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.
			@@ -82,46 +82,43 @@
			#endif

			#if OVERLAY_FRAME_LENGTH == 256
			#if (64 == N_SNAPSHOTS)
			#elif (128 == N_SNAPSHOTS)
			#elif (256 == N_SNAPSHOTS)
			#else
			#error "N_SNAPSHOTS is not supported"
			#endif
			#elif OVERLAY_FRAME_LENGTH == 128
			#if (128 == N_SNAPSHOTS)
			#elif (256 == N_SNAPSHOTS)
			#elif (512 == N_SNAPSHOTS)
			#else
			#error "N_SNAPSHOTS is not supported"
			#endif
			#else
			#error "Frame length is not supported"
			#endif

			/* Radar RX window, unit: us */
			#define UWB_RADAR_RX_WINDOW (100)
			/* Radar event prefetch time, unit: us */
			#define UWB_RADAR_PREFETCH_TIME (100)

			#if UWB_RADAR_1TNR_MODE == 1
			#if UWB_RADAR_STS_LENGTH == 2
			/* Radar RX window, unit: us */
			#if UWB_RADAR_STS_LENGTH == 3
			#define UWB_RADAR_RX_WINDOW 170
			#define UWB_RADAR_RX_WINDOW2 98
			#define UWB_RADAR_RX_WINDOW3 64
			#elif UWB_RADAR_STS_LENGTH == 2
			#define UWB_RADAR_RX_WINDOW 100
			#define UWB_RADAR_RX_WINDOW2 64
			#define UWB_RADAR_RX_WINDOW3 48
			#else
			#define UWB_RADAR_RX_WINDOW 68
			#define UWB_RADAR_RX_WINDOW2 48
			#define UWB_RADAR_RX_WINDOW3 40
			#endif
			#endif

			/* 1TnR Frame interval for Overlay work mode, unit: us */
			#define FRAME_INTERVAL 300

			/* The factors influencing the peak index value are twofold:
			/* 1ns per sample, 24 ~ 27 */
			#define DISCARD_SYMBOLS 25

			#if UWB_RADAR_2G_MODE_EN

			/* There are two factors that affect the peak index value:
			* 1) the scheduled transmission time (The configuration of the low 2 bits of the 0x40000424 register)
			* 2) the value of the discard (0x40002040 bit8~19)
			* 2) the value of the discard symbols (0x40002040 bit8~19)
			*/
			/* The low 2 bits of the 0x40000424 register are set to 0

			/*
			* \|----------------------------------------------------------------------------\|
			* \| Discard Symbols(24/25/26/27/28/29) \| 24 \| 25 \| 26 \| 27 \| 28 \| 29 \| \|
			* \|----------------------------------------------------------------------------\|
			@@ -141,20 +138,33 @@
			* \|----------------------------------------------------------------------------\|
			*/

			#if UWB_RADAR_2G_MODE_EN

			/* 1ns per sample, 24 ~ 27 */
			#define DISCARD_SYMBOLS 25

			/* pusle peak postion table */
			static const uint8_t peak_idx_table[5][4] = {{4, 12, 4, 12}, {20, 28, 4, 12}, {36, 44, 52, 60}, {100, 108, 116, 124}, {228, 236, 244, 252}};

			#else

			/* 2ns per sample, 12 ~ 15 */
			#define DISCARD_SYMBOLS 12
			/*
			* \|----------------------------------------------------------------------------\|
			* \| Discard Symbols(24/25/26/27) \| 24 \| 25 \| 26 \| 27 \| \|
			* \|----------------------------------------------------------------------------\|
			* \| Pulse period 16ns (0 Delay Point) \| 0 \| 4 \| 0 \| 4 \| \|
			* \|----------------------------------------------------------------------------\|
			* \|----------------------------------------------------------------------------\|
			* \| Pulse period 32ns (0 Delay Point) \| 0 \| 4 \| 8 \| 12 \| \|
			* \|----------------------------------------------------------------------------\|
			* \|----------------------------------------------------------------------------\|
			* \| Pulse period 64ns (0 Delay Point) \| 24 \| 28 \| 0 \| 4 \| \|
			* \|----------------------------------------------------------------------------\|
			* \|----------------------------------------------------------------------------\|
			* \| Pulse period 128ns (0 Delay Point) \| 56 \| 60 \| 0 \| 4 \| \|
			* \|----------------------------------------------------------------------------\|
			* \|----------------------------------------------------------------------------\|
			* \| Pulse period 256ns (0 Delay Point) \| 120 \| 124 \| 0 \| 4 \| \|
			* \|----------------------------------------------------------------------------\|
			*/

