From adfc7e798b9cbdd022bf8df971843436912a0fe5 Mon Sep 17 00:00:00 2001
From: chen <15335560115@163.com>
Date: 星期日, 20 七月 2025 16:58:30 +0800
Subject: [PATCH] 成功移植g_com_map表逻辑，初步测试能读能写，并且TDOA效果和官方一致
---
keil/include/components/app/src/aoa.c | 67 ++++++++++++++++-----------------
1 files changed, 33 insertions(+), 34 deletions(-)
diff --git a/keil/include/components/app/src/aoa.c b/keil/include/components/app/src/aoa.c
index 9ba4534..6eb5fed 100644
--- a/keil/include/components/app/src/aoa.c
+++ b/keil/include/components/app/src/aoa.c
@@ -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.
@@ -51,8 +51,16 @@
#include "board.h"
+#if FILTER_EN
+#define KF_SUPPORT_NUM 6
+#define KF_TIMEOUT_MS 2000
+static struct KF_MAC_ADDR_T kf_mac_addr_cache[KF_SUPPORT_NUM];
+static struct KF_CHANNEL_CACHE_T kf_channel_cache[KF_SUPPORT_NUM];
+static struct KF_MAT_VALUE_CACHE_T kf_mat_value_cache[KF_SUPPORT_NUM];
+#endif
+
#if PDOA_3D_EN
-#define PDOA_3D_SUPPORT_NUM 100
+#define PDOA_3D_SUPPORT_NUM 10
#define PDOA_3D_TIMEOUT_MS 2000
static struct PDOA_3D_MAC_ADDR_T mac_addr_cache[PDOA_3D_SUPPORT_NUM];
static struct PDOA_3D_PDOA_DATA_T pdoa_data_cache[PDOA_3D_SUPPORT_NUM];
@@ -114,15 +122,15 @@
if (uwb_app_config.session_param.device_role == DEV_ROLE_INITIATOR)
{
- phy_rx_sts_switch_mode_set(uwb_app_config.ppdu_params.sts_pkt_cfg, STS_NEVER_SWITCH, 0, 0);
+ phy_rx_sts_switch_mode_set(uwb_app_config.ppdu_params->sts_pkt_cfg, STS_NEVER_SWITCH, 0, 0);
}
else
{
- phy_rx_sts_switch_mode_set(uwb_app_config.ppdu_params.sts_pkt_cfg, STS_SWITCH_EVERY_4SYM, 0, 0);
+ phy_rx_sts_switch_mode_set(uwb_app_config.ppdu_params->sts_pkt_cfg, STS_SWITCH_EVERY_4SYM, 0, 0);
}
#if (ANT_PATTERN == ANT_PATTERN_SQUARE)
- struct AOA_ANGLE_SPAN_T aoa_span;
+ angle_span_t aoa_span;
#if AOA_3D_EN
aoa_span.Ndim = 2;
aoa_span.el_low = 0;
@@ -144,22 +152,21 @@
#endif
#if AOA_EN
- aoa_aux_info_set(AOA_AUX_ANT_IQ_RSSI_PDOA_AOA_FOM);
- aoa_steering_vector_set((const float *)((uint32_t)((uwb_app_config.ppdu_params.ch_num == 9) ? svec_ch9_ptr : svec_ch5_ptr) | SRAM_BASE));
+ sts_param_config(uwb_app_config.ppdu_params->sts_pkt_cfg, STS_AUX_ANT_IQ_RSSI_PDOA_AOA_FOM, STS_BUF_NUM, STS_BUF_SIZE);
+ aoa_steering_vector_set((const float *)((uint32_t)((uwb_app_config.ppdu_params->ch_num == 9) ? svec_ch9_ptr : svec_ch5_ptr) | SRAM_BASE));
#else
- aoa_aux_info_set(AOA_AUX_ANT_IQ_RSSI);
+ sts_param_config(uwb_app_config.ppdu_params->sts_pkt_cfg, STS_AUX_ANT_IQ_RSSI, STS_BUF_NUM, STS_BUF_SIZE);
#endif
- aoa_param_config();
-
#if PDOA_3D_EN
- pdoa_3d_param_config(ANT_PATTERN, ANT_LAYOUT, PDOA_3D_AMBIGUITY_LEVEL_HIGH, mac_addr_cache, pdoa_data_cache, PDOA_3D_SUPPORT_NUM, PDOA_3D_TIMEOUT_MS);
+ pdoa_3d_param_config(ANT_PATTERN, ANT_LAYOUT, PDOA_3D_AMBIGUITY_LEVEL_NONE, mac_addr_cache, pdoa_data_cache, PDOA_3D_SUPPORT_NUM, PDOA_3D_TIMEOUT_MS);
#endif
#if FILTER_EN
