成功移植g_com_map表逻辑，初步测试能读能写，并且TDOA效果和官方一致

chen

7 天以前 adfc7e798b9cbdd022bf8df971843436912a0fe5

 keil/include/components/app/src/ranging_ccc_task.c

@@ -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.
@@ -49,7 +49,7 @@
#include "lib_aoa.h"
#include "lib_ranging.h"

#if KF_EN
#if FILTER_EN
#include "lib_kf.h"
#endif

@@ -70,7 +70,6 @@
        return;
    }

#if KF_EN
    float post_range, post_azimuth, post_elevation;
    float azimuth_meas = mk_q7_to_f32(*azimuth);
    float elevation_meas = mk_q7_to_f32(*elevation);
@@ -100,19 +99,6 @@

    // LOG_INFO(TRACE_MODULE_APP, "$%u %u %d %d %d %d;\r\n", (uint16_t)(range_meas*100),(uint16_t)(post_range*100),(int16_t)azimuth_meas,(int16_t)post_azimuth,
    // (int16_t)elevation_meas, (int16_t)post_elevation);
#else
    float post_range, post_azimuth;
    int azimuth_meas = mk_q7_to_s16(*azimuth);
    float range_meas = (float)*distance;
    // call filter
    loc_post_filter(0, range_meas, azimuth_meas, &post_range, &post_azimuth);
    // update distance
    *distance = (uint16_t)(post_range);
    // update angle
    *azimuth = mk_f32_to_q7(post_azimuth);

    // LOG_INFO(TRACE_MODULE_APP, "$%u %u %d %d;\r\n", (uint16_t)(range_meas*100), (uint16_t)(post_range*100),(int16_t)azimuth_meas, (int16_t)post_azimuth);
#endif
}
#endif

@@ -145,11 +131,11 @@
        debug_csi.distance_cm = distance;

        debug_csi.azimuth = ranging_env.azimuth;
        debug_csi.ranging_fom = ranging_fom_calculate(&debug_csi, 0, NULL, 0);
        debug_csi.ranging_fom = ranging_fom_calculate(&debug_csi, 1, 1, NULL, 0);
        debug_csi.azimuth_fom = ranging_env.azimuth_fom;

        calculate_first_tap_power(4, 2);
        // print_preamble_chest(4, 2);
        calculate_first_tap_power(1, 2);
        // print_preamble_cir(debug_csi.block_index, 1, 2);

        uwbapi_report_debug_csi_data(&debug_csi);
    }
@@ -172,6 +158,7 @@
/*************************************************************************************************/
void ranging_handler(wsfEventMask_t event, const void *param)
{
    // board_led_on(BOARD_LED_2);
    const wsfMsgHdr_t *msg = (const wsfMsgHdr_t *)param;

    if (msg != NULL)
@@ -196,13 +183,19 @@
            case RANGING_UPDATE_KEYS:
            {
                const struct RANGING_UPD_KEYS_T *upd_keys = (const struct RANGING_UPD_KEYS_T *)param;
                ranging_update_keys(upd_keys->sts_idx, upd_keys->key_type);
                ranging_update_keys(upd_keys->sts_idx);
            }
            break;

            case UWB_PKT_TX_DONE_MSG:
            {
                const struct UWB_PKT_TX_DONE_IND_T *ind = (const struct UWB_PKT_TX_DONE_IND_T *)param;

                if (ind->status != UWB_TX_OK)
                {
                    LOG_INFO(TRACE_MODULE_APP, "UWB TX fail  0x%04x\r\n", ind->status);
                    break;
                }

                if (ind->ranging_stage == RANGING_PRE_POLL)
                {
@@ -225,6 +218,10 @@
                else if (ind->ranging_stage == RANGING_FINAL_DATA)
                {
                    LOG_INFO(TRACE_MODULE_APP, "[TX][%u] Final-Data\r\n", ind->tx_len);

                    // need to set RESPONDER_NUM = 1 for response cir printing
                    // calculate_first_tap_power(0, 1);
                    // print_preamble_cir(debug_csi.block_index, 0, 1);
                }
                else
                {
@@ -262,8 +259,8 @@
                        int32_t freq_offset_filter = average_filter(freq_offset);
                        LOG_INFO(TRACE_MODULE_APP, "CH Freq Offset %d\r\n", freq_offset_filter);

#if XTAL_AUTO_TUNE_EN
                        int32_t ppm = freq_offset_filter / (int32_t)(ch_center_freq_map[uwb_app_config.ppdu_params.ch_num] * 1e-6);
#if (X38M4_AUTO_TUNE_EN == 1)
                        int32_t ppm = freq_offset_filter / (int32_t)(uwb_ch_freq_table[uwb_app_config.ppdu_params->ch_num] * 1e-6);
                        calib_xtal38m4_load_cap_auto_tune(ppm);
#endif
                    }
@@ -338,24 +335,15 @@
                            }

