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.
			@@ -46,13 +46,15 @@
			#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"

			#define PRINT_PAYLOAD_EN 0
			#define PDOA_PRINT_EN 0

			int32_t g_freq_offset;

			#if FILTER_EN
			static void ranging_result_filter(uint16_t distance, int16_t azimuth, int16_t *elevation)
			@@ -62,7 +64,6 @@
			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);
			@@ -92,19 +93,6 @@

			// LOG_INFO(TRACE_MODULE_APP, "$%u %u %d %d %d %d;\r\n", (uint16_t)(range_meas100),(uint16_t)(post_range100),(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_meas100), (uint16_t)(post_range100),(int16_t)azimuth_meas, (int16_t)post_azimuth);
			#endif
			}
			#endif

			@@ -118,10 +106,6 @@
			* \return None.
			*/
			/*************************************************************************************************/
			int32_t tof_i;
			double tof_f;
			int64_t Tround;
			int64_t Treply;
			void ranging_handler(wsfEventMask_t event, const void *param)
			{
			const wsfMsgHdr_t msg = (const wsfMsgHdr_t )param;
			@@ -148,6 +132,12 @@
			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_POLL)
			{
			uint16_t seq_num = READ_SHORT(&ind->tx_data[2]);
			@@ -196,25 +186,18 @@
			LOG_INFO(TRACE_MODULE_APP, "RSSI: %ddBm, SNR: %ddB \r\n", ind->rssi, ind->snr);
			#endif

			int32_t freq_offset_filter = average_filter(g_freq_offset);
			LOG_INFO(TRACE_MODULE_APP, "CH Freq Offset %d\r\n", freq_offset_filter);

			#if X38M4_AUTO_TUNE_EN
			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

			// uint8_t NLoS, FoM;
			// ranging_fom_get(&NLoS, &FoM);
			// LOG_INFO(TRACE_MODULE_APP, "NLoS: %u, FoM: %u\r\n", NLoS, FoM);

			#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
			int32_t freq_offset = phy_freq_offset_get();
			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);
			calib_xtal38m4_load_cap_auto_tune(ppm);
			#endif
			#if USER_DEFINED_DATA_REPORT_EN
			if (ind->rx_len - POLL_MSG_USER_DATA_IDX)
			{
			@@ -230,12 +213,11 @@
			LOG_INFO(TRACE_MODULE_APP, "RSSI: %ddBm, SNR: %ddB \r\n", ind->rssi, ind->snr);
			#endif

			int32_t freq_offset = phy_freq_offset_get();
			int32_t freq_offset_filter = average_filter(freq_offset);
			int32_t freq_offset_filter = average_filter(g_freq_offset);
			LOG_INFO(TRACE_MODULE_APP, "CH Freq Offset %d\r\n", freq_offset_filter);

			Tround = ranging_tround();
			Treply = 0;
			int64_t Tround = ranging_tround();
			int64_t Treply = 0;

			for (int i = 4; i >= 0; i--)
			{
			@@ -247,32 +229,33 @@
			if ((Tround) && (Treply))
			{
			// corrected by frequency offset
			Tround = (int64_t)((double)Tround * (1 - (double)freq_offset_filter / ch_center_freq_map[uwb_app_config.ppdu_params.ch_num]));
			tof_i = (int32_t)(Tround - Treply) / 2;
			Tround = (int64_t)((double)Tround * (1 - (double)freq_offset_filter / uwb_ch_freq_table[uwb_app_config.ppdu_params->ch_num]));
			int32_t tof_i = (int32_t)(Tround - Treply) / 2;

			// outlier filter
			if (tof_i < 0)
			{
			tof_i = 0;
			}

			ranging_env.tof = (uint32_t)(tof_i);

			tof_f = (double)TIMESTAMP_UNIT_TO_NS(ranging_env.tof);

			struct RANGING_MEASUREMENT_T *range_result = &ranging_env.range_data.measurements[0];
			ranging_env.tof = (uint32_t)(tof_i);

			double tof_f = (double)TIMESTAMP_UNIT_TO_NS(ranging_env.tof);

			struct TWR_MEASUREMENT_T *range_result = &ranging_env.range_data.measurements[0];

			// update distance result
			range_result->distance = (uint16_t)(tof_f * 0.299702547 * VP_VAL - RANGING_CORR);

			LOG_INFO(TRACE_MODULE_APP, "tof_f %lf,tof_i %d\r\n", tof_f,tof_i);

			range_result->status = STATUS_OK;

			if (ranging_frame_type_get() == SP1)
			if (uwb_app_config.ppdu_params->sts_pkt_cfg != SP0)
			{
			range_result->status = sts_valid_check() ? STATUS_OK : STATUS_FAILED;
			}
			else
			{
			range_result->status = STATUS_OK;
			}

			// STS valid
			if (range_result->status == STATUS_OK)
			{
			@@ -283,9 +266,9 @@

			#if PDOA_PRINT_EN
			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();
			@@ -323,7 +306,7 @@

			struct RANGE_DATA_T *range_data = &ranging_env.range_data;

			range_data->ranging_type = 0x01;
			range_data->ranging_type = 0x01; // TWR (SS-TWR, DS-TWR)
			range_data->measurements_num = 1;
			uint16_t target_addr = uwbs_peer_short_addr_get();
			range_result->mac_addr[0] = target_addr & 0xff;