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.
			@@ -48,7 +48,7 @@
			#include "lib_aoa.h"
			#include "lib_ranging.h"
			#include "ranging_fira.h"
			#if KF_EN
			#if FILTER_EN
			#include "lib_kf.h"
			#endif
			#if PDOA_3D_EN
			@@ -60,8 +60,8 @@
			#define PRINT_PAYLOAD_EN 0
			#define PRINT_PDOA_IQ_EN 0

			#if MCTT_TEST_EN
			#define PAYLOAD_BUF_MAX 512
			#if FILTER_EN
			extern void ranging_result_filter(uint8_t mac_addr, uint16_t distance, int16_t azimuth, int16_t elevation);
			#endif

			static const char *work_mode_table[5] = {"Unknown", "SS-TWR Deferred", "DS-TWR Deferred", "SS-TWR Non-deferred", "DS-TWR Non-deferred"};
			@@ -82,10 +82,6 @@
			const wsfMsgHdr_t msg = (const wsfMsgHdr_t )param;
			// board_led_on(BOARD_LED_1);

			#if MCTT_TEST_EN
			static uint8_t payload_print_buf[PAYLOAD_BUF_MAX];
			static uint16_t payload_print_len;
			#endif
			static uint8_t defer_to_report = 0;

			if (msg != NULL)
			@@ -111,16 +107,20 @@
			{
			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->slot_idx == 0)
			{
			ranging_env.range_data.sequence_num = (ranging_env.phy_sts_index - fira_key.phyStsIdxInit) / ranging_env.slots_per_block;
			uint8_t work_mode_idx = uwb_app_config.session_param.ranging_round_usage < 5 ? uwb_app_config.session_param.ranging_round_usage : 0;
			#if MCTT_TEST_EN
			LOG_INFO(TRACE_NO_OPTION, "%s Init-seq:%u\r\n", work_mode_table[work_mode_idx], ranging_env.range_data.sequence_num + 1);
			#else

			LOG_INFO(TRACE_MODULE_APP \| TRACE_NO_OPTION, "\r\n");
			LOG_INFO(TRACE_MODULE_APP, "FiRa %s Initiator SEQ NUM %u\r\n", work_mode_table[work_mode_idx], ranging_env.range_data.sequence_num);
			#endif
			LOG_INFO(TRACE_MODULE_APP, "FiRa %s Controller SEQ NUM %u\r\n", work_mode_table[work_mode_idx], ranging_env.range_data.sequence_num);

			uwb_app_config.ranging_count++;

			// clear last round measurement
			@@ -128,11 +128,8 @@
			}

			uint8_t stage_idx = (ind->ranging_stage >= RANGING_RCM && ind->ranging_stage <= RANGING_RRRM) ? (ind->ranging_stage - RANGING_RCM + 1) : 0;
			#if MCTT_TEST_EN
			LOG_INFO(TRACE_NO_LEVEL_TAG \| TRACE_NO_MODULE_NAME, "t%s tp=%x\r\n", fira_fsm_table[stage_idx], ind->timestamp);
			#else

			LOG_INFO(TRACE_NO_REPORT_HOST \| TRACE_MODULE_APP, "[TX][%u] %s\r\n", ind->tx_len, fira_fsm_table[stage_idx]);
			#endif

			if (defer_to_report)
			{
			@@ -153,7 +150,6 @@
			}
			#endif

			//#if MCTT_TEST_EN
			#if 0
			if (ind->tx_len)
			{
			@@ -189,31 +185,28 @@
			{
			uint8_t work_mode_idx = uwb_app_config.session_param.ranging_round_usage < 5 ? uwb_app_config.session_param.ranging_round_usage : 0;
			ranging_env.range_data.sequence_num = (ranging_env.phy_sts_index - fira_key.phyStsIdxInit) / ranging_env.slots_per_block;
			#if MCTT_TEST_EN
			LOG_INFO(TRACE_NO_OPTION, "%s Resp-seq:%u Ridx:%d\r\n", work_mode_table[work_mode_idx], ranging_env.range_data.sequence_num + 1,
			ranging_env.next_round_index);
			#else

			LOG_INFO(TRACE_NO_REPORT_HOST \| TRACE_MODULE_APP \| TRACE_NO_OPTION, "\r\n");
			LOG_INFO(TRACE_NO_REPORT_HOST \| TRACE_MODULE_APP, "FiRa %s Responder SEQ NUM %u\r\n", work_mode_table[work_mode_idx],
			LOG_INFO(TRACE_NO_REPORT_HOST \| TRACE_MODULE_APP, "FiRa %s Controlee SEQ NUM %u\r\n", work_mode_table[work_mode_idx],
			ranging_env.range_data.sequence_num);
			#endif

			// clear last round measurement
			ranging_measurements_clear();

			int32_t freq_offset = phy_freq_offset_get();
			ranging_env.freq_offset_filter = average_filter(freq_offset);
			#if MCTT_TEST_EN == 0