			/* pusle peak postion table */
			static const uint8_t peak_idx_table[5][4] = {{1, 5, 1, 5}, {0, 4, 8, 12}, {8, 12, 16, 20}, {8, 12, 16, 20}, {72, 76, 80, 84}};
			static const uint8_t peak_idx_table[5][4] = {{0, 4, 0, 4}, {0, 4, 8, 12}, {24, 28, 0, 4}, {56, 60, 0, 4}, {120, 124, 0, 4}};
			#endif

			/* 1TnR Rx port list */
			@@ -166,7 +176,7 @@

			static struct UWB_RADAR_T default_radar_cfg = {
			.channel_num = 9,
			.rx_gain_level = 14,
			.filter_gain_level = 14,
			.lna_gain_level = 5,
			.pulse_period = UWB_RADAR_PULSE_PERIOD_64NS,
			.bandwidth = 0x02,
			@@ -320,7 +330,7 @@
			}
			}

			calibration_peak_idx = calibration_peak_idx - ((calibration_peak_idx - 4) % 8);
			// calibration_peak_idx = calibration_peak_idx - ((calibration_peak_idx - 4) % 8);
			LOG_INFO(TRACE_MODULE_APP, "ANT%d Raw max index %d\n", n, calibration_peak_idx);
			}
			#endif
			@@ -329,7 +339,7 @@
			for (uint32_t i = 0; i < pulse_period_points; i++)
			{
			uint32_t idx = ((pulse_period_points - calibration_peak_idx + i) > (pulse_period_points - 1)) ? (i - calibration_peak_idx)
			: (pulse_period_points - calibration_peak_idx + i);
			: (pulse_period_points - calibration_peak_idx + i);

			data_out[idx * 2] = period_samples_out[i * 2];
			data_out[idx * 2 + 1] = period_samples_out[i * 2 + 1];
			@@ -364,7 +374,7 @@
			*/
			// 8KW each block
			uint32_t seg_in_blk = 1024 * 8;
			if ((sts_seg_len == UWB_RADAR_STS_SEGLEN64) \|\| (sts_seg_len == UWB_RADAR_STS_SEGLEN32))
			if ((sts_seg_len == UWB_RADAR_STS_SEGLEN128) \|\| (sts_seg_len == UWB_RADAR_STS_SEGLEN64) \|\| (sts_seg_len == UWB_RADAR_STS_SEGLEN32))
			{
			seg_in_blk = seg_in_blk >> (UWB_RADAR_RX_PORT_NUM - 1);
			if (seg_in_blk < 1024 * 2)
			@@ -372,20 +382,32 @@
			return;
			}
			}
			else
			else if (UWB_RADAR_RX_PORT_NUM > 1)
			{
			return;
			}

			for (uint8_t i = 0; i < UWB_RADAR_RX_PORT_NUM; i++)
			{
			#if UWB_RADAR_STS_LENGTH == 3
			#if UWB_RADAR_RX_PORT_NUM == 3
			seg_in_blk = (i == 1) ? seg_in_blk >> (UWB_RADAR_RX_PORT_NUM - 2) : 0;
			#elif UWB_RADAR_RX_PORT_NUM == 2
			seg_in_blk = 0;
			#endif
			#endif
			/* Find the start address of segment in block for each port */
			mem_data = &data_in[seg_in_blk * (UWB_RADAR_RX_PORT_NUM - 1 - i)];
			acc_out = &data_out[i * OVERLAY_FRAME_LENGTH * 2];

			/* Outer loop for the 4 banks, each bank will have 32 kbytes or 8 kwords */
			for (uint32_t blocks = 0; blocks < BANK_NUM; blocks++)
			{
			#if UWB_RADAR_STS_LENGTH == 3
			offset = (i == 0) ? (blocks * 1024 * 8 + 1024 * 16) : (blocks * 1024 * 8);
			#else
			offset = blocks * 1024 * 8;
			#endif

			/* Inner loop for words in that bank, each word has 2 samples (IQ) */
			/* 1 snapshot will be 16 words, so accumulate every 16 words */
			@@ -394,13 +416,35 @@
			/* Remove head 4KB and tail 2KB */
			for (uint32_t rows = CUT_OFF_LINES(HEAD_LEN); rows < (acc_columns - CUT_OFF_LINES(TAIL_LEN)); rows++)
			{
			#if UWB_RADAR_STS_LENGTH == 3 && UWB_RADAR_RX_PORT_NUM == 1
			if (rows == CUT_OFF_LINES(HEAD_LEN))
			{
			offset = blocks * 1024 * 8;
			}
			else if (rows == acc_columns >> 1)
			{
			offset = blocks * 1024 * 8 + 1024 * 8;
			}
			#endif
			data_read = mem_data[offset + rows * (OVERLAY_FRAME_LENGTH / BANK_NUM / 2) + columns];

