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_fira_task.c | 169 +++++++++++++++-----------------------------------------
1 files changed, 45 insertions(+), 124 deletions(-)
diff --git a/keil/include/components/app/src/ranging_fira_task.c b/keil/include/components/app/src/ranging_fira_task.c
index 32cc98f..4d62922 100644
--- a/keil/include/components/app/src/ranging_fira_task.c
+++ b/keil/include/components/app/src/ranging_fira_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.
@@ -48,7 +48,7 @@
#include "lib_aoa.h"
#include "lib_ranging.h"
#include "ranging_fira.h"
-#if KF_EN
+#if FILTER_EN
#include "lib_kf.h"
#endif
#if PDOA_3D_EN
@@ -60,8 +60,8 @@
#define PRINT_PAYLOAD_EN 0
#define PRINT_PDOA_IQ_EN 0
-#if MCTT_TEST_EN
-#define PAYLOAD_BUF_MAX 512
+#if FILTER_EN
+extern void ranging_result_filter(uint8_t *mac_addr, uint16_t *distance, int16_t *azimuth, int16_t *elevation);
#endif
static const char *work_mode_table[5] = {"Unknown", "SS-TWR Deferred", "DS-TWR Deferred", "SS-TWR Non-deferred", "DS-TWR Non-deferred"};
@@ -82,10 +82,6 @@
const wsfMsgHdr_t *msg = (const wsfMsgHdr_t *)param;
// board_led_on(BOARD_LED_1);
-#if MCTT_TEST_EN
- static uint8_t payload_print_buf[PAYLOAD_BUF_MAX];
- static uint16_t payload_print_len;
-#endif
static uint8_t defer_to_report = 0;
if (msg != NULL)
@@ -111,16 +107,20 @@
{
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->slot_idx == 0)
{
ranging_env.range_data.sequence_num = (ranging_env.phy_sts_index - fira_key.phyStsIdxInit) / ranging_env.slots_per_block;
uint8_t work_mode_idx = uwb_app_config.session_param.ranging_round_usage < 5 ? uwb_app_config.session_param.ranging_round_usage : 0;
-#if MCTT_TEST_EN
- LOG_INFO(TRACE_NO_OPTION, "%s Init-seq:%u\r\n", work_mode_table[work_mode_idx], ranging_env.range_data.sequence_num + 1);
-#else
+
LOG_INFO(TRACE_MODULE_APP | TRACE_NO_OPTION, "\r\n");
- LOG_INFO(TRACE_MODULE_APP, "FiRa %s Initiator SEQ NUM %u\r\n", work_mode_table[work_mode_idx], ranging_env.range_data.sequence_num);
-#endif
+ LOG_INFO(TRACE_MODULE_APP, "FiRa %s Controller SEQ NUM %u\r\n", work_mode_table[work_mode_idx], ranging_env.range_data.sequence_num);
+
uwb_app_config.ranging_count++;
// clear last round measurement
@@ -128,11 +128,8 @@
}
uint8_t stage_idx = (ind->ranging_stage >= RANGING_RCM && ind->ranging_stage <= RANGING_RRRM) ? (ind->ranging_stage - RANGING_RCM + 1) : 0;
-#if MCTT_TEST_EN
- LOG_INFO(TRACE_NO_LEVEL_TAG | TRACE_NO_MODULE_NAME, "t%s tp=%x\r\n", fira_fsm_table[stage_idx], ind->timestamp);
-#else
+
LOG_INFO(TRACE_NO_REPORT_HOST | TRACE_MODULE_APP, "[TX][%u] %s\r\n", ind->tx_len, fira_fsm_table[stage_idx]);
-#endif
if (defer_to_report)
{
@@ -153,7 +150,6 @@
}
#endif
-//#if MCTT_TEST_EN
#if 0
if (ind->tx_len)
{
@@ -189,31 +185,28 @@
{
uint8_t work_mode_idx = uwb_app_config.session_param.ranging_round_usage < 5 ? uwb_app_config.session_param.ranging_round_usage : 0;
ranging_env.range_data.sequence_num = (ranging_env.phy_sts_index - fira_key.phyStsIdxInit) / ranging_env.slots_per_block;
-#if MCTT_TEST_EN
- LOG_INFO(TRACE_NO_OPTION, "%s Resp-seq:%u Ridx:%d\r\n", work_mode_table[work_mode_idx], ranging_env.range_data.sequence_num + 1,
- ranging_env.next_round_index);
-#else
+
LOG_INFO(TRACE_NO_REPORT_HOST | TRACE_MODULE_APP | TRACE_NO_OPTION, "\r\n");
- LOG_INFO(TRACE_NO_REPORT_HOST | TRACE_MODULE_APP, "FiRa %s Responder SEQ NUM %u\r\n", work_mode_table[work_mode_idx],
+ LOG_INFO(TRACE_NO_REPORT_HOST | TRACE_MODULE_APP, "FiRa %s Controlee SEQ NUM %u\r\n", work_mode_table[work_mode_idx],
