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/ranging_ccc_task.c | 168 ++++++++++++++++++++++++++++----------------------------
1 files changed, 84 insertions(+), 84 deletions(-)
diff --git a/keil/include/components/app/src/ranging_ccc_task.c b/keil/include/components/app/src/ranging_ccc_task.c
index feaeef9..8208d10 100644
--- a/keil/include/components/app/src/ranging_ccc_task.c
+++ b/keil/include/components/app/src/ranging_ccc_task.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.
@@ -49,7 +49,7 @@
#include "lib_aoa.h"
#include "lib_ranging.h"
-#if KF_EN
+#if FILTER_EN
#include "lib_kf.h"
#endif
@@ -70,7 +70,6 @@
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);
@@ -100,19 +99,6 @@
// 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
@@ -145,11 +131,11 @@
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.ranging_fom = ranging_fom_calculate(&debug_csi, 1, 1, NULL, 0);
debug_csi.azimuth_fom = ranging_env.azimuth_fom;
- calculate_first_tap_power(4, 2);
- // print_preamble_chest(4, 2);
+ calculate_first_tap_power(1, 2);
+ // print_preamble_cir(debug_csi.block_index, 1, 2);
uwbapi_report_debug_csi_data(&debug_csi);
}
@@ -172,6 +158,7 @@
/*************************************************************************************************/
void ranging_handler(wsfEventMask_t event, const void *param)
{
+ // board_led_on(BOARD_LED_2);
const wsfMsgHdr_t *msg = (const wsfMsgHdr_t *)param;
if (msg != NULL)
@@ -196,13 +183,19 @@
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);
+ ranging_update_keys(upd_keys->sts_idx);
}
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->status != UWB_TX_OK)
+ {
+ LOG_INFO(TRACE_MODULE_APP, "UWB TX fail 0x%04x\r\n", ind->status);
+ break;
+ }
if (ind->ranging_stage == RANGING_PRE_POLL)
{
@@ -225,6 +218,10 @@
else if (ind->ranging_stage == RANGING_FINAL_DATA)
{
LOG_INFO(TRACE_MODULE_APP, "[TX][%u] Final-Data\r\n", ind->tx_len);
+
+ // need to set RESPONDER_NUM = 1 for response cir printing
+ // calculate_first_tap_power(0, 1);
+ // print_preamble_cir(debug_csi.block_index, 0, 1);
}
else
{
@@ -262,8 +259,8 @@
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);
+#if (X38M4_AUTO_TUNE_EN == 1)
+ 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
}
@@ -338,24 +335,15 @@
}
// 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();
// 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)
{
@@ -402,73 +390,84 @@
case RANGING_REPORT_MSG:
{
const struct RANGING_REPORT_IND_T *ind = (const struct RANGING_REPORT_IND_T *)param;
+ uint16_t distance = 0;
- 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)
+ if (ind->status == 0)
{
- tof_i = 0;
- }
+ int64_t tof_i = (ind->Tround1 * ind->Tround2 - ind->Treply1 * ind->Treply2) / (ind->Tround1 + ind->Tround2 + ind->Treply1 + ind->Treply2);
- double tof_f = (double)TIMESTAMP_UNIT_TO_NS((uint32_t)tof_i);
+ // outlier filter
+ if (tof_i < 0)
+ {
+ tof_i = 0;
+ }
- uint16_t distance = (uint16_t)(tof_f * 0.299702547 * VP_VAL - RANGING_CORR);
+ // LOG_INFO(TRACE_NO_OPTION | TRACE_MODULE_APP, "Tround1 %u Treply1 %u Tround2 %u Treply2 %u\r\n", (uint32_t)ind->Tround1,
+ // (uint32_t)ind->Treply1, (uint32_t)ind->Tround2, (uint32_t)ind->Treply2);
+
+ double tof_f = (double)TIMESTAMP_UNIT_TO_NS((uint32_t)tof_i);
+
+ 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);
+ 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);
- }
+ 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);
+ 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);
+ 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 CCC_RANGE_DATA_T *range_data = &ranging_env.range_data;
+ struct CCC_MEASUREMENT_T *range_result = &range_data->measurements[0];
+
+ range_data->measurements_num = 1;
+ range_data->ranging_type = 0x05; // CCC Controlee (Vehicle) Ranging Measurement
+ 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);
+
+ range_result->status = STATUS_OK;
+ range_result->slot_index = ranging_env.responder_slot_idx;
+ range_result->rr_index = ranging_env.round_idx;
+ range_result->sts_index = ranging_env.sts_idx;
+ range_result->distance = distance;
+ range_result->aoa_azimuth = ranging_env.azimuth;
+ range_result->aoa_azimuth_fom = ranging_env.azimuth_fom;
+
+ range_result->anchor_fom = (ranging_env.poll_fom + ranging_env.final_fom) / 2;
+ range_result->initiator_fom = 0;
+
+ // output result
+ uwbapi_report_ranging_data(range_data);
+ }
}
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);
+ LOG_INFO(TRACE_NO_OPTION | TRACE_MODULE_APP, "Ranging fail %d\r\n", ind->status);
}
#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);
+ LOG_INFO(TRACE_MODULE_APP, "FoM %d-%d-%d, NLoS %d-%d-%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
@@ -483,4 +482,5 @@
else if (event)
{
}
+ // board_led_off(BOARD_LED_2);
}
--
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