			// Extract two samples from this word
			samp_array_d1[rows] = (int16_t)((data_read) & (0xffff));
			samp_array_d2[rows] = (int16_t)((data_read >> (16)) & (0xffff));
			}
			/*
			I = a, a1, a2...
			Q = b, b1, b2
			c = 1, 1, 1
			d = 0, 0, 0

			(a + jb) * (c - jd) = ac -jad + jbc + bd = a + jb
			(a1 + jb1) * (c - jd) = a1c -ja1d + jb1c + b1d = a1 + jb1
			(a2 + jb2) * (c - jd) = a2c -ja2d + jb2c + b2d = a2 + jb2

			a, b, a1, b1, a2, b2....
			1, 0, 1, 0, 1, 0 ...
			*/
			/* Accumulate across snapshots , complex so will output 2 values */
			lsp_cmplx_inner_product_int8((const int8_t )&samp_array_d1[CUT_OFF_LINES(HEAD_LEN)], (const int8_t )allones,
			(int32_t )(acc_out + (4 (BANK_NUM * columns + blocks))),
			@@ -488,7 +532,7 @@
			for (uint32_t i = 0; i < pulse_period_points; i++)
			{
			uint32_t idx = ((pulse_period_points - calibration_peak_idx + i) > (pulse_period_points - 1)) ? (i - calibration_peak_idx)
			: (pulse_period_points - calibration_peak_idx + i);
			: (pulse_period_points - calibration_peak_idx + i);

			data_out[idx * 2] = period_samples_out[i * 2];
			data_out[idx * 2 + 1] = period_samples_out[i * 2 + 1];
			@@ -515,13 +559,35 @@
			/* Discard the first 4KB data and the end 2KB data */
			for (uint32_t rows = CUT_OFF_LINES(HEAD_LEN); rows < acc_columns - CUT_OFF_LINES(TAIL_LEN); rows++)
			{
			#if UWB_RADAR_STS_LENGTH == 3
			if (rows == CUT_OFF_LINES(HEAD_LEN))
			{
			offset = blocks * 1024 * 8;
			}
			else if (rows == acc_columns >> 1)
			{
			offset = blocks * 1024 * 8 + 1024 * 8;
			}
			#endif
			data_read = mem_data[offset + rows * (OVERLAY_FRAME_LENGTH / BANK_NUM / 2) + columns];

			// Extract two samples from this word
			samp_array_d1[rows] = (int16_t)((data_read) & (0xffff));
			samp_array_d2[rows] = (int16_t)((data_read >> (16)) & (0xffff));
			}
			/*
			I = a, a1, a2...
			Q = b, b1, b2
			c = 1, 1, 1
			d = 0, 0, 0

			(a + jb) * (c - jd) = ac -jad + jbc + bd = a + jb
			(a1 + jb1) * (c - jd) = a1c -ja1d + jb1c + b1d = a1 + jb1
			(a2 + jb2) * (c - jd) = a2c -ja2d + jb2c + b2d = a2 + jb2

			a, b, a1, b1, a2, b2....
			1, 0, 1, 0, 1, 0 ...
			*/
			/* Accumulate across up to 512 snapshots , complex so will output 2 values */
			lsp_cmplx_inner_product_int8((const int8_t )&samp_array_d1[CUT_OFF_LINES(HEAD_LEN)], (const int8_t )allones,
			(int32_t )((uint32_t)accum_out + (16 (BANK_NUM * columns + blocks))),
			@@ -567,17 +633,13 @@
			default_radar_cfg.bandwidth = radar_cfg->bandwidth;
			default_radar_cfg.channel_num = radar_cfg->channel_num;
			default_radar_cfg.lna_gain_level = radar_cfg->lna_gain_level;
			default_radar_cfg.rx_gain_level = radar_cfg->rx_gain_level;
			default_radar_cfg.filter_gain_level = radar_cfg->filter_gain_level;
			default_radar_cfg.tx_power_level = radar_cfg->tx_power_level;
			default_radar_cfg.sts_len = radar_cfg->sts_len;
			default_radar_cfg.pulse_period = radar_cfg->pulse_period;
			default_radar_cfg.ranging_tx_power_level = radar_cfg->ranging_tx_power_level;

			#if UWB_RADAR_2G_MODE_EN
			calibration_peak_idx = peak_idx_table[default_radar_cfg.pulse_period][DISCARD_SYMBOLS - 24];
			#else
			calibration_peak_idx = peak_idx_table[default_radar_cfg.pulse_period][DISCARD_SYMBOLS - 12];
			#endif
			// LOG_INFO(TRACE_MODULE_APP \| TRACE_NO_OPTION, "Raw max index %d\n", calibration_peak_idx);