ranging_env.range_data.sequence_num);
-#endif
+
// clear last round measurement
ranging_measurements_clear();
int32_t freq_offset = phy_freq_offset_get();
ranging_env.freq_offset_filter = average_filter(freq_offset);
-#if MCTT_TEST_EN == 0
+
LOG_INFO(TRACE_MODULE_APP, "CH Freq Offset %d\r\n", ranging_env.freq_offset_filter);
-#endif
-#if XTAL_AUTO_TUNE_EN
- int32_t ppm = ranging_env.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 = ranging_env.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
}
if (ind->ranging_stage == RANGING_RIM || ind->ranging_stage == RANGING_RRM)
{
- struct RANGING_MEASUREMENT_T *range_result = 0;
+ struct TWR_MEASUREMENT_T *range_result = 0;
if (ind->ranging_stage == RANGING_RIM)
{
range_result = &ranging_env.range_data.measurements[0];
@@ -243,19 +236,17 @@
{
#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);
+ // ~530us -- Keil (AoA - ranging_performance_mode == 3)
+ // board_led_on(BOARD_LED_2);
aoa_calculate(&range_result->aoa_elevation, &range_result->aoa_azimuth);
- // board_led_off(BOARD_LED_1);
+ // board_led_off(BOARD_LED_2);
aoa_fom_get(&range_result->aoa_elevation_fom, &range_result->aoa_azimuth_fom);
#elif PDOA_3D_EN
// calculate PDoA angles
- // 324us ~ 349us -- Keil
- // board_led_on(BOARD_LED_1);
+ // ~410us -- Keil
+ // board_led_on(BOARD_LED_2);
pdoa_3d_calculate(range_result->mac_addr, &range_result->aoa_elevation, &range_result->aoa_azimuth);
- // board_led_off(BOARD_LED_1);
+ // board_led_off(BOARD_LED_2);
pdoa_fom_get(&range_result->aoa_elevation_fom, &range_result->aoa_azimuth_fom);
#endif
@@ -287,9 +278,9 @@
}
// 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();
@@ -297,7 +288,7 @@
#endif
}
-#if RSSI_EN && (MCTT_TEST_EN == 0)
+#if RSSI_EN
LOG_INFO(TRACE_MODULE_APP, "RSSI: %ddBm, SNR: %ddB \r\n", ind->rssi, ind->snr);
#endif
@@ -305,28 +296,10 @@
ranging_fom_get(&NLoS, &FoM);
range_result->NLoS = NLoS;
// LOG_INFO(TRACE_MODULE_APP, "NLoS: %u, FoM: %u\r\n", NLoS, FoM);
-
-#if CSI_EN
- ////////// need to increase slot duration for log printing
- 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);
-
- // float chtaps_re[128];
- // float chtaps_im[128];
- // ranging_multi_taps_iq_get(chtaps_re, chtaps_im, 128);
- // for (uint8_t i = 0; i < 128; i++)
- //{
- // LOG_INFO(TRACE_NO_OPTION | TRACE_MODULE_APP, "%f, %f\r\n", chtaps_re[i], chtaps_im[i]);
- //}
-#endif
}
else if (ind->ranging_stage == RANGING_RFM)
{
- struct RANGING_MEASUREMENT_T *range_result = &ranging_env.range_data.measurements[0];
+ struct TWR_MEASUREMENT_T *range_result = &ranging_env.range_data.measurements[0];
uint8_t NLoS, FoM;
ranging_fom_get(&NLoS, &FoM);
if (NLoS > range_result->NLoS)
@@ -369,7 +342,7 @@
if (res)
{
// LOG_INFO(TRACE_MODULE_APP, "ToF %d\r\n", ranging_env.tof);
- struct RANGING_MEASUREMENT_T *range_result = &ranging_env.range_data.measurements[0];
+ struct TWR_MEASUREMENT_T *range_result = &ranging_env.range_data.measurements[0];
ranging_env.range_data.measurements_num = 1;
range_result->status = STATUS_OK;
@@ -381,12 +354,7 @@
#if FILTER_EN
if (uwb_app_config.filter_en)
{
-#if KF_EN
int16_t *azimuth = (uwb_app_config.session_param.aoa_result_req ? &range_result->aoa_azimuth : NULL);
-#else
- int16_t *azimuth = &range_result->aoa_azimuth;
-#endif
-
int16_t *elevation = NULL;
#if PDOA_3D_EN
if (ANT_PATTERN != ANT_PATTERN_LINEAR)
@@ -410,9 +378,11 @@
