ChinaUWBProject.git

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			/*
			* Copyright (c) 2019-2023 Beijing Hanwei Innovation Technology Ltd. Co. and
			* its subsidiaries and affiliates (collectly called MKSEMI).
			*
			* All rights reserved.
			*
			* Redistribution and use in source and binary forms, with or without
			* modification, are permitted provided that the following conditions are met:
			*
			* 1. Redistributions of source code must retain the above copyright notice,
			* this list of conditions and the following disclaimer.
			*
			* 2. Redistributions in binary form, except as embedded into an MKSEMI
			* integrated circuit in a product or a software update for such product,
			* must reproduce the above copyright notice, this list of conditions and
			* the following disclaimer in the documentation and/or other materials
			* provided with the distribution.
			*
			* 3. Neither the name of MKSEMI nor the names of its contributors may be used
			* to endorse or promote products derived from this software without
			* specific prior written permission.
			*
			* 4. This software, with or without modification, must only be used with a
			* MKSEMI integrated circuit.
			*
			* 5. Any software provided in binary form under this license must not be
			* reverse engineered, decompiled, modified and/or disassembled.
			*
			* THIS SOFTWARE IS PROVIDED BY MKSEMI "AS IS" AND ANY EXPRESS OR IMPLIED
			* WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
			* MERCHANTABILITY, NONINFRINGEMENT, AND FITNESS FOR A PARTICULAR PURPOSE ARE
			* DISCLAIMED. IN NO EVENT SHALL MKSEMI OR CONTRIBUTORS BE LIABLE FOR ANY
			* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
			* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
			* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
			* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
			* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
			* THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
			*/

			#ifndef RANGING_H_
			#define RANGING_H_
			#include "ranging_simple_task.h"
			#include "wsf_timer.h"
			#include "mk_mac.h"
			#include "uwb_api.h"

			#ifndef RESPONDER_NUM
			#define RESPONDER_NUM (1)
			#endif

			#define MSG_SESSION_ID_IDX 0
			#define MSG_SEQ_NUM_IDX 2
			#define MSG_TYPE_IDX 4
			#define MSG_HEADER_LEN 5

			#define MSG_POLL_RESPONDER_NUM_IDX 0
			// x : 0 ~ RESPONDER_NUM-1
			#define MSG_POLL_RESPONDER_ID_IDX(x) (1 + (x)*3)
			#define MSG_POLL_RESPONDER_SLOT_IDX(x) (3 + (x)*3)
			#define MSG_POLL_USER_DATA_IDX(n) (MSG_POLL_RESPONDER_ID_IDX(n))
			#define MSG_POLL_USER_DATA_LEN (100)

			#define MSG_RESPONSE_RESPONDER_ID_IDX 0
			#define MSG_RESPONSE_USER_DATA_IDX (2)
			#define MSG_RESPONSE_USER_DATA_LEN (100)

			#define MSG_FINAL_RESPONDER_NUM_IDX 0
			#define MSG_TREPLY_IDX 1
			// x : 0 ~ RESPONDER_NUM-1
			#define MSG_TROUND_IDX(x) (6 + (x)*5)

			/*
			* The content of the ranging packet is customized by the user, but the first five bytes of
			* each data packet are fixed, 2 bytes of session-id, 2 bytes of seq-num, 1 byte of packet type
			* The length of the air interface data packet transmitted by the actual UWB shall prevail.
			*/
			struct RANGING_USER_PKT_T
			{
			uint16_t session_id;
			uint16_t seq_num;
			uint8_t msg_type;
			union
			{
			/* responder_num (1B) \|\| [responder_id(2B) \|\| responder_slot_idx(1B)] * responder_num \|\| user data, poll-msg can be used to transmit user private data
			*/
			uint8_t poll_msg[MSG_POLL_USER_DATA_IDX(RESPONDER_NUM) + MSG_POLL_USER_DATA_LEN];
			/* responder_id(2B) \|\| user data, response-msg can be used to transmit user private data */
			uint8_t response_msg[MSG_RESPONSE_USER_DATA_LEN];
			/* responder_num (1B) \|\| Ttotal (= tx_final_time - tx_poll_time (5B, 0 ~ 17.2s)) \|\| responder 0 ~ N-1 Tround1 (N*5B, N=responder_num), final-msg is used
			* to transmit timestamp data */
			uint8_t final_msg[6 + RESPONDER_NUM * 5];
			} msg;
			} __PACKED;

			/* Simple ranging sync packet structure */
			struct RANGING_SYNC_MSG_T
			{
			uint8_t frameCtrl[1]; // frame control bytes 00
			uint8_t seqNum; // sequence_number 01
			uint8_t tagID[8]; // 02-09 64 bit addresses
			uint8_t fcs[2];
			} __PACKED;

			/* Simple ranging packet common structure */
			struct RANGING_COMMON_MSG_T
			{
			uint8_t frameCtrl[2]; // frame control bytes 00-01
			uint8_t seqNum; // sequence_number 02
			uint8_t panID[2]; // PAN ID 03-04
			uint8_t destAddr[8]; // 05-12 or using 64 bit addresses (05-12)
			uint8_t sourceAddr[8]; // 13-20 or using 64 bit addresses (13-20)
			uint8_t fcode;
			uint8_t user_data[30];
			} __PACKED;