			// 1T1R mode, the ant id can be configured from host
			@@ -599,40 +661,41 @@

			switch (default_radar_cfg.pulse_period)
			{
			case UWB_RADAR_PULSE_PERIOD_16NS:
			sts_key = 0x00000000;
			break;
			case UWB_RADAR_PULSE_PERIOD_16NS:
			sts_key = 0x00000000;
			break;

			case UWB_RADAR_PULSE_PERIOD_32NS:
			sts_key = 0x55555555;
			break;
			case UWB_RADAR_PULSE_PERIOD_32NS:
			sts_key = 0x55555555;
			break;

			case UWB_RADAR_PULSE_PERIOD_64NS:
			sts_key = 0xEEEEEEEE;
			break;
			case UWB_RADAR_PULSE_PERIOD_64NS:
			sts_key = 0xEEEEEEEE;
			break;

			case UWB_RADAR_PULSE_PERIOD_128NS:
			sts_key = 0xFEFEFEFE;
			break;
			case UWB_RADAR_PULSE_PERIOD_128NS:
			sts_key = 0xFEFEFEFE;
			break;

			case UWB_RADAR_PULSE_PERIOD_256NS:
			sts_key = 0xFFFEFFFE;
			break;
			case UWB_RADAR_PULSE_PERIOD_256NS:
			sts_key = 0xFFFEFFFE;
			break;
			}

			/************************************SYS RADIO REG*******************************************/
			reg = 0x40000404;
			val = REG_READ(reg);
			reg_save.reg_count = 0;
			reg_save.reg_store[reg_save.reg_count][STORE_REG] = reg;
			reg_save.reg_store[reg_save.reg_count][STORE_VAL] = val;
			reg_save.reg_count = 1;
			reg_save.reg_count++;

			val = val & ~0xF0000U;
			#if UWB_RADAR_2G_MODE_EN
			// Set LPF_BW 500M \| RX ADC sample rate 2Gs/s \| pulse width 0:2ns(500M), 1:0.92ns(1G), 2:0.75ns(1.3G)
			// Set LPF_BW 500M \| RX ADC sample rate 2Gs/s \| pulse width 0:2ns(500M), 3:0.92ns(900M), 2:0.75ns(1.3G)
			val \|= ((1U << 18) \| ((default_radar_cfg.bandwidth & 0x3U) << 16));
			#else
			// Set LPF_BW 250M \| RX ADC sample rate 1Gs/s \| pulse width 0:2ns(500M), 1:0.92ns(1G), 2:0.75ns(1.3G)
			// Set LPF_BW 250M \| RX ADC sample rate 1Gs/s \| pulse width 0:2ns(500M), 3:0.92ns(900M), 2:0.75ns(1.3G)
			val \|= ((1U << 19) \| ((default_radar_cfg.bandwidth & 0x3U) << 16));
			#endif
			REG_WRITE(reg, val);
			@@ -689,7 +752,7 @@
			reg_save.reg_store[reg_save.reg_count][STORE_VAL] = val;
			reg_save.reg_count++;
			// Disable RX AGC, and use register to configure the gain of LNA and filter;
			val = (1U << 31) \| ((default_radar_cfg.rx_gain_level & 0x1FU) << 16) \| (default_radar_cfg.lna_gain_level & 0x7U);
			val = (1U << 31) \| ((default_radar_cfg.filter_gain_level & 0x1FU) << 16) \| (default_radar_cfg.lna_gain_level & 0x7U);
			REG_WRITE(reg, val);

			/****************************************TXBE REG*******************************************/
			@@ -969,6 +1032,7 @@
			enter_debug_mode();

			#if UWB_RADAR_1TNR_MODE == 1
			uint32_t val;
			static uint32_t loopback_anchor_point;

			uint32_t rx_win = US_TO_PHY_TIMER_COUNT(UWB_RADAR_RX_WINDOW);
			@@ -990,8 +1054,10 @@
			uint32_t target = loopback_anchor_point + US_TO_PHY_TIMER_COUNT(FRAME_INTERVAL * ant_idx);

			// Delay discard_symbols, dump data
			uint32_t val = (uint32_t)(4 \| (1 << 3) \| (1 << 7) \| ((DISCARD_SYMBOLS & 0xfff) << 8));
			REG_WRITE(0x40002040, val);
			// val = REG_READ(0x40002040);
			// val = val & ~(0xfffU << 8);
			// val \|= (uint32_t)((DISCARD_SYMBOLS & 0xfff) << 8);
			// REG_WRITE(0x40002040, val);

			// TXSTS
			val = REG_READ(0x40001008);