.session_param.ranging_interval * 10, MK_TIMER_PERIODIC);
			LOG_INFO(TRACE_MODULE_APP, "Ranging start, role %d\r\n", dev_role);
			}

			void ranging_stop(void)
			{
			ranging_env.enable = 0;
			WsfTimerStop(&ranging_cb.daemon_timer);
			mk_timer_list_stop_timer(&ranging_cb.daemon_timer);
			}

			void ranging_restart(void)
			@@ -211,7 +201,7 @@

			int8_t ranging_tx_power_get(void)
			{
			return uwb_tx_power_get(uwb_app_config.ppdu_params.ch_num, uwb_app_config.session_param.tx_power_level);
			return uwb_tx_power_get(uwb_app_config.ppdu_params->ch_num, uwb_app_config.session_param.tx_power_level);
			}

			void ranging_local_addr_set(uint16_t short_addr)
			@@ -262,19 +252,6 @@
			return (user_response_data_len == data_len) ? 0 : 1;
			}

			// ts_a - ts_b
			int64_t ranging_timestamp_diff(int64_t ts_a, int64_t ts_b)
			{
			if (ts_a < ts_b)
			{
			return (0x20000000000 - ts_b + ts_a);
			}
			else
			{
			return (ts_a - ts_b);
			}
			}

			// unit: 15.6ps
			int64_t ranging_tround(void)
			{
			@@ -284,7 +261,7 @@
			int64_t tround = ranging_timestamp_diff(rx_timestamp, tx_timestamp);

			// correct antenna delay
			tround -= ranging_ant_delays_get(uwb_app_config.ppdu_params.rx_ant_id);
			tround -= ranging_ant_delays_get(uwb_app_config.ppdu_params->rx_main_ant);

			return tround;
			}
			@@ -298,7 +275,7 @@
			int64_t treply = ranging_timestamp_diff(tx_timestamp, rx_timestamp);

			// correct antenna delay
			treply += ranging_ant_delays_get(uwb_app_config.ppdu_params.rx_ant_id);
			treply += ranging_ant_delays_get(uwb_app_config.ppdu_params->rx_main_ant);

			return treply;
			}
			@@ -615,8 +592,9 @@
			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->rssi = rx->rssi;
			ind->rssi = correct_rssi(rx->rssi);
			ind->snr = correct_snr(rx->snr);

			ind->rx_len = rx->pkt_len;

			@@ -625,6 +603,8 @@
			memcpy(ind->rx_data, rx->pkt_data, rx->pkt_len);
			}

			g_freq_offset = phy_freq_offset_get();

			// Send the message
			WsfMsgSend(ranging_cb.handle_id, ind);
			}