安邦手环GPS删除部分无用数据和修改4G波特率9600出厂测试固件

chen

2024-11-08 cc432b761c884a0bd8e9d83db0a4e26109fc08b1

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

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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.
 */

#include "mk_trace.h"
#include "mk_clock.h"
#include "mk_uwb.h"
#include "mk_calib.h"
#include "mk_misc.h"
#include "ranging_ccc.h"
#include "uwb_api.h"
#include "lib_ccc.h"
#include "lib_aoa.h"
#include "lib_ranging.h"

#if KF_EN
#include "lib_kf.h"
#endif

#if PDOA_3D_EN
#include "lib_pdoa_3d.h"
#endif

#include "board.h"

#define PRINT_PAYLOAD_EN 0
#define PRINT_PDOA_IQ_EN 0

#if FILTER_EN
static void ranging_result_filter(uint16_t *distance, int16_t *azimuth, int16_t *elevation)
{
    if ((distance == NULL) || (azimuth == NULL) || (elevation == NULL))
    {
        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);
    float range_meas = (float)*distance / 100;
    // call filter
    uint16_t target_addr = uwbs_peer_short_addr_get();
    uint8_t mac_addr[8];
    memset(mac_addr, 0, 8);
    mac_addr[0] = target_addr & 0xff;
    mac_addr[1] = (target_addr >> 8) & 0xff;
    loc_kf_filter(range_meas, KF_DATA_TYPE_RANGING, mac_addr, &post_range);
    if (uwb_app_config.session_param.aoa_result_req)
    {
        loc_kf_filter(azimuth_meas, KF_DATA_TYPE_AZIMUTH, mac_addr, &post_azimuth);
        loc_kf_filter(elevation_meas, KF_DATA_TYPE_ELEVATION, mac_addr, &post_elevation);
    }
    else
    {
        post_azimuth = azimuth_meas;
        post_elevation = elevation_meas;
    }
    // update distance
    *distance = (uint16_t)(post_range * 100);
    // update angle
    *azimuth = mk_f32_to_q7(post_azimuth);
    *elevation = mk_f32_to_q7(post_elevation);

    // 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

#if RANGING_FOM_FILTER_EN
static void ranging_report_debug_csi_while_failed(void)
{
    if (ranging_debug_csi_en_get())
    {
        if (uwb_app_config.session_param.device_role == DEV_ROLE_RESPONDER)
        {
            uwbapi_report_debug_csi_data(&debug_csi);
        }
    }
    else
    {
        LOG_INFO(TRACE_MODULE_APP, "debug_csi_en is disabled, message drop!!!\r\n");
    }
}

static void ranging_report_debug_csi_while_successed(uint16_t distance, bool overflow)
{
    if (ranging_debug_csi_en_get())
    {
        if (overflow)
        {
            // Transaction overflow, RESPONSE SP3 frame from this responder cannot be processed by the device
            debug_csi.ranging_status = 0x01;
        }

        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.azimuth_fom = ranging_env.azimuth_fom;

        calculate_first_tap_power(4, 2);
        // print_preamble_chest(4, 2);

        uwbapi_report_debug_csi_data(&debug_csi);
    }
    else
    {
        LOG_INFO(TRACE_MODULE_APP, "debug_csi_en is disabled, message drop!!!\r\n");
    }
}
#endif

/*************************************************************************************************/
/*!
 *  \brief  WSF event handler for ranging task.
 *
 *  \param  event   WSF event mask.
 *  \param  msg    WSF message.
 *
 *  \return None.
 */
/*************************************************************************************************/
void ranging_handler(wsfEventMask_t event, const void *param)
{
    const wsfMsgHdr_t *msg = (const wsfMsgHdr_t *)param;

    if (msg != NULL)
    {
        switch (msg->event)
        {
            case RANGING_DAEMON_TIMER_MSG:
            {
                if (ranging_env.count == ranging_env.count_last)
                {
                    LOG_INFO(TRACE_MODULE_APP, "Ranging was suspended %u\r\n", ranging_env.count);
                    ranging_restart();
                }
                else
                {
                    // LOG_INFO(TRACE_MODULE_APP, "Ranging count %u %u\r\n", ranging_env.count_last, count);
                    ranging_env.count_last = ranging_env.count;
                }
            }
            break;