range_result->distance, mk_q7_to_s16(range_result->aoa_azimuth), mk_q7_to_s16(range_result->aoa_elevation),
range_result->aoa_azimuth_fom);
#elif AOA_EN
+
LOG_INFO(TRACE_NO_REPORT_HOST | TRACE_MODULE_APP, "Distance %ucm, AoA Azimuth %d Elevation %d Azimuth FoM %u\r\n",
range_result->distance, mk_q7_to_s16(range_result->aoa_azimuth), mk_q7_to_s16(range_result->aoa_elevation),
range_result->aoa_azimuth_fom);
+
#else
LOG_INFO(TRACE_NO_REPORT_HOST | TRACE_MODULE_APP, "Distance %ucm\r\n", (int16_t)range_result->distance);
#endif
@@ -433,31 +403,14 @@
uwbapi_report_ranging_data(&ranging_env.range_data);
}
- // int8_t expected_rssi = ranging_expected_rssi_get(ranging_tx_power_get(), range_result->distance, 2, 0);
- // LOG_INFO(TRACE_MODULE_APP, "Expected RSSI: %ddBm\r\n", expected_rssi);
+ // calculate_first_tap_power(1, 2);
+ // print_preamble_cir(ranging_env.range_data.sequence_num, 1, 2);
+ // print_sts_cir(1, 2);
}
}
uint8_t stage_idx = (ind->ranging_stage >= RANGING_RCM && ind->ranging_stage <= RANGING_RRRM) ? (ind->ranging_stage - RANGING_RCM + 1) : 0;
-#if MCTT_TEST_EN
- if (ind->ranging_stage == RANGING_RCM || ind->ranging_stage == RANGING_MRM || ind->ranging_stage == RANGING_RRRM)
- {
- if (ind->ranging_stage != RANGING_RRRM)
- {
- LOG_INFO(TRACE_NO_LEVEL_TAG | TRACE_NO_MODULE_NAME, "r%s tp=%x,%x,%x,%d\r\n", fira_fsm_table[stage_idx], ind->timestamp,
- ind->phy_header, ranging_env.phy_sts_index, ind->slot_idx);
- }
- else
- {
- LOG_INFO(TRACE_NO_LEVEL_TAG | TRACE_NO_MODULE_NAME, "r%s,%x,%x,%d\r\n", fira_fsm_table[stage_idx], ind->phy_header,
- ranging_env.phy_sts_index, ind->slot_idx);
- }
- }
- else
- {
- LOG_INFO(TRACE_NO_LEVEL_TAG | TRACE_NO_MODULE_NAME, "r%s\r\n", fira_fsm_table[stage_idx]);
- }
-#else
+
#if DYNAMIC_UPDATE_MAIN_ANTENNA_EN
if ((ind->ranging_stage == RANGING_RRM) || (ind->ranging_stage == RANGING_RRRM))
{
@@ -469,7 +422,6 @@
{
LOG_INFO(TRACE_NO_REPORT_HOST | TRACE_MODULE_APP, "[RX][%u] %s\r\n", ind->rx_len, fira_fsm_table[stage_idx]);
}
-#endif
#if PRINT_PAYLOAD_EN
if (ind->rx_len)
@@ -482,21 +434,6 @@
LOG_INFO(TRACE_NO_OPTION | TRACE_MODULE_APP, "\r\n");
}
#endif
-
-#if MCTT_TEST_EN
- if (ind->rx_len)
- {
- if ((payload_print_len + ind->rx_len) < PAYLOAD_BUF_MAX)
- {
- memcpy(payload_print_buf + payload_print_len, ind->rx_data, ind->rx_len);
- payload_print_len += ind->rx_len;
- }
- else
- {
- LOG_INFO(TRACE_NO_OPTION, "Insufficient payload_print_buf, don't print out rx_data.\r\n");
- }
- }
-#endif
}
else
{
@@ -505,7 +442,7 @@
#else
LOG_INFO(TRACE_MODULE_APP, "UWB RX fail 0x%04x\r\n", ind->status);
#endif
-#if RSSI_EN && (MCTT_TEST_EN == 0)
+#if RSSI_EN
if (ind->status != 0x0830)
{
LOG_INFO(TRACE_MODULE_APP, "RSSI: %ddBm, SNR: %ddB \r\n", ind->rssi, ind->snr);
@@ -520,30 +457,14 @@
{
// output result (notify)
uwbapi_report_ranging_data(&ranging_env.range_data);
+
+ // calculate_first_tap_power(0, 1);
+ // print_preamble_cir(ranging_env.range_data.sequence_num, 0, 1);
+ // print_sts_cir(0, 1);
}
}
}
break;
-
-#if MCTT_TEST_EN
- case RANGING_ROUND_PRINT_MSG:
- {
- if (payload_print_len > 0)
- {
- for (uint16_t i = 0; i < payload_print_len; i++)
- {
- if (i > 0 && payload_print_buf[i] == 0x49 && payload_print_buf[i + 1] == 0x2B)
- LOG_INFO(TRACE_NO_OPTION, "\r\n");
-
- LOG_INFO(TRACE_NO_OPTION, "%02x ", payload_print_buf[i]);
- }
- LOG_INFO(TRACE_NO_OPTION, "\r\n");
- memset(payload_print_buf, 0x0, PAYLOAD_BUF_MAX);
- payload_print_len = 0;
- }
- }
- break;
-#endif
default:
break;
--
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