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.
			*/

			#include "mk_trace.h"
			#include "mk_clock.h"
			#include "mk_uwb.h"
			#include "mk_calib.h"
			#include "mk_misc.h"
			#include "ranging_simple.h"
			#include "lib_aoa.h"
			#include "lib_ranging.h"
			#if KF_EN
			#include "lib_kf.h"
			#endif
			#include "board.h"

			#define PRINT_PAYLOAD_EN 0
			#define PDOA_PRINT_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_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

			/*************************************************************************************************/
			/*!
			* \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:
			{
			uint8_t count = ranging_count_get();
			if (count == ranging_env.count_last)
			{
			LOG_INFO(TRACE_MODULE_APP, "Ranging was suspended %u\r\n", count);
			ranging_restart();
			}
			else
			{
			// LOG_INFO(TRACE_MODULE_APP, "Ranging count %u %u\r\n", ranging_env.count_last, count);
			ranging_env.count_last = count;
			}
			}
			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;
			uint8_t flag_print = 1;

			switch (ind->ranging_stage)
			{
			case RANGING_SYNC:
			{
			LOG_INFO(TRACE_MODULE_APP \| TRACE_NO_OPTION, "\r\n");
			LOG_INFO(TRACE_MODULE_APP, "[TX][%u] Sync ", ind->tx_len);
			}
			break;

			case RANGING_CFG:
			{
			LOG_INFO(TRACE_MODULE_APP, "[TX][%u] Config ", ind->tx_len);
			}
			break;

			case RANGING_POLL:
			{
			LOG_INFO(TRACE_NO_OPTION \| TRACE_MODULE_APP, "\r\n");
			struct RANGING_COMMON_MSG_T p_msg = (struct RANGING_COMMON_MSG_T )ind->tx_data;
			LOG_INFO(TRACE_MODULE_APP, "DS-TWR Initiator SEQ NUM %u\r\n", p_msg->seqNum);
			LOG_INFO(TRACE_MODULE_APP, "[TX][%u] Poll ", ind->tx_len);
			}
			break;

			case RANGING_RESPONSE:
			{
			LOG_INFO(TRACE_MODULE_APP, "[TX][%u] Response ", ind->tx_len);
			}
			break;

			case RANGING_FINAL:
			{
			LOG_INFO(TRACE_MODULE_APP, "[TX][%u] Final", ind->tx_len);
			}
			break;

			default:
			flag_print = 2;
			break;
			}

			if (flag_print == 1)
			{
			#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]);
			}
			}
			#endif
			LOG_INFO(TRACE_NO_OPTION \| TRACE_MODULE_APP, "\r\n");
			}
			}
			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)
			{
			uint8_t flag_print = 1;

			switch (ind->ranging_stage)
			{
			case RANGING_SYNC:
			{
			LOG_INFO(TRACE_MODULE_APP \| TRACE_NO_OPTION, "\r\n");
			LOG_INFO(TRACE_MODULE_APP, "[RX][%u] Sync ", ind->rx_len);
			}
			break;

			case RANGING_CFG:
			{
			LOG_INFO(TRACE_MODULE_APP, "[RX][%u] Config ", ind->rx_len);
			}
			break;

			case RANGING_POLL:
			{
			LOG_INFO(TRACE_NO_OPTION \| TRACE_MODULE_APP, "\r\n");
			LOG_INFO(TRACE_MODULE_APP, "[RX][%u] Poll ", ind->rx_len);
			}
			break;

			case RANGING_RESPONSE:
			{
			LOG_INFO(TRACE_MODULE_APP, "[RX][%u] Response ", ind->rx_len);
			}
			break;

			case RANGING_FINAL:
			{
			LOG_INFO(TRACE_MODULE_APP, "[RX][%u] Final ", ind->rx_len);
			}
			break;

			default:
			flag_print = 2;
			break;
			}

			if (flag_print == 1)
			{
			#if PRINT_PAYLOAD_EN
			for (uint8_t ii = 0; ii < ind->rx_len; ii++)
			{
			LOG_INFO(TRACE_NO_OPTION \| TRACE_MODULE_APP, "%02x ", ind->rx_data[ii]);
			}
			#endif
			LOG_INFO(TRACE_NO_OPTION \| TRACE_MODULE_APP, "\r\n");