			/* Simple ranging environment variable */
			struct RANGING_ENV_T
			{
			int64_t tx_poll_time;
			int64_t tx_response_time;
			int64_t tx_final_time;
			int64_t rx_poll_time;
			int64_t rx_response_time[RESPONDER_NUM];
			int64_t rx_final_time;

			uint32_t base_point;
			uint32_t anchor_point;
			uint32_t ranging_period;
			uint32_t slot_interval;
			uint32_t tof;

			uint32_t anchor_resp_dly;
			uint32_t tag_resp_dly;

			uint8_t lost_cnt;
			uint8_t enable;
			uint8_t count;
			uint8_t responder_num;
			uint16_t responder_list[RESPONDER_NUM];
			uint8_t responder_slot_idx;
			uint8_t responder_response_flag;
			uint8_t responder_final_flag;
			uint8_t slot_idx;
			uint8_t count_last;

			struct RANGE_DATA_T range_data;
			};

			/* Main control block of the ranging task */
			struct RANGING_CB_T
			{
			wsfQueue_t msg_queue;
			wsfHandlerId_t handle_id;
			wsfTimer_t daemon_timer;
			};

			#ifdef __cplusplus
			extern "C" {
			#endif

			extern struct RANGING_ENV_T ranging_env;

			/**
			* @brief Initialize ranging task.
			*
			* @param [in] handle_id Task handle ID
			*/
			int ranging_init(uint8_t handle_id);

			/**
			* @brief De-initialize ranging task.
			*/
			int ranging_deinit(void);

			/**
			* @brief Configure ranging environment variable, configure UWB subsystem.
			*/
			void ranging_configure(void);

			/**
			* @brief Start ranging procedure.
			*/
			void ranging_start(void);

			/**
			* @brief Stop ranging procedure.
			*/
			void ranging_stop(void);

			/**
			* @brief Restart ranging procedure.
			* @note This function can be called once detected link loss from peer device
			*/
			void ranging_restart(void);

			/**
			* @brief Get ranging UWB TX power.
			* @return ranging UWB TX power in dBm
			*/
			int8_t ranging_tx_power_get(void);

			/**
			* @brief Get ranging count for link loss detection.
			* @return ranging count
			*/
			uint8_t ranging_count_get(void);

			/**
			* @brief Set local device short address.
			* @param[in] short_addr Device short address
			*/
			void ranging_local_addr_set(uint16_t short_addr);

			/**
			* @brief Set peer device short address.
			* @param[in] short_addr Device short address
			*/
			void ranging_peer_addr_set(uint16_t short_addr);

			/**
			* @brief Add responder device into responder device list for one-to-many case.
			* @param[in] addr Device short address
			* @return 1: successful, 0: fail
			*/
			uint8_t ranging_responder_addr_add(uint16_t addr);

			/**
			* @brief Clear responder list.
			*/
			void ranging_responder_list_clr(void);

			/**
			* @brief Get responder short address from responder device list.
			* @param[in] idx Responder device index
			* @return short address of responder
			*/
			uint16_t ranging_responder_addr_get(uint8_t idx);

			/**
			* @brief Get responder devices number.
			* @return number of responder
			*/
			uint8_t ranging_responder_num_get(void);

			/**
			* @brief Calculate timestamp difference.
			* @param[in] ts_a Ranging timestamp a
			* @param[in] ts_b Ranging timestamp b
			* @return ts_a - ts_b
			*/
			int64_t ranging_timestamp_diff(int64_t ts_a, int64_t ts_b);

			/**
			* @brief Calculate ranging Tround.
			* @param[in] role Device role @enum DEV_ROLE_T
			* @param[in] dev_idx Device index in one-to-many case
			* @return Tround value, unit: 15.6ps
			*/
			int64_t ranging_tround(enum DEV_ROLE_T role, uint8_t dev_idx);

			/**
			* @brief Calculate ranging Treply.
			* @param[in] role Device role @enum DEV_ROLE_T
			* @param[in] dev_idx Device index in one-to-many case
			* @return Treply value, unit: 15.6ps
			*/
			int64_t ranging_treply(enum DEV_ROLE_T role, uint8_t dev_idx);

			/**
			* @brief Process ranging poll packet.
			* @param[in] pkt_data Pointer of poll packet data
			* @param[in] pkt_len Poll packet length
			* @return 1: poll packet parse successful
			*/
			uint8_t ranging_poll_pkt_process(uint8_t *pkt_data, uint16_t pkt_len);

			/**
			* @brief Ranging FSM, to process MAC TX or RX done event in MAC interrupt handler.
			* @param[in] ind Pointer of MAC HW report
			* @return next ranging stage
			*/
			enum RANGING_STAGE_T ranging_fsm(const struct MAC_HW_REPORT_T *ind);

			#ifdef __cplusplus
			}
			#endif

			#endif /* RANGING_H_ */