if (uwb_app_config.filter_en)
{
- loc_post_filter_config(uwb_app_config.session_param.ranging_interval, 0, 1);
+ uint32_t update_period_ms = uwb_app_config.session_param.ranging_interval;
+ loc_post_kf_config(update_period_ms, kf_mac_addr_cache, kf_channel_cache, kf_mat_value_cache, KF_SUPPORT_NUM, KF_TIMEOUT_MS);
}
#endif
}
@@ -170,12 +177,7 @@
aoa_env.sequence_num++;
if (uwb_app_config.session_param.device_role == DEV_ROLE_INITIATOR)
{
- // Power on radio
- power_on_radio(1, 0);
-
- // SP3 payload len = 0
- mac_tx(EVT_MODE_MAC_ASAP_PHY_FIX, aoa_env.anchor_point, 0, NULL, 0);
- mac_start();
+ uwb_tx(NULL, 0, TX_MODE_DEFER, aoa_env.anchor_point);
LOG_INFO(TRACE_MODULE_APP, "AoA Initiator SEQ NUM %u\r\n", aoa_env.sequence_num);
}
@@ -183,20 +185,18 @@
{
// Change Rx main antenna
uint8_t main_ant = 3;
- phy_rx_sts_switch_mode_set(uwb_app_config.ppdu_params.sts_pkt_cfg, STS_SWITCH_EVERY_4SYM, 1, main_ant);
- aoa_param_update(main_ant);
- // Power on radio
- power_on_radio(0, 1);
- sts_lsp_store();
+ phy_rx_sts_switch_mode_set(uwb_app_config.ppdu_params->sts_pkt_cfg, STS_SWITCH_EVERY_4SYM, 1, main_ant);
+ sts_param_update(main_ant);
+
if (aoa_env.stage == AOA_SYNC)
{
- mac_rx(EVT_MODE_MAC_PHY_ASAP, 0, aoa_env.ranging_period);
+ uwb_rx(RX_MODE_IMMEDIATE, 0, aoa_env.ranging_period);
}
else
{
- mac_rx(EVT_MODE_MAC_ASAP_PHY_FIX, aoa_env.anchor_point - UWB_RX_OPEN_IN_ADVANCE, UWB_RX_WINDOW);
+ uwb_rx(RX_MODE_DEFER, aoa_env.anchor_point - UWB_RX_OPEN_IN_ADVANCE, UWB_RX_WINDOW);
}
- mac_start();
+
LOG_INFO(TRACE_MODULE_APP, "AoA Responder SEQ NUM %u\r\n", aoa_env.sequence_num);
}
}
@@ -218,6 +218,9 @@
void aoa_process(const struct MAC_HW_REPORT_T *ind)
{
+ power_off_radio();
+ sts_lsp_store_stop();
+
if (uwb_app_config.session_param.device_role == DEV_ROLE_INITIATOR)
{
phy_timer_target_set(aoa_env.anchor_point + aoa_env.ranging_period - UWB_EVT_PREFETCH_TIME, aoa_timer_callback);
@@ -226,7 +229,6 @@
{
if (ind->err_code == UWB_RX_OK)
{
- sts_lsp_store_stop();
// update anchor point
aoa_env.anchor_point = ind->timestamp - phy_shr_duration();
aoa_env.stage = AOA_POLL;
@@ -242,9 +244,7 @@
{
if (aoa_env.stage == AOA_SYNC)
{
- sts_lsp_store();
- mac_rx(EVT_MODE_MAC_PHY_ASAP, 0, aoa_env.ranging_period);
- mac_start();
+ uwb_rx(RX_MODE_IMMEDIATE, 0, aoa_env.ranging_period);
return;
}
else
@@ -258,8 +258,6 @@
}
phy_timer_target_set(aoa_env.anchor_point + aoa_env.ranging_period - UWB_EVT_PREFETCH_TIME, aoa_timer_callback);
}
-
- power_off_radio();
}
void aoa_done(const struct MAC_HW_REPORT_T *rx)
@@ -270,8 +268,9 @@
{
ind->hdr.event = AOA_DONE_MSG;
ind->status = rx->err_code;
- ind->rssi = rx->rssi;
- ind->snr = rx->snr;
+ // ind->rssi = rx->rssi;
+ ind->rssi = correct_rssi(rx->rssi);
+ ind->snr = correct_snr(rx->snr);
if ((rx->pkt_len) && (rx->pkt_data != NULL))
{
--
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