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

			if (ind->ranging_stage == RANGING_POLL)
			{
			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

			struct RANGING_MEASUREMENT_T *range_result = &ranging_env.range_data.measurements[0];
			uint8_t NLoS, FoM;
			ranging_fom_get(&NLoS, &FoM);
			range_result->NLoS = NLoS;
			// LOG_INFO(TRACE_MODULE_APP, "NLoS: %u, FoM: %u\r\n", NLoS, FoM);
			}
			else if (ind->ranging_stage == RANGING_RESPONSE)
			{
			uint8_t NLoS, FoM;
			ranging_fom_get(&NLoS, &FoM);
			// LOG_INFO(TRACE_MODULE_APP, "NLoS: %u, FoM: %u\r\n", NLoS, FoM);
			}
			else if (ind->ranging_stage == RANGING_FINAL)
			{
			struct RANGING_COMMON_MSG_T p_final_msg = (struct RANGING_COMMON_MSG_T )ind->rx_data;

			int64_t Tround1 = 0;
			int64_t Tround2 = 0;
			int64_t Treply1 = 0;
			int64_t Treply2 = 0;

			if (ranging_env.responder_final_flag)
			{
			Tround2 = ranging_tround(DEV_ROLE_RESPONDER, 0);
			Treply1 = ranging_treply(DEV_ROLE_RESPONDER, 0);

			// recv tx_poll_timestamp, rx_response_timestamp, tx_final_timestamp
			int64_t buff_timestamp[3] = {0};
			for (int j = 0; j < 3; j++)
			{
			for (int i = 4; i >= 0; i--)
			{
			buff_timestamp[j] = (buff_timestamp[j] << 8) \| p_final_msg->user_data[j * 5 + i];
			}
			}

			Tround1 = buff_timestamp[1] - buff_timestamp[0];
			Treply2 = buff_timestamp[2] - buff_timestamp[1];
			}

			if ((Tround1) && (Treply1) && (Tround2) && (Treply2))
			{
			int64_t tof_i = (Tround1 * Tround2 - Treply1 * Treply2) / (Tround1 + Tround2 + Treply1 + Treply2);
			// outlier filter
			if (tof_i < 0)
			{
			tof_i = 0;
			}
			ranging_env.tof = (uint32_t)tof_i;

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

			struct RANGING_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);

			range_result->status = STATUS_OK;
			if (ranging_frame_type_get() == SP1)
			{
			range_result->status = sts_valid_check() ? STATUS_OK : STATUS_FAILED;
			}
			// STS valid
			if (range_result->status == STATUS_OK)
			{
			#if AOA_EN \|\| PDOA_PRINT_EN
			// update PDoA IQ and calculate AoA angles (depends on aoa_aux_cfg)
			aoa_calculate(NULL, &range_result->aoa_azimuth);
			#endif

			#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);
			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]);

			// float *iq = sts_first_path_iq_get();
			// LOG_INFO(TRACE_MODULE_APP, "ANT0 IQ: %f %f\r\n", iq[0], iq[1]);
			// LOG_INFO(TRACE_MODULE_APP, "ANT1 IQ: %f %f\r\n", iq[2], iq[3]);
			// LOG_INFO(TRACE_MODULE_APP, "ANT2 IQ: %f %f\r\n", iq[4], iq[5]);
			// LOG_INFO(TRACE_MODULE_APP, "ANT3 IQ: %f %f\r\n", iq[6], iq[7]);
			#endif

			#if FILTER_EN
			if (uwb_app_config.filter_en)
			{
			// filter process
			ranging_result_filter(&range_result->distance, &range_result->aoa_azimuth, &range_result->aoa_elevation);
			}
			#endif

			uint8_t aoa_en = uwb_app_config.session_param.aoa_result_req;
			if (aoa_en)
			{
			uint8_t fom;
			aoa_fom_get(NULL, &fom);
			board_ranging_result_correct(&range_result->distance, &range_result->aoa_azimuth, &range_result->aoa_elevation);

			LOG_INFO(TRACE_MODULE_APP, "Distance %ucm, AoA Azimuth %d FoM %u\r\n", range_result->distance,
			mk_q7_to_s16(range_result->aoa_azimuth), fom);
			}
			else
			{
			range_result->aoa_azimuth = 0;
			LOG_INFO(TRACE_MODULE_APP, "Raw Distance %ucm\r\n", range_result->distance);
			}

			struct RANGE_DATA_T *range_data = &ranging_env.range_data;

			range_data->mac_addr_mode = MAC_ADDR_LONG;
			range_data->measurements_num = 1;
			memcpy(range_result->mac_addr, uwbs_peer_long_addr_get(), 8);
			range_result->slot_idx = ranging_env.responder_slot_idx;

			uint8_t NLoS, FoM;
			ranging_fom_get(&NLoS, &FoM);
			if (NLoS > range_result->NLoS)
			{
			range_result->NLoS = NLoS;
			}
			// 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

			// output result
			uwbapi_report_ranging_data(range_data);
			}
			else
			{
			LOG_INFO(TRACE_MODULE_APP, "STS Invalid\r\n");
			}
			}
			else
			{
			LOG_INFO(TRACE_MODULE_APP, "Timestamp error\r\n");
			}
			}
			}
			else
			{
			LOG_INFO(TRACE_MODULE_APP, "UWB RX fail 0x%04x, stage %d\r\n", ind->status, ind->ranging_stage);
			}
			}
			break;

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