			LOG_INFO(TRACE_MODULE_APP, "CH Freq Offset %d\r\n", ranging_env.freq_offset_filter);
			#endif
			#if XTAL_AUTO_TUNE_EN
			int32_t ppm = ranging_env.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 = ranging_env.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
			}

			if (ind->ranging_stage == RANGING_RIM \|\| ind->ranging_stage == RANGING_RRM)
			{
			struct RANGING_MEASUREMENT_T *range_result = 0;
			struct TWR_MEASUREMENT_T *range_result = 0;
			if (ind->ranging_stage == RANGING_RIM)
			{
			range_result = &ranging_env.range_data.measurements[0];
			@@ -243,19 +236,17 @@
			{
			#if AOA_EN
			// update PDoA IQ and calculate AoA angles (depends on aoa_aux_cfg)
			// ~960us -- Keil (AoA - ranging_performance_mode == 0)
			// ~1ms -- Keil (AoA - ranging_performance_mode == 3)
			// ~458us -- Keil (PDoA - ranging_performance_mode == 3)
			// board_led_on(BOARD_LED_1);
			// ~530us -- Keil (AoA - ranging_performance_mode == 3)
			// board_led_on(BOARD_LED_2);
			aoa_calculate(&range_result->aoa_elevation, &range_result->aoa_azimuth);
			// board_led_off(BOARD_LED_1);
			// board_led_off(BOARD_LED_2);
			aoa_fom_get(&range_result->aoa_elevation_fom, &range_result->aoa_azimuth_fom);
			#elif PDOA_3D_EN
			// calculate PDoA angles
			// 324us ~ 349us -- Keil
			// board_led_on(BOARD_LED_1);
			// ~410us -- Keil
			// board_led_on(BOARD_LED_2);
			pdoa_3d_calculate(range_result->mac_addr, &range_result->aoa_elevation, &range_result->aoa_azimuth);
			// board_led_off(BOARD_LED_1);
			// board_led_off(BOARD_LED_2);
			pdoa_fom_get(&range_result->aoa_elevation_fom, &range_result->aoa_azimuth_fom);
			#endif

			@@ -287,9 +278,9 @@
			}

			// 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();
			@@ -297,7 +288,7 @@
			#endif
			}

			#if RSSI_EN && (MCTT_TEST_EN == 0)
			#if RSSI_EN
			LOG_INFO(TRACE_MODULE_APP, "RSSI: %ddBm, SNR: %ddB \r\n", ind->rssi, ind->snr);
			#endif

			@@ -305,28 +296,10 @@
			ranging_fom_get(&NLoS, &FoM);
			range_result->NLoS = NLoS;
			// LOG_INFO(TRACE_MODULE_APP, "NLoS: %u, FoM: %u\r\n", NLoS, FoM);

			#if CSI_EN
			////////// need to increase slot duration for log printing
			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);

			// float chtaps_re[128];
			// float chtaps_im[128];
			// ranging_multi_taps_iq_get(chtaps_re, chtaps_im, 128);
			// for (uint8_t i = 0; i < 128; i++)
			//{
			// LOG_INFO(TRACE_NO_OPTION \| TRACE_MODULE_APP, "%f, %f\r\n", chtaps_re[i], chtaps_im[i]);
			//}
			#endif
			}
			else if (ind->ranging_stage == RANGING_RFM)
			{
			struct RANGING_MEASUREMENT_T *range_result = &ranging_env.range_data.measurements[0];
			struct TWR_MEASUREMENT_T *range_result = &ranging_env.range_data.measurements[0];
			uint8_t NLoS, FoM;
			ranging_fom_get(&NLoS, &FoM);
			if (NLoS > range_result->NLoS)
			@@ -369,7 +342,7 @@
			if (res)
			{
			// LOG_INFO(TRACE_MODULE_APP, "ToF %d\r\n", ranging_env.tof);
			struct RANGING_MEASUREMENT_T *range_result = &ranging_env.range_data.measurements[0];
			struct TWR_MEASUREMENT_T *range_result = &ranging_env.range_data.measurements[0];
			ranging_env.range_data.measurements_num = 1;
			range_result->status = STATUS_OK;

			@@ -381,12 +354,7 @@
			#if FILTER_EN
			if (uwb_app_config.filter_en)
			{
			#if KF_EN
			int16_t *azimuth = (uwb_app_config.session_param.aoa_result_req ? &range_result->aoa_azimuth : NULL);
			#else
			int16_t *azimuth = &range_result->aoa_azimuth;
			#endif

			int16_t *elevation = NULL;
			#if PDOA_3D_EN
			if (ANT_PATTERN != ANT_PATTERN_LINEAR)
			@@ -410,9 +378,11 @@
			range_result->distance, mk_q7_to_s16(range_result->aoa_azimuth), mk_q7_to_s16(range_result->aoa_elevation),
			range_result->aoa_azimuth_fom);
			#elif AOA_EN

			LOG_INFO(TRACE_NO_REPORT_HOST \| TRACE_MODULE_APP, "Distance %ucm, AoA Azimuth %d Elevation %d Azimuth FoM %u\r\n",
			range_result->distance, mk_q7_to_s16(range_result->aoa_azimuth), mk_q7_to_s16(range_result->aoa_elevation),
			range_result->aoa_azimuth_fom);