                            // float pdoa[3];
                            // pdoa[0] = pdoa_select_get(0, 3);
                            // pdoa[1] = pdoa_select_get(1, 3);
                            // pdoa[2] = pdoa_select_get(2, 3);
                            // pdoa[0] = pdoa_result_get(0, 3);
                            // pdoa[1] = pdoa_result_get(1, 3);
                            // pdoa[2] = pdoa_result_get(2, 3);
                            // LOG_INFO(TRACE_MODULE_APP, "PDOA: %f %f %f\r\n", pdoa[0], pdoa[1], pdoa[2]);

                            // float *sts_rssi = sts_rssi_output_get();
                            // LOG_INFO(TRACE_MODULE_APP, "STS RSSI: %f %f %f %f\r\n", sts_rssi[0], sts_rssi[1], sts_rssi[2], sts_rssi[3]);
#endif
                        }

#if CSI_EN
                        struct RANGING_TAPS_INF_T taps_inf;
                        ranging_taps_inf_get(&taps_inf);
                        LOG_INFO(TRACE_MODULE_APP, "fap: %d, %f\r\n", taps_inf.fap_loc, taps_inf.fap_pow);
                        LOG_INFO(TRACE_MODULE_APP, "tap1: %d, %f\r\n", taps_inf.tap1_loc, taps_inf.tap1_pow);
                        LOG_INFO(TRACE_MODULE_APP, "tap2: %d, %f\r\n", taps_inf.tap2_loc, taps_inf.tap2_pow);
                        LOG_INFO(TRACE_MODULE_APP, "tap3: %d, %f\r\n", taps_inf.tap3_loc, taps_inf.tap3_pow);
#endif
                    }
                    else if (ind->ranging_stage == RANGING_FINAL_DATA)
                    {
@@ -402,73 +390,84 @@
            case RANGING_REPORT_MSG:
            {
                const struct RANGING_REPORT_IND_T *ind = (const struct RANGING_REPORT_IND_T *)param;
                uint16_t distance = 0;

                int64_t tof_i = (ind->Tround1 * ind->Tround2 - ind->Treply1 * ind->Treply2) / (ind->Tround1 + ind->Tround2 + ind->Treply1 + ind->Treply2);

                // outlier filter
                if (tof_i < 0)
                if (ind->status == 0)
                {
                    tof_i = 0;
                }
                    int64_t tof_i = (ind->Tround1 * ind->Tround2 - ind->Treply1 * ind->Treply2) / (ind->Tround1 + ind->Tround2 + ind->Treply1 + ind->Treply2);

                double tof_f = (double)TIMESTAMP_UNIT_TO_NS((uint32_t)tof_i);
                    // outlier filter
                    if (tof_i < 0)
                    {
                        tof_i = 0;
                    }

                uint16_t distance = (uint16_t)(tof_f * 0.299702547 * VP_VAL - RANGING_CORR);
                    // LOG_INFO(TRACE_NO_OPTION | TRACE_MODULE_APP, "Tround1 %u Treply1 %u Tround2 %u Treply2 %u\r\n", (uint32_t)ind->Tround1,
                    // (uint32_t)ind->Treply1, (uint32_t)ind->Tround2, (uint32_t)ind->Treply2);

                    double tof_f = (double)TIMESTAMP_UNIT_TO_NS((uint32_t)tof_i);

                    distance = (uint16_t)(tof_f * 0.299702547 * VP_VAL - RANGING_CORR);

#if FILTER_EN
                if (uwb_app_config.filter_en)
                {
                    // filter process
                    LOG_INFO(TRACE_MODULE_APP, "Raw Distance %ucm\r\n", distance);
                    if (uwb_app_config.filter_en)
                    {
                        // filter process
                        LOG_INFO(TRACE_MODULE_APP, "Raw Distance %ucm\r\n", distance);

                    ranging_result_filter(&distance, &ranging_env.azimuth, &ranging_env.elevation);
                }
                        ranging_result_filter(&distance, &ranging_env.azimuth, &ranging_env.elevation);
                    }
#endif
                if (uwb_app_config.session_param.aoa_result_req)
                {
                    board_ranging_result_correct(&distance, &ranging_env.azimuth, &ranging_env.elevation);
                    if (uwb_app_config.session_param.aoa_result_req)
                    {
                        board_ranging_result_correct(&distance, &ranging_env.azimuth, &ranging_env.elevation);