            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);
            }
            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->ranging_stage == RANGING_PRE_POLL)
                {
                    LOG_INFO(TRACE_MODULE_APP | TRACE_NO_OPTION, "\r\n");
                    LOG_INFO(TRACE_MODULE_APP, "CCC DS-TWR Deferred Initiator SEQ NUM %u ridx %u sidx %u\r\n", ind->block_idx, ind->round_idx, ind->sts_idx);
                    LOG_INFO(TRACE_MODULE_APP, "[TX][%u] Pre-Poll\r\n", ind->tx_len);
                }
                else if (ind->ranging_stage == RANGING_POLL)
                {
                    LOG_INFO(TRACE_MODULE_APP, "[TX][%u] Poll\r\n", ind->tx_len);
                }
                else if (ind->ranging_stage == RANGING_RESPONSE)
                {
                    LOG_INFO(TRACE_MODULE_APP, "[TX][%u] Response\r\n", ind->tx_len);
                }
                else if (ind->ranging_stage == RANGING_FINAL)
                {
                    LOG_INFO(TRACE_MODULE_APP, "[TX][%u] Final\r\n", ind->tx_len);
                }
                else if (ind->ranging_stage == RANGING_FINAL_DATA)
                {
                    LOG_INFO(TRACE_MODULE_APP, "[TX][%u] Final-Data\r\n", ind->tx_len);
                }
                else
                {
                    LOG_ERROR(TRACE_MODULE_APP, "unknown stage 0x%x\r\n", ind->ranging_stage);
                }

#if PRINT_PAYLOAD_EN
                if (ind->tx_len)
                {
                    LOG_INFO(TRACE_MODULE_APP, " ");
                    for (uint8_t i = 0; i < ind->tx_len; i++)
                    {
                        LOG_INFO(TRACE_NO_OPTION | TRACE_MODULE_APP, "%02x ", ind->tx_data[i]);
                    }
                    LOG_INFO(TRACE_NO_OPTION | TRACE_MODULE_APP, "\r\n");
                }
#endif
            }
            break;

            case UWB_PKT_RX_DONE_MSG:
            {
                const struct UWB_PKT_RX_DONE_IND_T *ind = (const struct UWB_PKT_RX_DONE_IND_T *)param;

                if (ind->status == UWB_RX_OK)
                {
                    if (ind->ranging_stage == RANGING_PRE_POLL)
                    {
                        LOG_INFO(TRACE_MODULE_APP | TRACE_NO_OPTION, "\r\n");
                        LOG_INFO(TRACE_MODULE_APP, "CCC DS-TWR Deferred Responder SEQ NUM %u ridx %u sidx %u\r\n", ind->block_idx, ind->round_idx,
                                 ind->sts_idx);
                        LOG_INFO(TRACE_MODULE_APP, "[RX][%u] Pre-Poll\r\n", ind->rx_len);

                        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
                    }
                    else if (ind->ranging_stage == RANGING_POLL)
                    {
#if DYNAMIC_UPDATE_MAIN_ANTENNA_EN
                        LOG_INFO(TRACE_MODULE_APP, "[%u][%u][RX][%u] Poll\r\n", ranging_env.responder_slot_idx, ranging_env.main_ant_id[0], ind->rx_len);
#else
                        LOG_INFO(TRACE_MODULE_APP, "[RX][%u] Poll\r\n", ind->rx_len);
#endif
                    }
                    else if (ind->ranging_stage == RANGING_RESPONSE)
                    {
#if DYNAMIC_UPDATE_MAIN_ANTENNA_EN
                        LOG_INFO(TRACE_MODULE_APP, "[%u][%u][RX][%u] Response\r\n", ind->slot_idx + 1, ranging_env.main_ant_id[ind->slot_idx], ind->rx_len);
#else
                        LOG_INFO(TRACE_MODULE_APP, "[RX][%u] Response\r\n", ind->rx_len);
#endif
                    }
                    else if (ind->ranging_stage == RANGING_FINAL)
                    {
#if DYNAMIC_UPDATE_MAIN_ANTENNA_EN
                        LOG_INFO(TRACE_MODULE_APP, "[%u][%u][RX][%u] Final\r\n", ranging_env.responder_slot_idx, ranging_env.main_ant_id[0], ind->rx_len);
#else
                        LOG_INFO(TRACE_MODULE_APP, "[RX][%u] Final\r\n", ind->rx_len);
#endif
                        if (uwb_app_config.session_param.aoa_result_req)
                        {
#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);
                            aoa_calculate(&ranging_env.elevation, &ranging_env.azimuth);
                            // board_led_off(BOARD_LED_1);
                            aoa_fom_get(&ranging_env.elevation_fom, &ranging_env.azimuth_fom);
#elif PDOA_3D_EN
                            // calculate PDoA angles
                            // 324us ~ 349us -- Keil
                            // board_led_on(BOARD_LED_1);
                            pdoa_3d_calculate(uwbs_local_long_addr_get(), &ranging_env.elevation, &ranging_env.azimuth);
                            // board_led_off(BOARD_LED_1);
                            pdoa_fom_get(&ranging_env.elevation_fom, &ranging_env.azimuth_fom);
#endif