			#else
			LOG_INFO(TRACE_NO_REPORT_HOST \| TRACE_MODULE_APP, "Distance %ucm\r\n", (int16_t)range_result->distance);
			#endif
			@@ -433,31 +403,14 @@
			uwbapi_report_ranging_data(&ranging_env.range_data);
			}

			// int8_t expected_rssi = ranging_expected_rssi_get(ranging_tx_power_get(), range_result->distance, 2, 0);
			// LOG_INFO(TRACE_MODULE_APP, "Expected RSSI: %ddBm\r\n", expected_rssi);
			// calculate_first_tap_power(1, 2);
			// print_preamble_cir(ranging_env.range_data.sequence_num, 1, 2);
			// print_sts_cir(1, 2);
			}
			}

			uint8_t stage_idx = (ind->ranging_stage >= RANGING_RCM && ind->ranging_stage <= RANGING_RRRM) ? (ind->ranging_stage - RANGING_RCM + 1) : 0;
			#if MCTT_TEST_EN
			if (ind->ranging_stage == RANGING_RCM \|\| ind->ranging_stage == RANGING_MRM \|\| ind->ranging_stage == RANGING_RRRM)
			{
			if (ind->ranging_stage != RANGING_RRRM)
			{
			LOG_INFO(TRACE_NO_LEVEL_TAG \| TRACE_NO_MODULE_NAME, "r%s tp=%x,%x,%x,%d\r\n", fira_fsm_table[stage_idx], ind->timestamp,
			ind->phy_header, ranging_env.phy_sts_index, ind->slot_idx);
			}
			else
			{
			LOG_INFO(TRACE_NO_LEVEL_TAG \| TRACE_NO_MODULE_NAME, "r%s,%x,%x,%d\r\n", fira_fsm_table[stage_idx], ind->phy_header,
			ranging_env.phy_sts_index, ind->slot_idx);
			}
			}
			else
			{
			LOG_INFO(TRACE_NO_LEVEL_TAG \| TRACE_NO_MODULE_NAME, "r%s\r\n", fira_fsm_table[stage_idx]);
			}
			#else

			#if DYNAMIC_UPDATE_MAIN_ANTENNA_EN
			if ((ind->ranging_stage == RANGING_RRM) \|\| (ind->ranging_stage == RANGING_RRRM))
			{
			@@ -469,7 +422,6 @@
			{
			LOG_INFO(TRACE_NO_REPORT_HOST \| TRACE_MODULE_APP, "[RX][%u] %s\r\n", ind->rx_len, fira_fsm_table[stage_idx]);
			}
			#endif

			#if PRINT_PAYLOAD_EN
			if (ind->rx_len)
			@@ -482,21 +434,6 @@
			LOG_INFO(TRACE_NO_OPTION \| TRACE_MODULE_APP, "\r\n");
			}
			#endif

			#if MCTT_TEST_EN
			if (ind->rx_len)
			{
			if ((payload_print_len + ind->rx_len) < PAYLOAD_BUF_MAX)
			{
			memcpy(payload_print_buf + payload_print_len, ind->rx_data, ind->rx_len);
			payload_print_len += ind->rx_len;
			}
			else
			{
			LOG_INFO(TRACE_NO_OPTION, "Insufficient payload_print_buf, don't print out rx_data.\r\n");
			}
			}
			#endif
			}
			else
			{
			@@ -505,7 +442,7 @@
			#else
			LOG_INFO(TRACE_MODULE_APP, "UWB RX fail 0x%04x\r\n", ind->status);
			#endif
			#if RSSI_EN && (MCTT_TEST_EN == 0)
			#if RSSI_EN
			if (ind->status != 0x0830)
			{
			LOG_INFO(TRACE_MODULE_APP, "RSSI: %ddBm, SNR: %ddB \r\n", ind->rssi, ind->snr);
			@@ -520,30 +457,14 @@
			{
			// output result (notify)
			uwbapi_report_ranging_data(&ranging_env.range_data);

			// calculate_first_tap_power(0, 1);
			// print_preamble_cir(ranging_env.range_data.sequence_num, 0, 1);
			// print_sts_cir(0, 1);
			}
			}
			}
			break;

			#if MCTT_TEST_EN
			case RANGING_ROUND_PRINT_MSG:
			{
			if (payload_print_len > 0)
			{
			for (uint16_t i = 0; i < payload_print_len; i++)
			{
			if (i > 0 && payload_print_buf[i] == 0x49 && payload_print_buf[i + 1] == 0x2B)
			LOG_INFO(TRACE_NO_OPTION, "\r\n");

			LOG_INFO(TRACE_NO_OPTION, "%02x ", payload_print_buf[i]);
			}
			LOG_INFO(TRACE_NO_OPTION, "\r\n");
			memset(payload_print_buf, 0x0, PAYLOAD_BUF_MAX);
			payload_print_len = 0;
			}
			}
			break;
			#endif

			default:
			break;