                    LOG_INFO(TRACE_MODULE_APP, "Peer %X, Slot idx %d, Distance %ucm Azimuth %d FoM %d\r\n", uwbs_peer_short_addr_get(),
                             ranging_env.responder_slot_idx, distance, mk_q7_to_s16(ranging_env.azimuth), ranging_env.azimuth_fom);
                        LOG_INFO(TRACE_MODULE_APP, "Peer %X, Slot idx %d, Distance %ucm Azimuth %d FoM %d\r\n", uwbs_peer_short_addr_get(),
                                 ranging_env.responder_slot_idx, distance, mk_q7_to_s16(ranging_env.azimuth), ranging_env.azimuth_fom);
                    }
                    else
                    {
                        LOG_INFO(TRACE_MODULE_APP, "Peer %X, Slot idx %d, Distance %ucm\r\n", uwbs_peer_short_addr_get(), ranging_env.responder_slot_idx,
                                 distance);
                    }

                    if (!ranging_debug_csi_en_get())
                    {
                        struct CCC_RANGE_DATA_T *range_data = &ranging_env.range_data;
                        struct CCC_MEASUREMENT_T *range_result = &range_data->measurements[0];

                        range_data->measurements_num = 1;
                        range_data->ranging_type = 0x05; // CCC Controlee (Vehicle) Ranging Measurement
                        range_data->mac_addr_mode = 0;
                        range_data->sequence_num = ind->block_idx;
                        range_data->session_id = ranging_env.session_id;
                        range_data->ranging_interval = PHY_TIMER_COUNT_TO_MS(ranging_env.block_duration);

                        range_result->status = STATUS_OK;
                        range_result->slot_index = ranging_env.responder_slot_idx;
                        range_result->rr_index = ranging_env.round_idx;
                        range_result->sts_index = ranging_env.sts_idx;
                        range_result->distance = distance;
                        range_result->aoa_azimuth = ranging_env.azimuth;
                        range_result->aoa_azimuth_fom = ranging_env.azimuth_fom;

                        range_result->anchor_fom = (ranging_env.poll_fom + ranging_env.final_fom) / 2;
                        range_result->initiator_fom = 0;

                        // output result
                        uwbapi_report_ranging_data(range_data);
                    }
                }
                else
                {
                    LOG_INFO(TRACE_MODULE_APP, "Peer %X, Slot idx %d, Distance %ucm\r\n", uwbs_peer_short_addr_get(), ranging_env.responder_slot_idx, distance);
                }

                if (!ranging_debug_csi_en_get())
                {
                    struct RANGE_DATA_T *range_data = &ranging_env.range_data;
                    struct RANGING_MEASUREMENT_T *range_result = &range_data->measurements[0];

                    range_result->NLoS = MAX(ranging_env.poll_nlos, ranging_env.final_nlos);
                    range_result->distance = distance;
                    range_result->aoa_azimuth = ranging_env.azimuth;
                    range_result->aoa_azimuth_fom = ranging_env.azimuth_fom;

                    range_data->measurements_num = 1;
                    range_data->ranging_type = 0x01;
                    range_data->mac_addr_mode = 0;
                    range_data->sequence_num = ind->block_idx;
                    range_data->session_id = ranging_env.session_id;
                    range_data->ranging_interval = PHY_TIMER_COUNT_TO_MS(ranging_env.block_duration);

                    uint16_t target_addr = ranging_responder_addr_get(0);
                    range_result->mac_addr[0] = target_addr & 0xff;
                    range_result->mac_addr[1] = (target_addr >> 8) & 0xff;

                    range_result->slot_idx = ranging_env.responder_slot_idx;
                    range_result->status = STATUS_OK;

                    // output result
                    uwbapi_report_ranging_data(range_data);
                    LOG_INFO(TRACE_NO_OPTION | TRACE_MODULE_APP, "Ranging fail %d\r\n", ind->status);
                }

#if RANGING_FOM_FILTER_EN
                ranging_report_debug_csi_while_successed(distance, (ind->status == 0) && (distance == 0));

                LOG_INFO(TRACE_MODULE_APP, "Poll-FoM %d, Response-FoM %d Final-FoM %d, Poll-NLoS %d, Response-NLoS %d Final-NLoS %d, C-FoM %d\r\n",
                         ranging_env.poll_fom, ind->resp_fom, ranging_env.final_fom, ranging_env.poll_nlos, 0, ranging_env.final_nlos, debug_csi.ranging_fom);
                LOG_INFO(TRACE_MODULE_APP, "FoM %d-%d-%d, NLoS %d-%d-%d, C-FoM %d\r\n", ranging_env.poll_fom, ind->resp_fom, ranging_env.final_fom,
                         ranging_env.poll_nlos, 0, ranging_env.final_nlos, debug_csi.ranging_fom);

                memset(&debug_csi, 0x00, sizeof(debug_csi));
#endif
@@ -483,4 +482,5 @@
    else if (event)
    {
    }
    // board_led_off(BOARD_LED_2);
}