#if PRINT_PDOA_IQ_EN
#if AOA_EN || PDOA_3D_EN
                            float *iq = sts_first_path_iq_get();
#else
                            float *iq = NULL;
                            pdoa_iq_get(&iq);
#endif
                            ////////// need to increase slot duration for log printing
                            if (RX_ANT_PORTS_NUM == 2)
                            {
                                LOG_INFO(TRACE_MODULE_APP, "ANT IQ: %f %f\r\n", iq[0], iq[1]);
                                LOG_INFO(TRACE_MODULE_APP, "ANT IQ: %f %f\r\n", iq[2], iq[3]);
                            }
                            else if (RX_ANT_PORTS_NUM == 3)
                            {
                                LOG_INFO(TRACE_MODULE_APP, "ANT IQ: %f %f\r\n", iq[0], iq[1]);
                                LOG_INFO(TRACE_MODULE_APP, "ANT IQ: %f %f\r\n", iq[2], iq[3]);
                                LOG_INFO(TRACE_MODULE_APP, "ANT IQ: %f %f\r\n", iq[4], iq[5]);
                            }
                            else if (RX_ANT_PORTS_NUM == 4)
                            {
                                LOG_INFO(TRACE_MODULE_APP, "ANT IQ: %f %f\r\n", iq[0], iq[1]);
                                LOG_INFO(TRACE_MODULE_APP, "ANT IQ: %f %f\r\n", iq[2], iq[3]);
                                LOG_INFO(TRACE_MODULE_APP, "ANT IQ: %f %f\r\n", iq[4], iq[5]);
                                LOG_INFO(TRACE_MODULE_APP, "ANT IQ: %f %f\r\n", iq[6], iq[7]);
                            }

                            // float pdoa[3];
                            // pdoa[0] = pdoa_select_get(0, 3);
                            // pdoa[1] = pdoa_select_get(1, 3);
                            // pdoa[2] = pdoa_select_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)
                    {
                        LOG_INFO(TRACE_MODULE_APP, "[RX][%u] Final-Data\r\n", ind->rx_len);
                    }
                    else
                    {
                        LOG_ERROR(TRACE_MODULE_APP, "unknown stage 0x%x\r\n", ind->ranging_stage);
                    }

#if PRINT_PAYLOAD_EN
                    if (ind->rx_len)
                    {
                        LOG_INFO(TRACE_MODULE_APP, " ");
                        for (uint8_t i = 0; i < ind->rx_len; i++)
                        {
                            LOG_INFO(TRACE_NO_OPTION | TRACE_MODULE_APP, "%02x ", ind->rx_data[i]);
                        }
                        LOG_INFO(TRACE_NO_OPTION | TRACE_MODULE_APP, "\r\n");
                    }
#endif
                }
                else
                {
#if DYNAMIC_UPDATE_MAIN_ANTENNA_EN
                    LOG_INFO(TRACE_MODULE_APP, "[%u][%u] UWB RX fail  0x%04x\r\n", ind->slot_idx + 1, ranging_env.main_ant_id[ind->slot_idx], ind->status);
#else
                    LOG_INFO(TRACE_MODULE_APP, "UWB RX fail 0x%04x\r\n", ind->status);
#endif

#if RANGING_FOM_FILTER_EN
                    ranging_report_debug_csi_while_failed();

                    memset(&debug_csi, 0x00, sizeof(debug_csi));
#endif
                }

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

            case RANGING_REPORT_MSG:
            {
                const struct RANGING_REPORT_IND_T *ind = (const struct RANGING_REPORT_IND_T *)param;

                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)
                {
                    tof_i = 0;
                }

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

                uint16_t 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);

                    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);

                    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 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);
                }

#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);

                memset(&debug_csi, 0x00, sizeof(debug_csi));
#endif
            }
            break;

            default:
                break;
        }
    }
    // Handle events
    else if (event)
    {
    }
}